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Minimal/Networking
It's possible to setup Connman based networking without a full-blown GUI tool.
All required tools are in connman-test package, so be sure to include it in your image.
Basic usage
First enable WiFi:
/usr/lib/connman/test/test-connman enable wifi
Wait a moment for scan to settle and list available networks:
/usr/lib/connman/test/test-connman services
Connecting with plain names should work if you do not have unusual characters in the network SSID. If you do, you need to use service identifier like wifi_...
Connecting using Passphrase agent
On one console (Ctrl-Alt-Fn) or xterm launch simple agent:
/usr/lib/connman/test/simple-agent
and leave it there for now.
On second console/xterm trigger the connection process:
/usr/lib/connman/test/test-connman connect wifi_...
Next switch back to simple-agent console/xterm and type Passphrase=yourpassword at the Answer: prompt, like:
Service credentials requested, type cancel to cancel Answer: Passphrase=yourpassword
In a moment you should have the WiFi network up.