Fix Minor Stuff

README.md

@@ -2,7 +2,7 @@
 
 [![OpenMower header](.github/img/open_mower_header.jpg)](https://github.com/ClemensElflein/OpenMower)
 
-This repository contains the official OpenMowerOS (OMOSv2) image for running the [OpenMower](https://github.com/ClemensElflein/OpenMower) project on your OM's Pi4/CM4.
+This repository contains the official OpenMowerOS (OMOSv2) image for running the [OpenMower](https://github.com/ClemensElflein/OpenMower) project on your OM's Pi/CM.
 
 ➡️ What’s new in the latest release? See [WHATSNEW.md](./WHATSNEW.md).
 
@@ -25,14 +25,14 @@ This repository contains the official OpenMowerOS (OMOSv2) image for running the
 Tip: Click a section title to expand/collapse.
 
 <details>
-<summary><b>Install OpenMowerOS on your Pi4/CM4</b></summary>
+<summary><b>Install OpenMowerOS on your Pi/CM</b></summary>
 
 
-1. Flash the latest image (link TODO) to an SD card, preferably using [**Raspberry Pi** Imager](https://www.raspberrypi.com/software/).
+1. Flash the latest OpenMowerOS v2.x [OpenMowerOS_YYYYMMDD.zip](https://github.com/ClemensElflein/OpenMowerOS/releases) to an SD card or your CM, preferably using [**Raspberry Pi** Imager](https://www.raspberrypi.com/software/).
 
 2. ***Optional: Raspberry Pi Imager configuration***<br>
    When prompted by Raspberry Pi Imager, you can change some custom settings:
-   1. As shown here, but never use a username other than `openmower`!<br>
+   1. As shown here, but the username must be `openmower`.  
    ![General Settings](.github/img/rpimager_general.png)
    2. You may also add your SSH public key for quicker SSH login;
    password login remains active (even if it's an either/or selection).<br>
@@ -43,10 +43,10 @@ Tip: Click a section title to expand/collapse.
 <details>
 <summary><b>First boot and network setup</b></summary>
 
-3. After writing the image, eject the card, insert it into your mowers Pi4 or xCore, and turn it on.
+3. After writing the image, eject the card, insert it into your mower’s Pi or xCore, and turn it on.
 
 4. Your Pi will boot multiple times.<br>
-   ***Sometimes, after the first boot, it may fail to reboot*** (red LED near the HDMI plug remains on, whereas the green one doesn't flicker anymore). If that happens, a power cycle will get it back on track.
+   ***Sometimes, after the first boot, it may fail to reboot*** (the Pi/xCore’s green LED doesn’t flicker anymore and remains off for >10 seconds). If that happens, a power cycle will get it back on track.
 
 5. ***Optional: Comitup hotspot (if you skipped step 2 "Raspberry Pi Imager configuration")***<br>
 If you didn't enter your Wifi settings when asked for the custom settings during Pi Imager (see step 2), or if you accidentally entered the wrong Wifi settings:
@@ -57,61 +57,68 @@ If you didn't enter your Wifi settings when asked for the custom settings during
 
       <p align="center"><img src=".github/img/comitup_hotspot.png" style="width:50%"></p>
 
-   3. Click on your home WiFi and fill in your password.
+   3. Click on your home WiFi, fill in your password and click "SUBMIT".
 
    4. The hotspot will disappear and the mower should connect to your WiFi.
 
-6. Try pinging your mower via `ping openmower` (or the hostname you entered during Pi Imager). If the host can't be found, check your router for the mower's IP address.
+6. Two minutes after the second reboot, try pinging your mower via `ping openmower` (or the hostname you entered during Pi Imager). If the host can't be found, check your router for the mower's IP address.
 
-7.  SSH into your mower via `ssh openmower@openmower` or `ssh openmower@<your hostname or mower's IP address>` (password 'openmower' or the one you entered during Raspberry Pi Imager).
-
-8. ***Optional:***<br>
-   1. If you didn't configure a custom password during step 2 (Raspberry Pi Imager configuration), change your password now via `passwd`.
+7. ***Optional:***<br>
+   1. If you didn't configure a custom password during step 2 (Raspberry Pi Imager configuration), login via SSH and change your password now via `passwd`.
    2. Use `raspi-config` to change keyboard, timezone, WLAN country and the like (if not configured in Raspberry Pi Imager's custom settings).
 
