NiTi light

Realization of a product design, POC for a graduation project exhibition. Nitinol heated stems for paper flowers, lit by LEDs, in a faux vase. Animation of the flowers by resistively heating the NiTi wires and PWM control of the LEDs brightness. Design by my wife, Aya Shani, as grduation project in product design at H.I.T..

Design for plastic injection molding: UAV fuel tank.

Material selection, redesign of costumer’s basic design concept, inc. mechanical and Moldflow FAE, mold design approval and parts approval. Salaried work for Supergum, as principal design engineer, for security sector costumer.

Toy sound box prototype

A working model prototype for usability testing of a sound box in a plush toy which is under development. Usability tested for sound box size, operation and ease of use, and loudness. Contract work.

Smart kitchen scale for bread dough

An ESP32 based kitchen scale for bread baking. Connects to Google sheets over WiFi to retrieve bread formulas, and to save measured weight of ingredients. BLE serves to define WiFi, as well as display current measurement. Calculates baker’s percentage on the fly.

Mechanical Sieve - Shachar Marcus, MUZA, 2019

Mechanical and electrical design, along with programming. Creating a working installation from the artist’s concept. Construction in collaboration with Studio Omri Ben Artzi, for the exhibition “Data Mining”, Shachar Marcus, MUZA, 2019.

Parametric design for 3D printing

Various 3D printed adapters, replacements, and fixes. Designed in OpenSCAD.

Web-BLE control app + esp32 sketches

A web-ble responsive web app to demonstrate control over BLE of ESP32 projects. Includes links to github repo of web app, and to a couple of ESP32 sketches for testing.

AB4MC

A prototyping platform for musicians, based on Arduino and a graphical programming environment. An ongoing project, open hardware and software.

Perpetuum Mobile, Shachar Marcus, MUZA, 2019

Mechanical design, characterization and selection of drive mechanism / motor, production of shop drawings, supervision on construction. Produced in collaboration with studio Omri Ben Artzi, as an installation in the exhibition “Data Mining”, Shachar Marcus, MUZA, 2019.

I vs. Us, Riki Stollar, 2020

Mechanical design. Design a working mechnical system from the artist’s concept. Construction in collaboration with the artist, for exhibition. Riki Stollar, 2020.

Cap-sense name card

A touch sensitive PCB name card I designed for myself. Design of the card was meant as playground in which to play around with PCB art, ATtiny13, and some blinking LEDs, while maintaining a balance between playfulness, usability, and low cost.

Raspberry Pi - play video when button pressed

Written for a commercial exhibition, video plays when a user inserts a ‘coin’ to a slot in the enclosure.

Code: python

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                        #!/usr/bin/env python3

# A short python script to play once a video file when button is pressed
# meant to run on Raspberry Pi, with button connected to GPIO 21
# script meant to be used in a commercial exhibition, and button to be pressed by PMMA "coin"
# inserted to slot in arcade-styled enclosure.
# Sample video from https://peach.blender.org/download/
# Requires omxplayer!!

import RPi.GPIO as GPIO
import os
import sys
from omxplayer.player import OMXPlayer
from pathlib import Path
from time import sleep

GPIO.setmode(GPIO.BCM)

# button on GPIO 21
GPIO.setup(21, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# indication LED on GPIO 13
GPIO.setup(13, GPIO.OUT)
# DEBUG button on GPIO 24
#GPIO.setup(24, GPIO.IN, pull_up_down=GPIO.PUD_UP)
    
VIDEO_PATH = Path("/home/pi/mu_code/videos/SampleVideo_1280x720_10mb.mp4")
if len(sys.argv) > 1:
    VIDEO_PATH = Path(sys.argv[1])
    
player = OMXPlayer(VIDEO_PATH, args='--no-osd --no-keys -b -o hdmi')

def playerExit(code):
    player.quit()
    print('exit',code)
    os._exit(0)

last_state1 = True
input_state1 = True
quit_video = False
timer = 0
playing = False

# set variable for length of video
videoLength = player.duration() - 0.1

# after loading pause at end of video
sleep(videoLength)
player.pause()
GPIO.output(13, 0)

while True:
    #Read states of input
    input_state1 = GPIO.input(21)

    #If GPIO(21) is shorted to Ground
    if input_state1 != last_state1:
        if (not playing and not input_state1):
            player.set_position(0)
            player.play()
            GPIO.output(13, 1)
            playing = True
    
    if playing:
        if timer > (videoLength - 0.01):
            print ("Video flie length: %f, Timer: %f" %(videoLength, timer))
            timer = 0
            player.pause()
            GPIO.output(13, 0)
            playing = False
        else:
            timer += player.position() / 1000.0
    
    player.exitEvent += lambda _, exit_code: playerExit(exit_code)
    
    #GPIO(24) to close omxplayer manually - used during debug
    if quit_video == True:
#        pygame.quit()
        player.quit()
        os.system('killall omxplayer.bin')
        playing = False
        sys.exit(0)
        os._exit(-1)
        break

    #Set last_input states
    last_state1 = input_state1

Web-BLE configuration of WiFi credentials for ESP32

A web app written in Nuxt (a Vue framework) for configuration of WiFi credentials for a ESP32 device over web-ble.

Markdown / Readme

Nuxt.JS esp32 WiFi configuration over Bt-LE

General description

A web based app used to configure WiFi credentials over Bluetooth LE (BLE), for esp32 based IoT projects. Check it out here.
The app is written in NuxtJS, a Vue framework for server side rendered apps. This is a recreation of the app, which was originally written using KnockoutJS and JQuery. The main reason for recreating the app was that having the BLE configuration and connection parts as Nuxt / Vue Components can help integrate them further into more complex web applications.
The app interacts with the esp32 using web-bluetooth, which is a web standard under development. Thus, it is available atm (02/2020) only on Chrome browsers, on OSX Yosemite and later, Windows 10, Linux with required bluez version etc., and Android > 6.0. Click here for current implementation status

Requirements

The app relies on communication with a esp32 based device / dev board, set up to support configuration of mutiple APs over BLE. Check it out here.
The Arduino script can be found at: https://github.com/UriShX/esp32_wifi_ble_advanced, written in PlatformIO (with the Arduino framework). The esp32 app complements this web app in functionality, and supports writing, reading, as well as both WiFi connection status and a list of access points seen by the esp32 device.
The communication with the esp32 device is based on Bernd Giesecke’s ESP32 WiFi configuration over BLE, and intends to replace the native Android Java app Bernd used. It also expands on Bernd’s original use to support connection status reporting and passing a list of SSIDs seen by the esp32.
Sadly, there is no support atm for iOS devices, though I believe it can be possible to achieve with nativescript.

JS libraries and CSS used:

A custom class, stored in espconfig.js, was created using get Started with Web Bluetooth, a web-ble boilerplate code generator app.
The class is linked to the Nuxt app as a client rendered, root injected plugin, which is found here.
BootstrapVue was used in order to keep the design similar to the previous iteration of the app, which used Bootstrap 4.
Vuelidate was used to ensure SSID and password fields are not blank before passing the credentials to the device.
Material design icons were used throughout, for ease of use in development, through nuxt-material-icons.

App features and configuration

The app does not allow the user to change the visibility of passwords recieved from the esp32 device, as well as accessing the passwords from the console using elment access. Control of this feature is done in InputPair.vue.
The Arduino sketch for the esp32 requires both SSID and password to be set, for both the primary and secondary fields. Validation is set to require all fields to have content, unless “Configure Secondary SSID” is set to OFF and both the secondary SSID and password fields are blank (and the primary ones have content) - in which case the primary fields’ content will be copied to the secondary. This scheme can be configured in Config.vue.
The communication between the esp32 device and the app is slightly obfuscated by doing a XOR operation of the stringified JSON object with the esp32 device’s name. The operation occurs on both the recieve and send operations, and can be found in string_helpers.js, and its calling functions in Config.vue.
The app uses the UUIDs Bernd Giesecke’s used in his original app to maintain backward compatibility.
The app searches only for devices with a name that starts with “ESP32”, and does not display other devices.
- UUIDs and callbacks used by espconfig.js are set in Navbar.vue.
geo_spoof.js is used to prevent the BLE connection from asking permission to use geolocation services. App still requests location services on Android.
- Android v. 6.0 and above requires ACCESS_COARSE_LOCATION to be allowed,and geo_spoof.js is an attempt to mitigate that by providing a false location in order for the app to work even when geolocation cannot be found by the Android device. More info about this subject can be found in this dicussion on stackoverflow.com. I have not tested it on this particular app, but have used this method with success to control a servo over BLE in a basement with no GPS reception for another web app.
navigatorCheck.js contains the method used to check the users’ OS and browser for compatibilty with the web-bluetooth standard.
- Disabling a “No JavaScript” alert and checking browser and OS for compatibilty is done in Compatibility.vue.

Build Setup

Bluetooth-LE requires a secure connection over HTTPS. For development, the nuxt.config.js file contains links to server key and certificate files, according to Nuxt’s documentation. The files should either be stored in ~/ssl/, or the server tag in nuxt.config.js should be edited to fit. server.host is also set as 0.0.0.0, to allow testing and debugging on connected Android device through local network.

