setup_generic-icub-machine.yml

- name: setup generic icub machine
  hosts: localhost
  connection: local
  debugger: true
  vars:
      target_ansible_min_version: "2.11"
      target_robot: icub
  

  tasks:

  - name: Print all available facts
    ansible.builtin.debug:
      var: ansible_facts

# Preliminary checks
  - name: Verify Ansible version is at least {{target_ansible_min_version}}
    assert:
      that: "ansible_version.full is version_compare('{{target_ansible_min_version}}', '>=')"
      msg: >
        "You must update Ansible to at least version {{target_ansible_min_version}}"
          

# 1. install packages
  - name: Ansible Update Cache and Upgrade all Packages
    become: true
    register: updatesys
    apt:
      name: "*"
      state: latest
      update_cache: yes

  - name: Install basic packages
    become: true
    apt:
      state: present
      name:
        - nfs-common
        - python-tk
        - libopencv-dev
        - ssh
        - cmake-curses-gui
        - linux-image-lowlatency
        - linux-headers-lowlatency
        - iperf 
        - libportaudio2 
        - portaudio19-dev 
        - linux-sound-base 
        - alsa-base 
        - alsa-utils 
        - gdb 
        - meld 
        - bmon 
        - libi2c-dev 
        - expect 
        - libgfortran-10-dev 
        - qml-module-qt-labs-folderlistmodel 
        - qml-module-qt-labs-settings


  - name: Install optional, but useful packages
    become: true
    apt:
      state: present
      name:
        - vim
        - htop
        - iperf3
        - net-tools
        - nmap
  - name: remove not needed packages
    command: apt purge -y cloud-guest-utils cloud-init cloud-initramfs-copymods cloud-initramfs-dyn-netconf unattended-upgrades    
    ignore_errors: true
#2 Creating iCub user if not exists
  - name: Creating user {{ target_robot }}
    become: true
    ansible.builtin.user:
        name: "{{ target_robot }}"
        state: present
        shell: /bin/bash
        password: "$y$j9T$xAxXfyYaY2VbD4AMfcF6F/$poSHChpX0hK./OsRvqOcyiwf3luyMNCQM/QWAMnfy84"
        groups: sudo
        create_home: yes
        append: true      

# 3. setting ntp client

  - name: add 10.0.0.1 as ntp server
    become: true
    ansible.builtin.lineinfile:
      backup: yes
      path: /etc/systemd/timesyncd.conf
      search_string: "NTP="
      insertafter: "#NTP="
      line: "NTP=10.0.0.1"
  
  - name: add ntp.ubuntu.com as fall back ntp server
    become: true
    ansible.builtin.lineinfile:
      backup: yes
      path: /etc/systemd/timesyncd.conf
      search_string: '#FalllbackNTP='
      line: "FallbackNTP=ntp.ubuntu.com"

  - name: restart service systemd-timesyncd service
    become: true
    ansible.builtin.service:
      name: systemd-timesyncd
      state: restarted
#4 real time  configuration
  - name: Modify the real-time priority 
    copy:
      dest: /etc/security/limits.d/{{target_robot}}.conf
      content: |
        {{target_robot}}    soft    rtprio    99
        {{target_robot}}    hard    rtprio    99

  - name: Modify max netbuffer
    copy:
      dest: /etc/sysctl.d/20-net-rbuffer.conf 
      content: |
        net.core.rmem_max=8388608   
#5 setup network configuration 

  - name: remove netplan configurations
    command: rm -r /etc/netplan/ 
    ignore_errors: true

  - name: import network configurations  
    command: cp  -r netplan_icub/ /etc/netplan

  - name: create symlink 50-icub-head.yaml
    command: ln -sf /etc/netplan/50-icub-head-static.yaml.notload /etc/netplan/50-icub-head.yaml  

#6 setup robot enviroment  
  - name: create robot folder 
    command: mkdir -p /usr/local/src/robot

  - name: set icub ownership to robot folder     
    command: chown -R {{target_robot}}:{{target_robot}} /usr/local/src/robot

  - name: import bashrc_iCub
    command: cp .bashrc_iCub /home/{{target_robot}}/. 

  - name: add {{target_robot}} to groups
    command: usermod -a -G video,audio,tty,dialout,i2c {{target_robot}}    

  - name: add line to bashrc 
    ansible.builtin.blockinfile:
      path: /home/{{target_robot}}/.bashrc
      insertbefore: "# If not running interactively, don't do anything"
      block: | 
        if [[ $- == *i* ]] || [[ -n "$SSH_CLIENT" ]] || [[ -n "$SSH_TTY" ]]; then
          #Load the iCub custom bashrc
          if [ "$HOME" != "" ]; then
            ICUBRC_FILE="${HOME}/.bashrc_iCub"
          else
            ICUBRC_FILE="/home/icub/.bashrc_iCub"
          fi
          if [ -f "$ICUBRC_FILE" ]; then
            source $ICUBRC_FILE
          fi
        fi