10-cameras.rules

# UDev rules for the Video Pi
# This file should be placed in /etc/udev/rules.d
# 
# This file allows our cameras to be assigned a particular port each time. 
# Instead of /dev/video0 and /dev/video2, or /dev/video0 and /dev/video1, we can have /dev/realsense and /dev/scienceMicroscope
# 
# The general gist of this file is that it reads data about the device (SUBSYSTEM and ATTRS), and, 
# based on the below rules, adds an alias for that device (SYMLINK). Each physical device may be 
# registered multiple times with the OS, so we use multiple checks (like USB port and video4linux).
# 
# Resources: 
# - To see info for a device, run `udevadm info -a -n /dev/deviceName`
# - For guidance on writing these kinds of files, see 
#   https://bing-rover.gitbook.io/docs/v/software/onboard-computers/video/udev-rules

# Realsense RGB: /dev/realsense_rgb
SUBSYSTEMS=="usb", ATTRS{interface}=="Intel(R) RealSense(TM) Depth Camera 435i RGB", ENV{IS_RS_RGB}="t",
SUBSYSTEMS=="video4linux", ATTRS{index}=="0", ENV{IS_RS_RGB}=="t", SYMLINK+="realsense_rgb"

# Realsense Depth: /dev/realsense_depth
SUBSYSTEMS=="usb", ATTRS{interface}=="Intel(R) RealSense(TM) Depth Camera 435i Depth", ENV{IS_RS_DEPTH}="t"
SUBSYSTEMS=="video4linux", ATTRS{index}=="2", ENV{IS_RS_DEPTH}=="t", SYMLINK+="realsense_depth"

# The rear camera: /dev/rear_camera
SUBSYSTEMS=="usb", KERNELS=="1-1.4", ENV{IS_REAR}="t"
SUBSYSTEMS=="video4linux", ATTR{index}=="0", ENV{IS_REAR}=="t", SYMLINK+="rear_camera"

# Subsystem cameras: 
# The subsystem should come with a USB 3.0 Hub with 3x USB 3.0 ports. The following code maps each 
# port (from top to bottom) as "subsystem1", "subsystem2", or "subsystem3". Specifically, the 
# following rules match by *port*, not device, which means they'll work for any device
SUBSYSTEMS=="usb", KERNELS=="1-1.1.4", ENV{IS_SCIENCE_CAROUSEL}="t"
SUBSYSTEMS=="video4linux", ATTR{index}=="0", ENV{IS_SCIENCE_CAROUSEL}=="t", SYMLINK+="subsystem1"

SUBSYSTEMS=="usb", KERNELS=="1-1.1.2", ENV{IS_SCIENCE_VACUUM}="t"
SUBSYSTEMS=="video4linux", ATTR{index}=="0", ENV{IS_SCIENCE_VACUUM}=="t", SYMLINK+="subsystem2"

SUBSYSTEMS=="usb", KERNELS=="1-1.1.3", ENV{IS_SCIENCE_MICROSCOPE}="t"
SUBSYSTEMS=="video4linux", ATTR{index}=="0", ENV{IS_SCIENCE_MICROSCOPE}=="t", SYMLINK+="subsystem3"