This app was set up to be deployed to github pages, according to Nuxt’s guide. Since the app was built to be static, the generate.subFolders property in nuxt.config,js was set to false, to generate separate files for each of the pages. The dist folder is white-listed in .gitignore, and can be easily pushed to gh-pages branch. More details can be found here.

# install dependencies
$ npm install

# serve with hot reload at localhost:3000
$ npm run dev

# build for production
$ npm run build

# generate static project for github pages deployment
$ npm run generate:gh-pages

# push dist folder to github pages
$ git subtree push --prefix dist origin gh-pages

For detailed explanation on how things work, check out Nuxt.js docs.

TODO

Check geolocation spoofing. Android still requests turning on location services, and in testing returns the function from geo_spoof.js. Not sure if the values are accepted by the navigator. This should be checked in an environment where geolocation is not available, such as a basement.
Make app progressive using Nuxt PWA.
Replace Bootsrap with either a lighter CSS framework, or a pure CSS / CSS extension language such as Sass.

Further goals:

Create native Android and iOS apps using nativescript-vue.
Setting up a device password and authentication scheme, so not everyone can get to the device and read passwords stored on it.

2 DC motors moving in tandem w/ AP for control and monitoring

ESP32 & Roboclaw control for exhibition in museum.

Code: cpp

                        /*
 * A basic 2*DC motors controller based on ESP32 in AP mode for configuration and maintanence
 * Motor controller is Roboclaw, DC motors are DC geared motors w/ encoder.
 * 
 * Used to power a mechanized exhibit in a museum setting.
 *
 * Uri Shani, 09/2019
 *
 * changed sdk config AMPDU_TX and AMPDU_RX from 1 to 0 (disabled) for AP to work
 * based on https://github.com/espressif/arduino-esp32/issues/2382
 * 
 * AP based on https://resources.basicmicro.com/esp8266-advanced-control-of-roboclaw/
 *  
*/


//Includes required to use Roboclaw library
#include <RoboClaw.h>
#include <Preferences.h>
#include <WiFi.h>
#include <WiFiClient.h>
#include <WebServer.h>
#include <SPIFFS.h>
#include <FS.h>
// #include "html_file.h"

//Serial2 pins
#define RXD2 16
#define TXD2 17
#define M1_HOME 27
#define M2_HOME 14

//RoboClaw address
#define address 0x80

//Velocity PID coefficients
#define Kp 4.1
#define Ki 0.5
#define Kd 0.25
unsigned int qpps = 6718; //44000

bool M1_fault = false; // false = no fault; true = could not home
bool M2_fault = false; // false = no fault; true = could not home
int smalldelay = 60; // value in seconds
int nSmallCycle = 3; // zero indexed
int smallCycleIndex = 0; // manual (if) loop
int delayPeriondInSeconds = 60 * 10; // self explainatory
int nTimesToMove = 4; // complete cycle movement
bool enableAutoMovement = true; // true = auto mode; false = manual mode
int speedMultiplier = 4; // speed = qpps * speedMultiplier
int accelMultiplier = 6; // acceleration = qpps * accelMultiplier
float decelMultiplier = 1; // deceleration = qpps * decelMultiplier
int distance = 120; // distance to move before deceleration begins

bool homing = false;

unsigned long currentTime = millis();
unsigned long smallCycleTime = millis();

Preferences preferences;
RoboClaw roboclaw(&Serial2,20000);

// Replace with your network credentials
const char* ssid     = "AP_SSID";
const char* password = "Password";

// Set web server port number to 80
WebServer server(80);

const char home_page[] = R"=====(
<!DOCTYPE html>
<html>
<head>
<script>
  function manualControl() {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if (this.readyState == 4 && this.status == 200) {
 
      }
    };
    xhttp.open("GET", "manualorauto", true);
    xhttp.send();
  }
  function sendCommand(chan,state) {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if (this.readyState == 4 && this.status == 200) {
 
      }
    };
    xhttp.open("GET", "handleMotor?motorChannel="+chan+"&motorState="+state, true);
    xhttp.send();
  }
  function home() {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if (this.readyState == 4 && this.status == 200) {
        document.getElementById("homed").innerHTML = this.responseText;
      }
    };
    xhttp.open("GET", "homeMotors", true);
    xhttp.send();
  }
  function move() {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if (this.readyState == 4 && this.status == 200) {
        document.getElementById("movement").innerHTML = this.responseText;
      }
    };
    xhttp.open("GET", "testmovement", true);
    xhttp.send();
  }
  function LoadSavePreferences(action) {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if (this.readyState == 4 && this.status == 200) {
        document.getElementById("preferences").innerHTML = this.responseText;
      }
    };
    xhttp.open("GET", "loadsavepreferences?loadorsave="+action, true);
    xhttp.send();
  }
  function downloadLog(action) {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if (this.readyState == 4 && this.status == 200) {
        document.getElementById("log_status").innerHTML = this.responseText;
      } else if (this.readyState == 4) {
        _OBJECT_URL = URL.createObjectURL(this.response);

    		// Set href as a local object URL
    		document.querySelector('#save-file').setAttribute('href', _OBJECT_URL);
    		
    		// Set name of download
    		document.querySelector('#save-file').setAttribute('download', 'img.jpeg');
      }
    };
    xhttp.open("GET", "handleLogFile?action="+action, true);
    xhttp.send();
  }
  setInterval(function(){
   getManualOrAuto();
  }, 1000);
  setInterval(function(){
   getEnc_1();
  }, 1100);
  setInterval(function(){
   getEnc_2();
  }, 1200);
   setInterval(function(){
   getTemp();
  }, 5000);
   setInterval(function(){
   getVoltage();
  }, 2000);
  function getManualOrAuto() {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if(this.readyState == 4 && this.status == 200){
        document.getElementById("manualOrAuto").innerHTML = this.responseText;
      }
    };
    xhttp.open("GET","manualorautostate",true);
    xhttp.send();
  }
  function getEnc_1() {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if(this.readyState == 4 && this.status == 200){
        document.getElementById("encoder_1_value").innerHTML = this.responseText;
      }
    };
    xhttp.open("GET","readEncoder_1",true);
    xhttp.send();
  }
  function getEnc_2() {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if(this.readyState == 4 && this.status == 200){
        document.getElementById("encoder_2_value").innerHTML = this.responseText;
      }
    };
    xhttp.open("GET","readEncoder_2",true);
    xhttp.send();
  }
  function getTemp() {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if(this.readyState == 4 && this.status == 200){
        document.getElementById("temp").innerHTML = this.responseText;
      }
    };
    xhttp.open("GET","readTemp",true);
    xhttp.send();
  }
  function getVoltage() {
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function() {
      if(this.readyState == 4 && this.status == 200){
        document.getElementById("voltage").innerHTML = this.responseText;
      }
    };
    xhttp.open("GET","readVoltage",true);
    xhttp.send();
  }
</script>
<style>
      .round {
        border-radius: 25px;
        background-color: #cde6f5;
        width: 50%;
        height: 50%;
        margin: 20px;
        padding: 20px;
      }
      .round_big {
        border-radius: 25px;
        background-color: #cdf5f2;
        width: 50%;
        height: 50%;
        margin: 20px;
        padding: 20px;
      }
      h2 {
        color: #707078;
      }
      .button {
        background-color: #87919e;
        display: inline-block;
        border-radius: 10px;
        border: none;
        color: white;
        font-size: 15px;
        padding: 25px;
      }
      span {
        color: #707078;
      }
      p {
        color: #707078;
        font-size: 25px;
      }
    </style>
</head>
<body>
    <div class="round">
      <h2>Enable manual control</h2>
      <button type="button" class="button" onclick="manualControl()">Manual Control</button>
      <br />
      <p>Control: <span id="manualOrAuto"></span></p>
    </div>
    <div class="round">
      <h2>Home</h2>
      <button type="button" class="button" onclick="home()">Home Motors</button>
        <br />
        <p><span id="homed"></span></p>
    </div>
    <div class="round_big">
        <h2>Move Motors Manually</h2>
        <p>Encoder Count: <span id="encoder_1_value">0</span></p>
        <p>Encoder Count: <span id="encoder_2_value">0</span></p>
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   xmlns="http://www.w3.org/2000/svg"
   viewBox="0 0 455.93368 710.97366"
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     id="metadata913"><rdf:RDF><cc:Work
         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
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         transform="matrix(0.47517734,0,0,-0.5086381,3514.4504,3803.6304)" /></g><g
       onclick="sendCommand('2','1')"
       id="M2_L"
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         transform="matrix(0.47517734,0,0,-0.5086381,3514.4504,3803.6304)" /></g><g
       onclick="sendCommand('1','0')"
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       onclick="sendCommand('2','0')"
       id="M2_stop"
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         style="opacity:1;fill:#63f15c;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:23.62204742;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
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       ry="125"
       rx="125"
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       transform="scale(1,-1)"
       id="text5145"
       y="-8390.8818"
       x="4608.6787"
       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:500px;line-height:1.25;font-family:'Courier 10 Pitch';-inkscape-font-specification:'Courier 10 Pitch';letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:12.5"
       xml:space="preserve"><tspan
         style="stroke-width:12.5"
         y="-8390.8818"
         x="4608.6787"
         id="tspan5143">M1</tspan></text>
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    </div>
    <div class="round">
      <h2>Test movement</h2>
      <button type="button" class="button" onclick="move()">Test movement</button>
        <br />
        <p><span id="movement"></span></p>
    </div>
    <div class="round">
      <h2>Info</h2>
        <p>Voltage: <span id="voltage">0</span>V</p>
        <p>Temperature: <span id="temp">0</span>C</p>
    </div>
    <div class="round">
      <h2>Motor Channel 1</h2>
      <button type="button" class="button" onclick="sendCommand('1','2')">Move to wall</button>
      <button type="button" class="button" onclick="sendCommand('1','1')">Move away from wall</button>
        <button type="button" class="button" onclick="sendCommand('1','0')">Motor Off</button>
        <br />
        <br />
        <p>Encoder Count: <span id="encoder_1_value">0</span></p>
    </div>
    <div class="round">
      <h2>Motor Channel 2</h2>
      <button type="button" class="button" onclick="sendCommand('2','2')">Move to wall</button>
      <button type="button" class="button" onclick="sendCommand('2','1')">Move away from wall</button>
        <button type="button" class="button" onclick="sendCommand('2','0')">Motor Off</button>
        <br />
        <br />
        <p>Encoder Count: <span id="encoder_2_value">0</span></p>
    </div>
    <div class="round">
      <h2>Save state</h2>
      <button type="button" class="button" onclick="LoadSavePreferences(2)">Clear preferences and return to defaults</button>
      <br />
      <p>Confirmation: <span id="preferences"></span></p>
    </div>
    <div class="round">
      <h2>Handle log</h2>
      <button type="button" class="button" onclick="downloadLog(0)">Download log file</button>
      <br />
      <button type="button" class="button" onclick="downloadLog(1)">Delete log file</button>
      <br />
      <p>Confirmation: <span id="log_status"></span></p>
    </div>
    