  </details>
 
+
+
 <details>
 <summary><b>Manage OpenMower stack (GUI + CLI)</b></summary>
 
-Dockge (a container manager GUI), as well as a ttyd (a WebTerminal) are automatically pulled and started after 2-5 minutes (after final boot).
+[Dockge](https://dockge.kuma.pet/) (a container manager GUI) and [ttyd](https://tsl0922.github.io/ttyd/) (a web terminal)
+are bundled with the OpenMowerOS image and are unpacked and installed during the final second‑boot step.
+This may take about 2 minutes.
+
+Please wait while the Pi/xCore’s green LED is flickering or steadily on.
 
 The WebTerminal is available as a lightweight alternative to SSH for running the same commands.
 It can be reached via `http://openmower:7681` (adjust if you changed the hostname).
-Default login credentials: openmower/openmower.
 
 For each relevant GUI action, a CLI alternative is available via a powerful `openmower` command; both are listed below.
 
 1. Connect to the container manager:
-   - GUI: Open <http://openmower:5001> (or your individual hostname if changed), and login by entering the default Dockge admin user `openmower/openmower`:
-       ![Create Admin Account](.github/img/dockge_01.jpg)
    - CLI:
      - SSH into your Pi: `ssh openmower@openmower` (or your configured hostname).
      - WebTerminal via URL `http://openmower:7681` (or your configured hostname).
+   - GUI: Open <http://openmower:5001> (or your individual hostname if changed)
 
 2. Configure the stack (.env)
+   - CLI: `openmower configure env`
    - GUI:
        ![Select and Edit Stack](.github/img/dockge_02_select_and_edit.jpg)
        ![Edit .env](.github/img/dockge_03_edit.jpg)
        ![Save .env](.github/img/dockge_04_save.jpg)
-   - CLI: `openmower configure env`
 
-3. Start the stack (inclusive initial pull)
-    - GUI:
-       ![Start Stack](.github/img/dockge_05_start.jpg)
-    - CLI:
+3. Start the stack (including the initial pull)
+    - CLI: If you configured your .env file via `openmower configure env` then the stack is pulled and started automatically.<br>
+      If not:
 
        ```bash
        openmower pull
        openmower start
        ```
+    - GUI:
+       ![Start Stack](.github/img/dockge_05_start.jpg)
 
-4. Check status and open the OpenMower webApp
+4. Check status and open the OpenMower web app
+   - CLI: `openmower status` should list three service names (open_mower_ros, Mosquitto and OpenMowerApp), all with status 'up'. If so, open a browser and visit `http://openmower:8080` (or your configured hostname).
    - GUI:
        ![Stack Active](.github/img/dockge_06_active.jpg)
-   - CLI: `openmower status` should list three service names (open_mower_ros, Mosquitto, OpenMowerApp), all with status 'up'. If so, open a browser and visit `http://openmower:8080` (or your configured hostname).
 
-5. Configure the ROS parameters (CLI only for now): `openmower configure ros`
+5. Configure the ROS parameters (CLI only for now): `openmower configure ros` and:
+
+   1. Adapt section `gps` to your needs, but set at least `datum_lat` and `datum_lon` to the corresponding lat/lon values near your docking station. Use right‑click in [Google Maps](https://maps.google.com) to get them.
+   2. `ntrip_client` settings with the ones from your local RTK base or from your public NTRIP service.
+   3. Once (and not before 🩸) you have validated your emergency sensors, set `enable_mower` to true.
 
 </details>
 

WHATSNEW.md

@@ -6,7 +6,7 @@ This document highlights the most relevant changes compared to previous OpenMowe
 ## 🆕 New
 
 - 🖥️ [Dockge](https://dockge.kuma.pet/) GUI for container management.
-- 🖥️ WebTerminal [ttyd](https://github.com/tsl0922/ttyd) provides a browser-based shell as a lightweight SSH alternative.
+- 🖥️ WebTerminal [ttyd](https://tsl0922.github.io/ttyd/) provides a browser-based shell as a lightweight SSH alternative.
 - 🧰 Unified `openmower` CLI for configure, pull, start, stop, status, shell, logs, …
 - 🗂️ Consolidated storage layout: configs, maps, logs now in `/home/openmower`.
 - 🧾 Version metadata at `/usr/share/openmoweros/version.{json,yaml,sh,txt}` (git hash, branch, describe, build timestamp).
@@ -16,15 +16,15 @@ This document highlights the most relevant changes compared to previous OpenMowe
 
 - ⚙️ Key settings (e.g. WLAN SSID & password) configurable directly in Raspberry Pi Imager.
 - ✍️ No need to pre-edit files like `/boot/openmower/openmower_version.txt` before first boot.
-- 🚀 Eliminated initial large image pull (only a short 2–5 minute Dockge pull remains).
+- 🚀 Eliminated initial large image pull.
 - 👤 Containers run with `openmower` user permissions (no sudo needed for most operations).
 
