Vehicle Hard Drive Replacement

For vehicle #12, a pair of hard drives must be replaced each time, and the UUID in the /etc/fstab file needs to be updated.

Querying Disk UUID

sudo blkid

Operating Manual

Important: Modify the configuration before removing the drives.

Step 1: Configure Network IP

Step 2: Connect Network Cable and Boot

Ensure network connectivtiy to the vehicle system after booting.

Step 3: Modify /etc/fstab for Automatic Mounting

Access the remote chips to modify the /etc/fstab file, ensuring proper UUID configuration with the nofail option.

3-1 Access Left Chip (192.168.1.102)

ssh root@192.168.1.102
yes
Password: 1
vi /etc/fstab
# To edit: press 'i'
# To save and exit: 1. ESC 2. : 3. wq 4. Enter

3-2 Access Right Chip (192.168.1.103)

ssh root@192.168.1.103
yes
Password: 1
vi /etc/fstab
# To edit: press 'i'
# To save and exit: 1. ESC 2. : 3. wq 4. Enter

3-3: After replacing the drives, access the chips again and use 'df' to verify the hard drives are mounted. Look for sda1. Password is 1.

Offline Data Upload

2-1 Preparation

1. Connect both hard drives to a Linux host.

2-2 Uploading SOC1 Data

# Template
data_transfer_tool.exe [vehicle_id] [soc_id] [timeToLabel.json_path] [data_directory]

2-3 Uploading SOC2 Data

The command is the same as above. Note that the timeToLabel.json file only exists on the primary node, which requires both hard drives to be connected simultaneously to the host.

Practical Examples

File Locations

Procedure

Navigate to the main directory and execute the following commands:

chmod 777 data_transfer_tool.exe

# Primary drives
./data_transfer_tool.exe vehicle-012 /media/disk1/eb4ba510-5125-4c8b-83cd-7cfb5e575f7a/closedloop-data/copy/ /media/disk2/72d5a3da-d44c-451b-aa60-320aa1950aea/closedloop-data/copy/ /media/disk1/eb4ba510-5125-4c8b-83cd-7cfb5e575f7a/closedloop-data/timeToLabel.json

# Backup drives
./data_transfer_tool.exe vehicle-012 /media/disk1/fae9a7ef-6a3c-4ce5-8ff2-07446256a8b5/closedloop-data/copy/ /media/disk2/0a589f48-63ae-4868-be66-a5c83dc8a5ac/closedloop-data/copy/ /media/disk1/eb4ba510-5125-4c8b-83cd-7cfb5e575f7a/closedloop-data/timeToLabel.json

chmod 777 data_transfer_tool.exe
sudo chmod 777 /media/disk1/eb4ba510-5125-4c8b-83cd-7cfb5e575f7a/closedloop-data/copy/
sudo chmod 777 /media/disk2/72d5a3da-d44c-451b-aa60-320aa1950aea/closedloop-data/copy/

# Primary drives
./data_transfer_tool.exe vehicle-012 primary_node /media/disk1/fae9a7ef-6a3c-4ce5-8ff2-07446256a8b5/closedloop-data/timeToLabel.json /media/disk1/fae9a7ef-6a3c-4ce5-8ff2-07446256a8b5/closedloop-data/copy/

# Secondary drive
./data_transfer_tool.exe vehicle-012 secondary_node /media/disk1/fae9a7ef-6a3c-4ce5-8ff2-07446256a8b5/closedloop-data/timeToLabel.json /media/disk2/0a589f48-63ae-4868-be66-a5c83dc8a5ac/closedloop-data/copy/

Useful Commands

history | grep data_transfer

This command will show previous data transfer operations.

Troubleshooting SSH Connection Issues

If you encounter an RSA host key mismatch error when connecting to a remote host, this indicates that the host key stored in your known_hosts file doesn't match the server's current key. This could be due to legitimate server changes or potentially a security issue.

Solution Steps:

1. Verify the change: If you know the server's key has been legitimately updated, proceed to update your local known_hosts file.
2. Security considerations: If you're unsure why the key changed, don't continue the connection. Contact system administrators for verification.
3. Resolve the issue: ``` ssh-keygen -f "/home/user/.ssh/known_hosts" -R "192.168.1.103"

   
    This command removes the old key entry from your known\_hosts file. After deleting the old key, attempt SSH connection again. SSH will prompt you to add the new key fingerprint - verify it matches the expected value.
   

4. Prevention: To trusted environments, you can configure SSH to automatically add new host keys by setting StrictHostKeyChecking no in ~/.ssh/config, but this reduces security.

Addditional System Access

To access the PJI robot system:

1. Connect to WiFi
2. SSH to 192.168.1.104
3. Access web interface at http://192.168.1.104:8002