</body>
</html>
)=====";

// Variable to store the HTTP request
String header;

void movement();
void displayspeed();
void home(uint16_t targetInit);
void handlePreferences();
void handleHome();
void homeMotors();
void handleManualOrAuto();
void handleManualOrAutoState();
void handleEncoder_1();
void handleEncoder_2();
void handleMotor();
void handleTemp();
void handleVoltage();
void handleMovement();
void handleLogFile();

void setup() {
    pinMode(M1_HOME, INPUT_PULLUP);
    pinMode(M2_HOME, INPUT_PULLUP);

    preferences.begin("roboclaw_defines", false);
    M1_fault = preferences.getBool("M1_fault", false);
    M2_fault = preferences.getBool("M2_fault", false);
    preferences.end();

    if(!SPIFFS.begin(true)){
      Serial.println("An Error has occurred while mounting SPIFFS");
      return;
    }

    delay(500);


    Serial.begin(115200);
    roboclaw.begin(115200);

    // Connect to Wi-Fi network with SSID and password, and only one allowed connection
    Serial.print("Setting AP (Access Point)…");
    WiFi.softAP(ssid, password, 1, 0, 1);

    IPAddress IP = WiFi.softAPIP();
    Serial.print("AP IP address: ");
    Serial.println(IP);
    
    server.on("/", handleHome);
    server.on("/readEncoder_1", handleEncoder_1);
    server.on("/readEncoder_2", handleEncoder_2);
    server.on("/readTemp", handleTemp);
    server.on("/readVoltage", handleVoltage);
    server.on("/handleMotor", handleMotor);
    server.on("/manualorauto", handleManualOrAuto);
    server.on("/manualorautostate", handleManualOrAutoState);
    server.on("/homeMotors", homeMotors);
    server.on("/testmovement",handleMovement);
    server.on("/loadsavepreferences",handlePreferences);
    server.on("/handleLogFile", handleLogFile);

    server.begin(); 
      
    delay(10);

    roboclaw.ResetEncoders(address);

    home(0);

    delay(10);
    // roboclaw.SetPinFunctions(address, 0, 3, 0); // set pin 4 as voltage clamp

    if (!M1_fault && !M2_fault) {
      movement();
      delay(100);
      home(100); 
    }
}

void loop() { //Choose Serial1 or Serial2 as required
  server.handleClient();
  if ((millis() - currentTime > (delayPeriondInSeconds - (smalldelay * nSmallCycle)) * 1000) && enableAutoMovement)
  {
    if (smallCycleIndex < nSmallCycle)
    {
      if ((millis() - smallCycleTime > smalldelay * 1000) && enableAutoMovement)
      {
        // server.handleClient();
        smallCycleTime = millis();
        movement();
        delay(100);
        home(150);
        smallCycleIndex++;
      }
      delay(1);
    }
    else 
    {
      smallCycleIndex = 0;
      currentTime = millis();
    }
  delay(1);
  }
}

void movement()
{
    uint8_t depth1,depth2;
    unsigned int qppsM1 = qpps;
    unsigned int qppsM2 = 0.98 * qpps;

    if (!M1_fault && !M2_fault)
    {
      // roboclaw.SpeedAccelDistanceM1M2(address, uint32_t accel, uint32_t speed1, uint32_t distance1, uint32_t speed2, uint32_t distance2, uint8_t flag=0);
      roboclaw.SpeedAccelDistanceM1(address,qppsM1*accelMultiplier,qppsM1*speedMultiplier,distance,1);
      roboclaw.SpeedAccelDistanceM2(address,qppsM2*accelMultiplier,qppsM2*speedMultiplier,distance,1);
      roboclaw.SpeedAccelDistanceM1(address,qppsM1*decelMultiplier,0,0);  //distance traveled is v*v/2a = 12000*12000/2*12000 = 6000
      roboclaw.SpeedAccelDistanceM2(address,qppsM2*decelMultiplier,0,0);  //that makes the total move in ondirection 48000
      do{
          // displayspeed();
          roboclaw.ReadBuffers(address,depth1,depth2);
      }while(depth1!=0x80 && depth2!=0x80);	//loop until distance command completes

      delay(10);

      for (int i = 0; i < 4; i++) {
          // roboclaw.SpeedAccelDistanceM1M2(address, uint32_t accel, uint32_t speed1, uint32_t distance1, uint32_t speed2, uint32_t distance2, uint8_t flag=0);
          roboclaw.SpeedAccelDistanceM1(address,qppsM1*accelMultiplier,-qppsM1*speedMultiplier,distance*2,1);
          roboclaw.SpeedAccelDistanceM2(address,qppsM2*accelMultiplier,-qppsM2*speedMultiplier,distance*2,1);
          roboclaw.SpeedAccelDistanceM1(address,qppsM1*decelMultiplier,0,0);  //distance traveled is v*v/2a = 12000*12000/2*12000 = 6000
          roboclaw.SpeedAccelDistanceM2(address,qppsM2*decelMultiplier,0,0);  //that makes the total move in ondirection 48000
          do{
              // displayspeed();
              roboclaw.ReadBuffers(address,depth1,depth2);
          }while(depth1!=0x80 && depth2!=0x80);	//loop until distance command completes

          delay(10);
          
          roboclaw.SpeedAccelDistanceM1(address,qppsM1*accelMultiplier,qppsM1*speedMultiplier,distance*2,1);
          roboclaw.SpeedAccelDistanceM2(address,qppsM2*accelMultiplier,qppsM2*speedMultiplier,distance*2,1);
          roboclaw.SpeedAccelDistanceM1(address,qppsM1*decelMultiplier,0,0);
          roboclaw.SpeedAccelDistanceM2(address,qppsM2*decelMultiplier,0,0);
          do{
              // displayspeed();
              roboclaw.ReadBuffers(address,depth1,depth2);
          }while(depth1!=0x80 && depth2!=0x80);	//loop until distance command completes

          delay(10);
      }

      // roboclaw.SpeedAccelDistanceM1M2(address, uint32_t accel, uint32_t speed1, uint32_t distance1, uint32_t speed2, uint32_t distance2, uint8_t flag=0);
      roboclaw.SpeedAccelDistanceM1(address,qppsM1*accelMultiplier,-qppsM1*speedMultiplier,distance,1);
      roboclaw.SpeedAccelDistanceM2(address,qppsM2*accelMultiplier,-qppsM2*speedMultiplier,distance,1);
      roboclaw.SpeedAccelDistanceM1(address,qppsM1*decelMultiplier,0,1);  //distance traveled is v*v/2a = 12000*12000/2*12000 = 6000
      roboclaw.SpeedAccelDistanceM2(address,qppsM2*decelMultiplier,0,1);  //that makes the total move in ondirection 48000
      do{
          // displayspeed();
          roboclaw.ReadBuffers(address,depth1,depth2);
      }while(depth1!=0x80 && depth2!=0x80);	//loop until distance command completes

      delay(10);
    }
}

void displayspeed()
{
    uint8_t status1,status2,status3,status4;
    bool valid1,valid2,valid3,valid4;
    