 
 ## 🛠️ Under the hood (for the curious)
 
 - 🐧 Debian Trixie (arm64) images built with [pi‑gen](https://github.com/RPi-Distro/pi-gen).
 - 📁 `openmower` CLI command is in `/usr/local/bin`.
-- 🐳 OpenMower stack: Mosquitto and OpenMowerApp (together with a small Nginx) now run as separate containers and are no longer built into the openmower image.
+- 🐳 OpenMower stack: Mosquitto and OpenMowerApp (together with a small Nginx) now run as separate containers and are no longer built into the open_mower_ros image.
 - 📶 WLAN is managed by NetworkManager.
 - 🔌 LAN is managed by ifupdown.
 - 📡 DHCP for the internal (xCore) LAN is handled by dnsmasq.

stage-openmower/30-docker/00-run-chroot.sh

@@ -36,3 +36,10 @@ cat > /etc/docker/daemon.json <<'EOF'
 }
 EOF
 fi
+
+# Bundled docker images
+mkdir -p /opt/docker-images
+chmod -R u=rwX,g=rX,o=rX /opt/docker-images
+
+# Ensure the preloader runs on boot (after docker)
+systemctl enable docker-preload-images.service

stage-openmower/30-docker/00-run.sh

@@ -0,0 +1,28 @@
+#!/bin/bash -e
+
+STAGE_DIR="$(dirname "$0")"
+
+install -m 0644 -D "$STAGE_DIR/files/etc/systemd/system/docker-preload-images.service" "$ROOTFS_DIR/etc/systemd/system/docker-preload-images.service"
+
+# Install bundled docker images
+install -d -m 0755 "$ROOTFS_DIR/opt/docker-images"
+cp -a "$STAGE_DIR/files/opt/docker-images/." "$ROOTFS_DIR/opt/docker-images/"
+
+# Reassemble split files into their base
+DEST="$ROOTFS_DIR/opt/docker-images"
+if compgen -G "$DEST"/*.tar.gz.part* > /dev/null; then
+    # Build unique list of basenames without the .partNN suffix
+    for base in $(for f in "$DEST"/*.tar.gz.part*; do echo "${f%.part*}"; done | sort -u); do
+        rm -f "${base}"
+        for p in $(ls -1 "${base}".part* 2>/dev/null | sort -V); do
+            cat "$p" >> "${base}"
+        done
+        rm -f "${base}".part*
+    done
+fi
+
+# Uncompress all .tar.gz files to .tar. OS image gets ZIPped anyway but preload service only needs docker load them
+for gz in "$DEST"/*.tar.gz; do
+    [ -e "$gz" ] || break
+    gunzip -f "$gz"
+done

stage-openmower/30-docker/files/etc/systemd/system/docker-preload-images.service

@@ -0,0 +1,21 @@
+[Unit]
+Description=Preload bundled Docker images (*.tar) into local Docker
+After=docker.service
+Requires=docker.service
+Before=dockge.service webterminal.service
+ConditionDirectoryNotEmpty=/opt/docker-images
+
+[Service]
+Type=oneshot
+TimeoutStartSec=4min
+ExecStart=/bin/sh -e -c '\
+dir=/opt/docker-images; \
+# Load all .tar and delete on success \
+for tar in "$dir"/*.tar; do \
+  [ -e "$tar" ] || break; \
+  if docker load -i "$tar"; then rm -f "$tar"; fi; \
+done \
+'
+
+[Install]
+WantedBy=multi-user.target

stage-openmower/32-dockge/files/etc/systemd/system/dockge.service

@@ -1,17 +1,20 @@
 [Unit]
 Description=Dockge
-Wants=network-online.target docker.service
-After=network-online.target docker.service
+Wants=network-online.target docker.service docker-preload-images.service time-sync.target
+After=network-online.target docker.service docker-preload-images.service time-sync.target
+StartLimitIntervalSec=10min
+StartLimitBurst=10
 