    int32_t enc1= roboclaw.ReadEncM1(address, &status1, &valid1);
    int32_t enc2 = roboclaw.ReadEncM2(address, &status2, &valid2);
    int32_t speed1 = roboclaw.ReadSpeedM1(address, &status3, &valid3);
    int32_t speed2 = roboclaw.ReadSpeedM2(address, &status4, &valid4);
    Serial.print("Encoder1:");
    if(valid1){
        Serial.print(enc1,DEC);
        Serial.print(" ");
        Serial.print(status1,HEX);
        Serial.print(" ");
    }
    else{
        Serial.print("failed ");
    }
    Serial.print("Encoder2:");
    if(valid2){
        Serial.print(enc2,DEC);
        Serial.print(" ");
        Serial.print(status2,HEX);
        Serial.print(" ");
    }
    else{
        Serial.print("failed ");
    }
    Serial.print("Speed1:");
    if(valid3){
        Serial.print(speed1,DEC);
        Serial.print(" ");
    }
    else{
        Serial.print("failed ");
    }
    Serial.print("Speed2:");
    if(valid4){
        Serial.print(speed2,DEC);
        Serial.print(" ");
    }
    else{
        Serial.print("failed ");
    }
    Serial.println();
}

void home(uint16_t targetInit)
{
    const uint8_t bitDirection = 1 << 1; // Bit 1 - Direction (0 = Forward, 1 = Backwards)
    bool M1_state = true;
    bool M2_state = true;
    int distance = 0;
    int speed = 100;
    uint16_t M1target = qpps / 4;
    uint16_t M2target = qpps / 4;

    uint8_t status1,status2;
    bool valid1,valid2;
    int32_t enc1= roboclaw.ReadEncM1(address, &status1, &valid1);
    int32_t enc2 = roboclaw.ReadEncM2(address, &status2, &valid2);
    if(valid1 && valid2){
        Serial.printf("Encoder1: %d\tEncoder2: %d\n", enc1, enc2);
    } else Serial.println("Error reading encoders");

    if (targetInit > 0) {
      if (enc1 != 0) {if (abs(enc1) > M1target) M1target = enc1;}
      if (enc2 != 0) {if (abs(enc2) > M2target) M2target = enc2;}
      M1target += targetInit;
      M2target += targetInit;
    }

    if (enc1 > 0) speed *= -1; // Bit 1 - Direction (0 = Forward, 1 = Backwards)
    do
    {
        roboclaw.SpeedDistanceM1(address, speed, 1, 1);
        distance++;
        M1_state = digitalRead(M1_HOME);
    } while (M1_state && distance < M1target);

    if (!M1_state) 
    {
      roboclaw.SpeedM1(address, 0);
      roboclaw.SetEncM1(address, 0);
      M1_fault = false;
    }
    else
    {
        distance = 0;
        do
        {
            roboclaw.SpeedDistanceM1(address, -speed, 1, 1);
            distance++;
            M1_state = digitalRead(M1_HOME);
        } while (M1_state && distance < M1target * 2);

        if (!M1_state)
        {
          roboclaw.SpeedM1(address, 0);
          roboclaw.SetEncM1(address, 0);
          M1_fault = false;
        }
        else 
        {
            do
            {
                roboclaw.SpeedDistanceM1(address, speed, 1, 1);
                distance--;
                M1_state = digitalRead(M1_HOME);
            } while (M1_state && distance > M1target);
            roboclaw.SpeedM1(address, 0);
            M1_fault = true;
            Serial.println("could not home M1");
        }
    }
    
    distance = 0;
    if (enc2 > 0 && speed < 0) speed *= -1; // Need to check
    do
    {
        roboclaw.SpeedDistanceM2(address, speed, 1, 1);
        distance++;
        M2_state = digitalRead(M2_HOME);
    } while (M2_state && distance < M2target);

    if (!M2_state) 
    {
      roboclaw.SpeedM2(address, 0);
      roboclaw.SetEncM2(address, 0);
      M2_fault = false;
    }
    else
    {
        distance = 0;
        do
        {
            roboclaw.SpeedDistanceM2(address, -speed, 1, 1);
            distance++;
            M2_state = digitalRead(M2_HOME);
        } while (M2_state && distance < M2target * 2);

        if (!M2_state) 
        {
          roboclaw.SpeedM2(address, 0);
          roboclaw.SetEncM2(address, 0);
          M2_fault = false;
        }
        else {
            do
            {
                roboclaw.SpeedDistanceM2(address, speed, 1, 1);
                distance--;
                M2_state = digitalRead(M2_HOME);
            } while (M2_state && distance > M2target);
            roboclaw.SpeedM2(address, 0);
            M2_fault = true;
            Serial.println("could not home M2");
        }
    }
    
    Preferences preferences;
    preferences.begin("roboclaw_defines", false);
    preferences.putBool("M1_fault", M1_fault);
    preferences.putBool("M2_fault", M2_fault);
    preferences.end();

    // Code to save log in SPIFFS
    // if (M1_fault || M2_fault)
    // {
    //   File file = (!SPIFFS.exists("/log.txt"))?SPIFFS.open("/log.txt", FILE_WRITE):SPIFFS.open("/log.txt", FILE_APPEND);      

    //   if(!file){
    //       Serial.println("There was an error opening the file for writing");
    //       return;
    //   }
      
    //   if(file.printf("enc1: %i, enc1_direction: %s, M1_fault: %s, enc2: %i, enc2_direction: %s, M2_fault: %s\n", enc1, (~bitDirection & status1)?"fwd":"bwd"), M1_fault?"fail":"success", enc2, (~bitDirection & status2)?"fwd":"bwd", M2_fault?"fail":"success") {
    //       Serial.println("File was written");
    //   }else {
    //       Serial.println("File write failed");
    //   }

    //   file.close();
    // }

    roboclaw.ResetEncoders(address);
}

void handlePreferences()
{
  String action = server.arg("loadorsave");
  if (action == "2") {
    Preferences preferences;
    preferences.clear();
    preferences.end();
    server.send(200, "text/html","cleared preferences");
  }
}

void handleHome(){
  String page = home_page;
  server.send(200, "text/html",page);
}

void homeMotors(){
  if (homing == false){
    homing = true;
    String status = "";
    if (!enableAutoMovement) {
      home(100);
      if (M1_fault) status += "M1 failed ";
      if (M2_fault) status += "M2 failed";
      if (!M1_fault && !M2_fault) status += "Homed successfully";
    }
    else status = "Cannot home in Auto Mode!";
    server.send(200, "text/html", status);
    homing = false;
  }
}

void handleMovement(){
  String status = "";
  if (!enableAutoMovement) {
    if (!M1_fault && !M2_fault) {
      movement();
      status += "Moved motors";
    }
    else {
      status += "Cannot home ";
      if (M1_fault) status += "M1 ";
      if (M2_fault) status += "M2";
    }
  }
  else status += "Cannot test movement in Auto Mode!";
  server.send(200, "text/html", status);
}

void handleManualOrAuto(){
  enableAutoMovement ^= true;
}

void handleManualOrAutoState(){
  String ManAutoState;
  if (enableAutoMovement) ManAutoState = "Auto";
  else if (!enableAutoMovement) ManAutoState = "Manual";
  server.send(200, "text/html",ManAutoState);
}

void handleEncoder_1(){
  int enc_value = roboclaw.ReadEncM1(address);
  String value = String(enc_value);
  server.send(200, "text/plain", value);
    
}

void handleEncoder_2(){
  int enc_value = roboclaw.ReadEncM2(address);
  String value = String(enc_value);
  server.send(200, "text/plain", value);
    
}

void handleMotor(){
  int speed = 100;
  String motor_channel = server.arg("motorChannel");
  String motor_state = server.arg("motorState");
  if (!enableAutoMovement) {
    if(motor_channel == "1") {
      if(motor_state == "1") {
        roboclaw.SpeedDistanceM1(address, speed, qpps/10, 0);
        // roboclaw.ForwardM1(address, 64);
      }
      else if(motor_state == "2") {
        roboclaw.SpeedDistanceM1(address, -speed, qpps/10, 0);
        // roboclaw.ForwardM1(address, 64);
      }
      else if(motor_state == "0") {
        roboclaw.SpeedDistanceM1(address, 0,0,0);
      }
    }

    else if(motor_channel == "2") {
      if(motor_state == "1") {
        roboclaw.SpeedDistanceM2(address, speed, qpps/10, 0);
        // roboclaw.ForwardM2(address, 64);
      }
      else if(motor_state == "2") {
        roboclaw.SpeedDistanceM2(address, -speed, qpps/10, 0);
        // roboclaw.ForwardM2(address, 64);
      }
      else if(motor_state == "0") {
        roboclaw.SpeedDistanceM2(address, 0,0,0);
      }
    }
  }
}

void handleTemp() {
  uint16_t temp = 0;
  roboclaw.ReadTemp(address, temp);
  float temp_f = (float)temp/10;
  String temp_str = String(temp_f);
  server.send(200, "text/plain", temp_str);
}

void handleVoltage() {
  int voltage = 0;
  voltage = roboclaw.ReadMainBatteryVoltage(address);
  float voltage_f = (float)voltage/10;
  String voltage_str = String(voltage_f);
  server.send(200, "text/plain", voltage_str);
}

void handleLogFile() {
  String action = server.arg("action");
  if (action == "0") {
    if (SPIFFS.exists("/log.txt")) {
      File download = SPIFFS.open("/log.txt", FILE_READ);
      if (download) {
        server.sendHeader("Content-Type", "text/text");
        server.sendHeader("Content-Disposition", "attachment; filename=log.txt");
        server.sendHeader("Connection", "close");
        server.streamFile(download, "application/octet-stream");
        download.close();
        server.client().stop(); // Stop is needed because no content length was sent (?)
      } else server.send(200, "text/plain", "/log.txt empty");
    } else server.send(200, "text/plain", "failed to retrieve /log.txt");
  } else if (action == "1") {
    if (SPIFFS.exists("/log.txt")) {
      SPIFFS.remove("/log.txt");
      server.send(200, "text/plain", "removed /log.txt");
    } else server.send(200, "text/plain", "did not find /log.txt");
  }
}

Injection molding - mold approval

Approval of molded products produced by “Supergum” as contracted work. Parts were approved according to customer’s requirements, and were collaboratively designed with a leading design studio.

Feasibility study: Concrete pot

Mechanical FEA of plastic injection molded concrete pouring pot, first step in approval for customer’s design. Salaried work for “Supergum”, for a customer manufacturing land stabilizing solutions.

Elastomeric part design

As part of my salaried work for Supergum, I was involved in design and design for manufacture of multiple elastomer parts. As part of my work there I was involved in elastomeric material selection, advising customers on design decisions, and fitting processes and technologies for particular products.

OpenVPN automatic profile switching for OpenWRT

An automatic switching script for NordVPN’s OpenVPN profiles, for keeping router connected to the optimal VPN server. Runs on OpenWRT based routers.

Code: bash

                        #!/bin/sh

###
# vpn-profile-switcher.sh v1.0.0
#
# Script for getting the recommended NordVPN server, downloading the server's OpenVPN config file,
# setting credentials, and configuring OpenWRT for using said server.
#
# For more details see README on: https://github.com/UriShX/vpn-profile-switcher
# or run ./vpn-profile-switcher.sh -h
#
# Written by Uri Shani, 2021
# MIT License
#
# NordVPN API documentation by Milosz Galazka, at: https://blog.sleeplessbeastie.eu/2019/02/18/how-to-use-public-nordvpn-api/
###

set -e

protocol="udp"
secret="secret"
recommendations_n=1

function show_usage() {
    printf "vpn-profile-switcher.sh v1.0.0\n"
    printf "Get NordVPN recommended profile and set OpenVPN on OpenWRT to use said profile.\n\n"
    printf "Usage: $0 [options <parameters>]\n\n"
    printf "Options: \n"
    printf "  -h | --help,\t\t\t\tPrint this help message\n"
    printf "  -p | --protocol < udp | tcp >,\tSelect either UDP or TCP connection. Default is UDP.\n"
    printf "  -c | --country < code | name >,\tSelect Country to filter by. Default is closest to your location.\n"
    printf "  -g | --group < group_name >,\t\tSelect group to filter by.\n"
    printf "  -r | --recommendations < number >,\tNumber of recommendations to ask from NordVPN API.\n"
    printf "  -d | --distance < number >,\t\tMinimal load distance between recommended server and current configuration.\n"
    printf "  -l | --login-info < filename >,\tSpecify file for VPN login credentials. Default is 'secret'.\n"
    printf "\nFor more information see README in repo: https://github.com/UriShX/vpn-profile-switcher\n"

    exit
}

function check_required() {
    WGET=$(which wget)
    JSONFILTER=$(which jsonfilter)
    LIBUSTREAM=$(opkg info libustream* | awk '/installed/{print $0}')

    if [ ! "$WGET" ] || [ ! "$JSONFILTER" ] || [ ! "$LIBUSTREAM" ]; then
        # wget: SSL support not available, please install one of the libustream-.*[ssl|tls] packages as well as the ca-bundle and ca-certificates packages.
        logger -s "($0) You must have the required packages installed: wget jsonfilter libustream*tls\n"
        exit 1
    fi
}

function check_is_num() {
    if [ -n "$1" -a $1 -eq $1 ] 2>/dev/null; then
        echo $1
    else
        logger -s "($0) Parameter $1 is not a number, quitting"
        exit 1
    fi
}

function verify_protocol() {
    if [ ! "$1" == "tcp" ] && [ ! "$1" == "udp" ]; then
        logger -s "($0) Protocol must be either udp or tcp, your input was: $1."
        exit 1
    else
        echo $1
    fi
}

function country_code() {
    identifier=$(wget -q -O - "https://raw.githubusercontent.com/urishx/vpn-profile-switcher/db/countries.tsv" | grep -iw "$1" | awk -F '\t' '/[0-9]+/{print $1}')

    if [ -z "$identifier" ]; then
        logger -s "($0) The query you entered ("$1") could not be found in the countries databse."
        logger -s "($0) You can view the list of countries in which NordVPN has OpenVPN servers online: https://github.com/urishx/vpn-profile-switcher/blob/db/countries.tsv"
        exit 1
    else
        echo "$identifier"
    fi
}

function server_groups() {
    identifier=$(wget -q -O - "https://raw.githubusercontent.com/urishx/vpn-profile-switcher/db/server-groups.tsv" | grep -iw "$1" | awk -F '\t' '/.*/{print $2}')

    if [ -z "$identifier" ]; then
        logger -s "($0) The query you entered ("$1") could not be found in the server groups databse."
        logger -s "($0) You can view the list of NordVPN OpenVPN server groups online: https://github.com/urishx/vpn-profile-switcher/blob/db/server-groups.tsv"
        logger -s "($0) Not all server groups are available for OpenVPN connection, please check NordVPN's server recommendation site: https://nordvpn.com/servers/tools/"
        exit 1
    else
        echo "$identifier"
    fi
}

function get_recommended() {
    _url="https://api.nordvpn.com/v1/servers/recommendations?"
    if [ ! -z "$group_identifier" ]; then
        _url=${_url}"filters[servers_groups][identifier]="${group_identifier}"&"
    fi
    if [ ! -z "$country_id" ]; then
        _url=${_url}"filters[country_id]="${country_id}"&"
    fi
    _url=${_url}"filters[servers_technologies][identifier]=openvpn_"${protocol}"&limit="${recommendations_n}
    logger -s "($0) Fetching VPN recommendations from: $_url"
    _json=$(wget -q -O - "$_url") || true
    recommended=$(jsonfilter -s "$_json" -e '$[0].hostname') || true
    recommendations=$(jsonfilter -s "$_json" -e '$[*].hostname') || true
    loads=$(jsonfilter -s "$_json" -e '$[*].load') || true
}

function check_in_configs() {
    server_name=$(uci show openvpn | grep $recommended.$protocol | awk -F '\.' '/config/{print $2}')
}

function check_enabled() {
    enabled_server=$(uci show openvpn | grep "enabled='1'" | awk -F '\.' '/.*/{print $2}')
}

function test_current_config() {
    _enabled_config=$(uci show openvpn | grep "$enabled_server.config" | awk -F\' '{sub (/\/etc\/openvpn\//,""); print $2}')

    if [ $recommendations_n -gt 1 ]; then
        if [ "$_enabled_config" != "$recommended.$protocol.ovpn" ]; then
            printf "Recommended servers (" >recommended_servers.log
            printf $(date "+%d.%m.%Y-%H:%M:%S") >>recommended_servers.log
            printf "):\n" >>recommended_servers.log

            for x in $(seq $recommendations_n); do
                printf "$x\t" >>recommended_servers.log
                echo $recommendations | awk -v x=$x '{printf("%s\t"), $x}' >>recommended_servers.log
                echo $loads | awk -v x=$x '{printf("%d\n"), $x}' >>recommended_servers.log
            done

            if cat recommended_servers.log | grep -q $_enabled_config; then
                logger -s "($0) Enabled config is in recommended severs list"
                test_load_distance $_enabled_config
            else
                logger -s "($0) Could not find the enabled config in recommended servers list"
            fi
        else
            logger -s "($0) Recommended server is the currently enabled config, quitting"
            exit 0
        fi
    else
        logger -s "($0) Configured to recieve only a single recommendation"
    fi
}

function test_load_distance() {
    _comp_load=$(awk -v x=$1 -F '\t' '$2~x {print $3}' <recommended_servers.log)
    _rec_load=$(awk -v x=$recommended -F '\t' '$2~x {print $3}' <recommended_servers.log)

    if [ ! -z "$load_distance" ]; then
        let "_distance=$_comp_load-$_rec_load" || true
        if [ $_distance -gt $load_distance ]; then
            logger -s "($0) Load on enabled server is more then $load_distance over recommended server, switching"
        else
            logger -s "($0) Load difference between enabled and recommended servers is smaller then $load_distance, quitting without change"
            exit 0
        fi
    else
        logger -s "($0) load_distance is not set"
    fi
}

function grab_and_edit_config() {
    wget -q https://downloads.nordcdn.com/configs/files/ovpn_$protocol/servers/$recommended.$protocol.ovpn
    if [ ! -f "$recommended.$protocol.ovpn" ]; then
        logger -s "($0) The recommended server profile could not be downloaded from NordVPN's servers, quitting."
        logger -s "($0) Not all server groups are available for OpenVPN connection, please see the list of available group + country combinations at: https://github.com/UriShX/vpn-profile-switcher/blob/db/group-countries.tsv"
        logger -s "($0) Or check NordVPN's server recommendation site: https://nordvpn.com/servers/tools/"
        exit 1
    fi
    mv $recommended.$protocol.ovpn /etc/openvpn/
    sed -i "s/auth-user-pass/auth-user-pass $secret/g" /etc/openvpn/$recommended.$protocol.ovpn
}