 [Service]
 Type=oneshot
 WorkingDirectory=/opt/dockge
 RemainAfterExit=yes
 TimeoutStartSec=10min
 ExecStartPre=/bin/sh -c 'H="$(hostname -f 2>/dev/null || hostname || cat /etc/hostname)"; EF="/opt/stacks/openmower/.env"; if [ -f "$EF" ]; then if grep -qE "^[[:space:]]*HOSTNAME[[:space:]]*=" "$EF"; then sed -i -E "s|^[[:space:]]*HOSTNAME[[:space:]]*=.*|HOSTNAME=$H|g" "$EF"; else echo "HOSTNAME=$H" >> "$EF"; fi; fi'
-ExecStartPre=/usr/bin/docker compose pull --quiet
 ExecStart=/usr/bin/docker compose up -d
 ExecStop=/usr/bin/docker compose down
+Restart=on-failure
+RestartSec=30s
 
 [Install]
 WantedBy=multi-user.target

stage-openmower/35-webterminal/files/etc/systemd/system/webterminal.service

@@ -1,15 +1,14 @@
 [Unit]
 Description=WebTerminal (ttyd) for OpenMowerOS
 Documentation=https://github.com/ClemensElflein/OpenMowerOS
-Wants=network-online.target docker.service
-After=network-online.target docker.service
+Wants=network-online.target docker.service docker-preload-images.service
+After=network-online.target docker.service docker-preload-images.service
 
 [Service]
 Type=oneshot
 RemainAfterExit=yes
 WorkingDirectory=/opt/stacks/webterminal
 ExecStartPre=/bin/sh -c 'H="$(hostname -f 2>/dev/null || hostname || cat /etc/hostname)"; EF="/opt/stacks/webterminal/.env"; if [ -f "$EF" ]; then if grep -qE "^[[:space:]]*HOSTNAME[[:space:]]*=" "$EF"; then sed -i -E "s|^[[:space:]]*HOSTNAME[[:space:]]*=.*|HOSTNAME=$H|g" "$EF"; else echo "HOSTNAME=$H" >> "$EF"; fi; fi'
-ExecStartPre=/usr/bin/docker compose pull --quiet
 ExecStart=/usr/bin/docker compose up -d
 ExecStop=/usr/bin/docker compose down
 TimeoutStartSec=5min

stage-openmower/40-openmower/00-run-chroot.sh

@@ -67,14 +67,3 @@ echo "✓ Installed. Version check (if supported):"
 echo "→ Installing tab completion for /usr/local/bin/openmower"
 sudo -u openmower /usr/local/bin/openmower --install-completion
 echo "✓ Installed"
-
-echo "→ Updating bash prompts to show 🐳 when STACK_NAME is set"
-for f in /home/openmower/.bashrc /root/.bashrc /etc/skel/.bashrc; do
-  cat >> "$f" <<'OMEOF'
-
-# Prefix PS1 with docker whale if in stack context
-if [ -n "$STACK_NAME" ]; then
-    PS1="🐳 $PS1"
-fi
-OMEOF
-done

stage-openmower/40-openmower/files/opt/stacks/openmower/.env

@@ -74,7 +74,7 @@ MOWER="CHANGE_ME"
 # 0_9_X_MPU9250: MPU9250 with 0.9.x mainboard
 FIRMWARE="CHANGE_ME"
 
-# Select your ESC type
+# ESC type (only relevant for V1 Hardware):
 # Supported values as of today:
 # xesc_mini: for the STM32 version (VESC)
 # xesc_mini_w_r4ma: for the STM32 version (VESC),
@@ -102,7 +102,3 @@ DEBUG=True
 # Get changed by dockge.service
 # on each start
 HOSTNAME="openmower.local"
-
-#
-# Currently only used for docker shell prompt
-STACK_NAME="openmower"

stage-openmower/40-openmower/files/opt/stacks/openmower/compose.yaml

@@ -33,6 +33,7 @@ services:
     image: eclipse-mosquitto:2
     container_name: Mosquitto
     restart: unless-stopped
+    user: mosquitto:mosquitto
     ports:
       - "1883:1883"
       - "9001:9001"