function create_new_entry() {
    new_server=$(echo "$recommended" | sed 's/[\.\ -]/_/g' | sed "s/com/$protocol/g")
    uci set openvpn.$new_server=openvpn
    uci set openvpn.$new_server.config="/etc/openvpn/$recommended.$protocol.ovpn"
}

function enable_existing_entry() {
    eval uci set openvpn.$1.enabled='1'
}

function disable_current_entry() {
    eval uci del openvpn.$1.enabled
}

function list_ovpn_configs() {
    uci show openvpn | grep nordvpn | while read y; do
        if [ "$1" == 'files' ]; then
            echo $(awk -F\' '/config/{print $2}')
        elif [ "$1" == 'names' ]; then
            echo $(awk -F '.' '/config/{print $2}')
        else
            logger -s "($0) bad argument $1 in list_ovpn_configs()"
        fi
    done
}

function remove_unused() {
    nordvpn_configs=$(list_ovpn_configs names)
    nordvpn_files=$(list_ovpn_configs files)

    for X in $nordvpn_configs; do
        if [ ! "$X" == "$server_name" ] && [ ! "$X" == "$new_server" ] && [ ! "$X" == "$enabled_server" ]; then
            uci del openvpn.$X
        fi
    done

    uci commit

    if [ ! -z "$enabled_server" ]; then
        _enabled_config="/etc/openvpn/"${_enabled_config}
    fi
    if [ ! -z "$server_name" ]; then
        existing_file=$(uci show openvpn.$server_name.config | awk -F\' '{print $2}')
    fi
    if [ ! -z "$new_server" ]; then
        new_file=$(uci show openvpn.$new_server.config | awk -F\' '{print $2}')
    fi

    for X in $nordvpn_files; do
        if [ ! "$X" == "$_enabled_config" ] && [ ! "$X" == "$existing_file" ] && [ ! "$X" == "$new_file" ]; then
            rm $X
        fi
    done
}

function restart_openvpn() {
    uci commit openvpn
    /etc/init.d/openvpn restart
}

### RUN ###
# if [[ $# -gt 3 ]] || [[ $# -eq 0 ]]; then
#     echo "Either 0 or more than 3 input arguments provided which is not supported"
#     show_usage
#     exit 1
# fi

check_required

while [ ! -z "$1" ]; do
    case "$1" in
    -h | --help)
        show_usage
        ;;
    -p | --protocol)
        shift
        protocol=$(verify_protocol $1)
        ;;
    -c | --country)
        shift
        country_id=$(country_code $1)
        ;;
    -g | --group)
        shift
        group_identifier=$(server_groups $1)
        ;;
    -r | --recommendations)
        shift
        recommendations_n=$(check_is_num $1)
        ;;
    -d | --distance)
        shift
        load_distance=$(check_is_num $1)
        ;;
    -l | --login-info)
        shift
        secret="$1"
        ;;
    *)
        logger -s "($0) Incorrect input provided"
        show_usage
        ;;
    esac
    shift
done

logger -s "($0) Arguments: Protocol: $protocol; Country: $country_id; NordVPN group: $group_identifier; User credentials: $secret."

get_recommended

if [ -z "$recommended" ]; then
    logger -s "($0) Could not get recommended VPN, exiting script"
    logger -s "($0) This might be due to a group + country combination, or server group which is not supported by OpenVPN connection."
    logger -s "($0) To tune your request, please see the list of available combinations at: https://github.com/UriShX/vpn-profile-switcher/blob/db/group-countries.tsv"
    logger -s "($0) Or check NordVPN's server recommendation site: https://nordvpn.com/servers/tools/"
    exit
fi

logger -s "($0) Recommended server URL: $recommended."

check_in_configs

check_enabled

logger -s "($0) Currently active server: $enabled_server"

test_current_config

if [ -z "$server_name" ]; then
    logger -s "($0) Fetching OpenVPN config $recommended.$protocol.ovpn, and setting credentials"
    grab_and_edit_config
    create_new_entry
    logger -s "($0) Entered new entry to OpenVPN configs: $new_server"
else
    logger -s "($0) Recommended server name: $server_name"
fi

if [ "$enabled_server" == "$server_name" ]; then
    logger -s "($0) Recommended server is already configured as active"
    exit
else
    if [ -z "$new_server" ]; then
        logger -s "($0) Enabling existing entry"
        enable_existing_entry $server_name
    else
        logger -s "($0) Enabling new entry"
        enable_existing_entry $new_server
    fi
    logger -s "($0) Disabling current active server"
    disable_current_entry $enabled_server
fi

logger -s "($0) Comitting changes and restarting OpenVPN"

restart_openvpn

logger -s "($0) Removing unused NordVPN profiles, leaving current and last used."
remove_unused

Markdown / Readme

vpn-profile-switcher

-ash shell script for getting the recommended NordVPN server, downloading said server’s OpenVPN config file, setting credentials, and configuring OpenWRT for using said server.

Description

The script is meant to be run either from the command line (once), or from crontab as a scheduled task.

By running the script from the command line once with the desired parameters (country, server group, and connection protocol), a recommended VPN server profile is retrieved and set as the active OpenVPN profile.

By running the script from a crontab with the desired parameters, users can maintain the optimal connection to the desired server country and group combination with the required protocol. This can be done by scheduling the script to run once per hour, for example.
By using crontab, it is also possible to schedule connection to different VPN servers at certain times in a day or in a week.

The script outputs both error messages and normal operation log messages using OpenWRT’s logger, using the -s flag. That means log messages are both logged in the system log, as well as seen displayed to the user when running from CLI.

The script scrubs unused profiles by removing them from the OpenWRT OpenVPN configuration and deleting the respective .ovpn files.
The reason for saving at least the last used profile is that from my experience, sometimes a recommended server is actually too busy to operate reliably. In that case, switching to the last known good profile provides a good alternative, giving the opportunity to request a different server once again. This should probably be written in a script that’ll replace NordVPN’s keep-alive script.
Only the currently used and the previous profiles are kept on the device. An additional option for keeping more profiles on the device is planned, using regular expressions as the option’s parameter.

The countries in which NordVPN operates servers, and the server groups are retrieved from this repository, in the db branch.
The group-countries.tsv table displays the possible combinations.
The db branch is configured to be updated every 15 minutes by a Github action. In practice, the Github scheduling (for free repositories at least) runs the action at best once an hour. Not ideal, but until I figure out a better filtering system that doesn’t require installing JQ (~93 kB) on the router, scraping NordVPN’s API on a remote machine seems like a better approach for the meantime. Please notice: It appears that the API lists different servers at different times, so re-check if you couldn’t get to the servers you wanted to connect to.

About server groups and server group + country combinations

NordVPN does not provide OpenVPN profiles ready to download for all groups, and does not provide every server groups in each country. This means that for some queries to the NordVPN API will return empty, and for others a .ovpn configuration file will not be downloaded. In those cases the script should fail gracefully with failure messages printed to system log, as well as to the terminal when running the script from CLI.

The best way to figure out if your parameters will actually work is to check the group-countries.tsv table, which is set up to be scraped every 15 minutes (doesn’t really work on schedule, but about once an hour seems good enough).
I noticed some recommended server for group and country combinations from NordVPN server recommendation site did not show up in my scraped tables. Since the script downloads and connections are based on queries to NordVPN’s API, and the tables the script queries are also scraped from the same API, I did not try to fix that.
Of course, it is also possible to try the group + country combination from the script’s CLI.

Server groups known to work, with countries in which there are servers of that group, with OpenVPN profiles

Title	Remarks	Works in the following countries
Double_VPN	-	CA, CH, FR, GB, HK, NL, SE, TW, US
Onion_Over_VPN	Shaky, usually returns only one	(NL, CH)
Dedicated_IP	Depends on purchase of dedicated IP?	DE, GB, NL, US
Standard_VPN_servers	-	AT, AU, BA, BE, BG, CA, CH, CY, CZ, DE, DK, ES, FR, GB, GR, HR, HU, IL, IT, JP, LU, LV, MY, NL, NO, PL, RO, SK, UA, US, VN, ZA
P2P	-	AT, AU, BA, BE, BG, CA, CH, CZ, DE, DK, ES, FR, GB, GR, HR, HU, IL, IT, JP, LU, LV, NL, NO, PL, RO, SK, US, ZA

Regional groups

Title	Countries in region
Europe	AT, BA, BE, CH, CY, CZ, DE, DK, FR, GB, HR, HU, NL, NO, PL, SE
The_Americas	CA, US
Asia_Pacific	AU, HK, ID, JP, MY, NZ, SG, TW, VN
Africa__the_Middle_East_and_India	IL, IN, TR, ZA

Special Thanks

Writing this script would not have been possible without the exquisite NordVPN API documentation by Milosz Galazka.

Installation

The script relies on OpenWRT’s (BusyBox) built-in wget and jsonfilter, but depends on several other packages. Check how much free space you have on your device either from LuCI (system -> software) or from shell by running df and looking at the /overlay line. You can compare the space left to the list of requirements below.

Follow (if you haven’t already) NordVPN’s guide for setting up OpenVPN on your router, and make sure your router connects to NordVPN’s servers and your internet connection is good.
Log in to your router’s shell, eg.: ssh root@192.168.1.1.
Run the following command on your remote shell to check whether wget can be used to send GET requests:
wget -O - "https://raw.githubusercontent.com/urishx/vpn-profile-switcher/db/countries.tsv"
If you get a table of countries in which NordVPN has servers, you’re all set, skip to the last step to download the script to your router.
In case the response you you got was:
wget: SSL support not available, please install one of the libustream-.*[ssl|tls] packages as well as the ca-bundle and ca-certificates packages.
you will need to install libustream*tls* and its dependencies. - Run opkg update - Then opkg list libustream* - Look for libustream-.*tls.*, copy the package name, and install it by running opkg install <the-package-name-you-copied>.
eg.: opkg install libustream-mbedtls20150806 on my TP-Link Archer C20i w/ OpenWRT v19.07.5. - Re-check step 3, to see you now get the table of countries.
Downloading the script and first run:
- Run wget https://raw.githubusercontent.com/UriShX/vpn-profile-switcher/main/vpn-profile-switcher.sh to download the script to your router.
- Run chmod +x vpn-profile-switcher.sh.
- Test the script by running ./vpn-profile-switcher.sh.

Requirements

From NordVPN’s guide (~800 kB with required dependencies):
- openvpn-openssl (~158.4 kB)
- ip-full (~167.4 kB)
- luci-app-openvpn (~12.2 kB)
tls for executing GET requests using wget (~180 kB):
- libustream-mbedtls20150806 (~4.5 kB)
- libmbedtls12 (~178 kB)
Switching script, profiles, etc. (~14 kB):
- vpn-profile-switcher.sh (~8 kB)
- 2 OpenVPN profile - current and last used (ea. ~2.8)

Usage

Run ./vpn-profile-switcher.sh -h to list the available parameters:

vpn-profile-switcher.sh v1.0.0
Get NordVPN recommended profile and set OpenVPN on OpenWRT to use said profile.

Usage: ./vpn-profile-switcher.sh [options ]

Options:
-h | –help, Print this help message
-p | –protocol < udp | tcp >, Select either UDP or TCP connection. Default is UDP.
-c | –country < code | name >, Select Country to filter by. Default is closest to your location.
-g | –group < group_name >, Select group to filter by.
-l | –login-info < filename >, Specify file for VPN login credentials. Default is ‘secret’.

For more information see README in repo: https://github.com/UriShX/vpn-profile-switcher

Script parameters

`-p` or `--protocol`

Has to be followed by either udp or tcp (lowercase).
Select either UDP or TCP connection.
If protocol is not defined, the script assumes UDP, for a faster (though less secure) connection.

For some details about the up and down sides of both TCP and UDP, see this article.

`-c` or `--country`

Has to be followed by either the country’s ID, code, or name (ignores case).
Select country to filter by.
Default is closest to your location as determined by NordVPN’s server, so if you are connected to a server which is far from your actual location and do not specify a different location for the script to filter by, your location will be remain in the same location as the server you are connected to.

You can view the list of available countries here.

`-g` or `--group`

Has to be followed by desired server group’s ID, identifier, or title.
Select group to filter by.
Unlike the --country filter, the group has to be specified with every request. According to NordVPN’s documentation, connecting to P2P services will be re-routed through either Canada or Holland, while Onion over VPN is only available through specific servers.
In short - the default server to which you will be will most likely be a standard server. Read more here.

You can view the list of available server groups here.

`-l` or `--login-info`

Has to be followed by filename.
Specify file for VPN login credentials.
Default is ‘secret’, as in NordVPN’s guide for setting a connection with OpenWRT over OpenVPN.

Examples

From CLI

Connect to a recommended Peer to Peer (P2P) server in the United States over UDP (default protocol)

# ./vpn-profile-switcher.sh -c US -g p2p

Output:

root: (./vpn-profile-switcher.sh) Arguments: Protocol: udp; Country: 228; NordVPN group: legacy_p2p; User credentials: secret.
root: (./vpn-profile-switcher.sh) Fetching VPN recommendations from: https://api.nordvpn.com/v1/servers/recommendations?filters[servers_groups][identifier]=legacy_p2p&filters[country_id]=228&filters[servers_technologies][identifier]=openvpn_udp&limit=1
root: (./vpn-profile-switcher.sh) Recommended server URL: us6739.nordvpn.com.
root: (./vpn-profile-switcher.sh) Fetching OpenVPN config us6739.nordvpn.com.udp.ovpn, and setting credentials pointing to: secret
root: (./vpn-profile-switcher.sh) Entered new entry to OpenVPN configs: us6739_nordvpn_udp
root: (./vpn-profile-switcher.sh) Currently active server: cy14_nordvpn_udp
root: (./vpn-profile-switcher.sh) Enabling new entry
root: (./vpn-profile-switcher.sh) Disabling current active server
root: (./vpn-profile-switcher.sh) Comitting changes and restarting OpenVPN
root: (./vpn-profile-switcher.sh) Removing unused NordVPN profiles, leaving current and last used.

Connect to a standard VPN server in Argentina over TCP

# ./vpn-profile-switcher.sh -c 10 -p tcp

Connect to a standard VPN server in Israel over UDP (default protocol)

# ./vpn-profile-switcher.sh -c israel

Connect to a recommended VPN server in North America (USA and Canada) over UDP (default protocol)

# ./vpn-profile-switcher.sh -g the_americas

Scheduling with crontab

It is possible to use crontab for maintaining a connection to a recommended server. In this basic example, the script runs once an hour (at a round hour) to get the recommended server in the area the router is connected to, over UDP (default protocol).

0 */1 * * * /root/vpn-profile-switcher.sh

The output will be displayed in the system log, like so:

Wed Jan 13 23:02:00 2021 cron.info crond[22011]: USER root pid 22868 cmd /root/vpn-profile-switcher.sh
Wed Jan 13 23:02:00 2021 user.notice root: (/root/vpn-profile-switcher.sh) Arguments: Protocol: udp; Country: ; NordVPN group: ; User credentials: secret.
Wed Jan 13 23:02:00 2021 user.notice root: (/root/vpn-profile-switcher.sh) Fetching VPN recommendations from: https://api.nordvpn.com/v1/servers/recommendations?filters[servers_technologies][identifier]=openvpn_udp&limit=1
Wed Jan 13 23:02:10 2021 user.notice root: (/root/vpn-profile-switcher.sh) Recommended server URL: il52.nordvpn.com.
Wed Jan 13 23:02:10 2021 user.notice root: (/root/vpn-profile-switcher.sh) Recommended server name: il52_nordvpn_udp
Wed Jan 13 23:02:10 2021 user.notice root: (/root/vpn-profile-switcher.sh) Currently active server: il38_nordvpn_udp
Wed Jan 13 23:02:10 2021 user.notice root: (/root/vpn-profile-switcher.sh) Enabling existing entry
Wed Jan 13 23:02:10 2021 user.notice root: (/root/vpn-profile-switcher.sh) Disabling current active server
Wed Jan 13 23:02:10 2021 user.notice root: (/root/vpn-profile-switcher.sh) Comitting changes and restarting OpenVPN

Using crontab, it is possible to set connection to different countries, groups, and over either UDP or TCP by scheduling running the script with different parameters. Check out both OpenWRT’s crontab documentation, and crontab guru for more details.

In any case, don’t forget to run /etc/init.d/cron restart to apply changes

Contributing

Bug reports and pull requests are welcome on GitHub at https://github.com/UriShX/vpn-profile-switcher.

License

The script is available as open source under the terms of the MIT License.

Design for plastic injection molding: UAV fuel tank.

Design change in a flagship product, fueled by failure analysis. Lead engineer, salaried work for “Supergum”. Mold and material change for high current aerial warning marker, after appearing to be part of a point failure. A comprehensive failure analysis, and mechanical testing of the new design lead to verified changes.

Static forces analysis for heat formed foot-rest

Stress and strain validation of a heat formed foot-rest concept. Design by Ziv Mishan, for his graduation project in product design at H.I.T.. Characterization of applied forces, appropriate model, and several iterations based on slight changes in geometry, based on client’s original design file. A report was produced to convey suggested changes in design.

Sustainable composites from agricultural waste

Scientific article, published in “Polymer Composites”. Based on my plastics engineering graduation project at Shenkar College for engineering and Design.

Acoustic guitar

Hand built acoustic guitar. Designed and built by me during my studies with Paul Doyle at The Irish School of Lutherie. Top - Spruce. Back and Sides - Maple. Neck - London Plain.

Tannerino (electro-Theremin)

A continuous variable frequency MIDI controller based on an Arduino Uno.

Jekyll plugin for passing vars to {% highlight %} tag

A Jekyll plugin for passing variables to the {% highlight %} Liquid tag.

Code: ruby

                        # frozen_string_literal: true

module Jekyll
  module Tags
    class HighlightBlockParam < Liquid::Block
      include Liquid::StandardFilters

      # The regular expression syntax checker. Start with the language specifier.
      # Follow that by zero or more space separated options that take one of three
      # forms: name, name=value, or name="<quoted list>"
      #
      # <quoted list> is a space-separated list of numbers
      # 
      # Both the language specifier and the options can be passed as liquid variables,
      # please consult the documentation at https://github.com/UriShX/jekyll-highlight-param/blob/master/README.md#usage.
      PARAM_SYNTAX = %r!(\w+([.]\w+)*)!x.freeze
      LANG_SYNTAX = %r!([a-zA-Z0-9.+#_-]+)!x.freeze
      OPTIONS_SYNTAX = %r!(\s+\w+(=(\w+|"([0-9]+\s)*[0-9]+")?)*)!.freeze
      VARIABLE_SYNTAX = %r!
        ^(
          \{\{\s*
          (?<lang_var>#{PARAM_SYNTAX})
          \s*\}\}|
          (?<lang>#{LANG_SYNTAX})
        )
        \s*
        ((?<fault1>[}]+\s*|)
        (
          \{\{\s*
          (?<params_var>(#{PARAM_SYNTAX}))
          \s*\}\}|
          (?<params>(#{OPTIONS_SYNTAX}+))
        )
        (?<fault2>.*))?
      !mx.freeze

      def isNilOrEmpty(var)
        if var.nil?
          return true
        elsif var.strip.empty?
          return true
        else
          return false
        end
      end

      def initialize(tag_name, markup, tokens)
        super
        markup  = markup.strip
        @matched = markup.match(VARIABLE_SYNTAX)
        # print @matched.captures.to_s + "\n"
        if !@matched or !isNilOrEmpty(@matched["fault1"]) or !isNilOrEmpty(@matched["fault2"])
          raise SyntaxError, <<~MSG
            Syntax Error in tag '#{tag_name}' while parsing the following markup:

            #{markup}

            Valid syntax: #{tag_name} <lang> [linenos]
                      \tOR: #{tag_name} {{ lang_variable }} [linenos]
                      \tOR: #{tag_name} <lang> {{ [linenos_variable(s)] }}
                      \tOR: #{tag_name} {{ lang_variable }} {{ [linenos_variable(s)] }}
          MSG
        end
      end

      LEADING_OR_TRAILING_LINE_TERMINATORS = %r!\A(\n|\r)+|(\n|\r)+\z!.freeze

      def render(context)
        prefix = context["highlighter_prefix"] || ""
        suffix = context["highlighter_suffix"] || ""
        code = super.to_s.gsub(LEADING_OR_TRAILING_LINE_TERMINATORS, "")

        if @matched["lang_var"]
          @lang = context[@matched["lang_var"]].downcase
          @lang.match(LANG_SYNTAX)
          unless $& == @lang
            raise ArgumentError, <<~MSG
              Language characters can only include Alphanumeric and the following characters, without spaces: . + # _ -
              Your passed language variable: #{@lang}
              MSG
          end
        elsif @matched["lang"]
          @lang = @matched["lang"].downcase
        else
          raise SyntaxError, <<~MSG
            Unknown Syntax Error in tag 'highlight_param'.
            Please review tag documentation.
            MSG
        end

        # puts @lang

        if @matched["params_var"]
          @highlight_options = parse_options(@matched["params_var"])
        elsif @matched["params"]
          @highlight_options = parse_options(@matched["params"])
        else
          @highlight_options = parse_options("")
        end

        # puts @highlight_options

        output =
          case context.registers[:site].highlighter
          when "rouge"
            render_rouge(code)
          when "pygments"
            render_pygments(code, context)
          else
            render_codehighlighter(code)
          end

        rendered_output = add_code_tag(output)
        prefix + rendered_output + suffix
      end

      private

      OPTIONS_REGEX = %r!(?:\w="[^"]*"|\w=\w|\w)+!.freeze

      def parse_options(input)
        options = {}
        return options if isNilOrEmpty(input)

        # Split along 3 possible forms -- key="<quoted list>", key=value, or key
        input.scan(OPTIONS_REGEX) do |opt|
          key, value = opt.split("=")
          # If a quoted list, convert to array
          if value&.include?('"')
            value.delete!('"')
            value = value.split
          end
          options[key.to_sym] = value || true
        end

        options[:linenos] = "inline" if options[:linenos] == true
        options
      end

      def render_pygments(code, _context)
        Jekyll.logger.warn "Warning:", "Highlight Tag no longer supports rendering with Pygments."
        Jekyll.logger.warn "", "Using the default highlighter, Rouge, instead."
        render_rouge(code)
      end

      def render_rouge(code)
        require "rouge"
        formatter = ::Rouge::Formatters::HTMLLegacy.new(
          :line_numbers => @highlight_options[:linenos],
          :wrap         => false,
          :css_class    => "highlight",
          :gutter_class => "gutter",
          :code_class   => "code"
        )
        if LANG_SYNTAX.match?(@lang)
          lexer = ::Rouge::Lexer.find_fancy(@lang, code) || Rouge::Lexers::PlainText
        else
          raise SyntaxError, <<~MSG
          Can't find language variable #{@matched["lang_var"]}
          MSG
        end
        formatter.format(lexer.lex(code))
      end

      def render_codehighlighter(code)
        h(code).strip
      end

      def add_code_tag(code)
        code_attributes = [
          "class=\"language-#{@lang.to_s.tr("+", "-")}\"",
          "data-lang=\"#{@lang}\"",
        ].join(" ")
        "<figure class=\"highlight\"><pre><code #{code_attributes}>"\
        "#{code.chomp}</code></pre></figure>"
      end
    end
  end
end

Liquid::Template.register_tag("highlight_param", Jekyll::Tags::HighlightBlockParam)

Markdown / Readme

jekyll-highlight-param

A Liquid tag plugin for Jekyll that replaces the built in {% highlight %} tag, and allows passing the language to highlight in as a parameter.

An issue for making this change a part of the mainline Jekyll Highlight tag can be found here.

It appears v0.0.1 did not actually work as intended, and was simply failing gracefully by detecting the language from the code itself. A better job of detecting errors and alerting the user was devised in v0.0.2.

Installation

Add this line to your application’s Gemfile:

group :jekyll_plugins do
    gem 'jekyll-highlight-param', :github => 'UriShX/jekyll-highlight-param'
end

And then execute:

$ bundle

Or install it yourself as:

$ gem install jekyll-highlight-param

Then add the following to your site’s _config.yml:

plugins:
  - jekyll-highlight-param

💡 If you are using a Jekyll version less than 3.5.0, use the gems key instead of plugins.

Usage

Basic usage

Basic usage is the same as Jekyll’s {% highlight %} tag, i.e.:

{% highlight_param ruby %}
def foo
  puts 'foo'
end
{% endhighlight_param %}

Using variables names for the language

Please note: Since v0.0.2 passing variables to the highlight_param tag is done in a similar way to the syntax for passing variables to other tags, such as link. This is a breaking change from v0.0.1.

The name of the language you for the code to be highlighted can be specified as a variable instead of specifying the language directly in the template. For example, suppose you defined a variable in your page’s front matter like this:

---
title: My page
my_code: footer_company_a.html
my_lang: liquid
---

You could then reference that variable in your highlight:

{% if page.my_variable %}
  {% capture my_code %}
    {% include {{ page.code }} %}
  {% endcapture %}
  {% highlight_param {{ page.my_lang }} %}
    {{ my_code | strip }}
  {% endhighlight_param %}
{% endif %}

In this example, the capture will store the include file _includes/footer_company_a.html, then the highlight will would match the display to match the syntax of liquid.

Line numbers

You could also pass a line numbers argument, as in the original {% highlight %} tag, both as parameter and as a variable. Line numbers are enabled when passing the linenos argument, and disabled as default.

{% highlight_param ruby linenos %}
def foo
  puts 'foo'
end
{% endhighlight_param %}

or:

---
title: My page
line_numbers: linenos
---

{% highlight_param ruby {{ page.line_numbers }} %}
def foo
  puts 'foo'
end
{% endhighlight_param %}

Contributing

Fork it.
Create your feature branch (git checkout -b my-new-feature)
Commit your changes (git commit -am 'Add some feature')
Push to the branch (git push origin my-new-feature)
Create a new Pull Request

Uri Sh.

Making, Engineering, and Blogging about it too

Portfolio

NiTi light

Design for plastic injection molding: UAV fuel tank.

Toy sound box prototype

Smart kitchen scale for bread dough

Mechanical Sieve - Shachar Marcus, MUZA, 2019

Parametric design for 3D printing

Web-BLE control app + esp32 sketches

AB4MC

Perpetuum Mobile, Shachar Marcus, MUZA, 2019

I vs. Us, Riki Stollar, 2020

Cap-sense name card

Raspberry Pi - play video when button pressed

Web-BLE configuration of WiFi credentials for ESP32

2 DC motors moving in tandem w/ AP for control and monitoring

Injection molding - mold approval

Feasibility study: Concrete pot

Elastomeric part design

OpenVPN automatic profile switching for OpenWRT

Design for plastic injection molding: UAV fuel tank.

Static forces analysis for heat formed foot-rest

Sustainable composites from agricultural waste

Acoustic guitar

Tannerino (electro-Theremin)

Jekyll plugin for passing vars to {% highlight %} tag