#!/bin/bash -e
#-------------------------------------------------------
#  Part 1: Check for and handle command-line arguments
#-------------------------------------------------------
TIME_WARP=1
JUST_MAKE="no"
HAZARD_FILE="hazards.txt"
for ARGI; do
    if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
	printf "%s [SWITCHES] [time_warp]   \n" $0
	printf "  --just_make, -j    \n" 
	printf "  --hazards=file.txt \n" 
	printf "  --help, -h         \n" 
	exit 0;
    elif [ "${ARGI:0:10}" = "--hazards=" ] ; then
        HAZARD_FILE="${ARGI#--hazards=*}"
    elif [ "${ARGI//[^0-9]/}" = "$ARGI" -a "$TIME_WARP" = 1 ]; then 
        TIME_WARP=$ARGI
    elif [ "${ARGI}" = "--just_make" -o "${ARGI}" = "-j" ] ; then
	JUST_MAKE="yes"
    else 
        echo "Launch.sh Bad arg:" $ARGI " Exiting with code: 1"
        exit 1
    fi
done

if [ -f $HAZARD_FILE ]; then
  echo "Using Hazard File $HAZARD_FILE"
else
  echo "$HAZARD_FILE not found. Exiting"
  exit 0
fi 

#-------------------------------------------------------
#  Part 2: Create the .moos and .bhv files. 
#-------------------------------------------------------
VNAME1="archie"      # The first   vehicle community
VNAME2="betty"       # The second  vehicle community
START_POS1="0,0"  
START_POS2="0,0"  

# What is nsplug? Type "nsplug --help" or "nsplug --manual"

nsplug meta_shoreside.moos targ_shoreside.moos -f WARP=$TIME_WARP \
   VNAME="shoreside" HAZARD_FILE=$HAZARD_FILE   

nsplug meta_vehicle.moos targ_$VNAME1.moos -f WARP=$TIME_WARP  VTYPE=UUV \
   VNAME=$VNAME1      START_POS=$START_POS1                              \
   VPORT="9001"       SHARE_LISTEN="9301"    

nsplug meta_vehicle.bhv targ_$VNAME1.bhv -f VNAME=$VNAME1 START_POS=$START_POS1 

nsplug meta_vehicle.moos targ_$VNAME2.moos -f WARP=$TIME_WARP  VTYPE=UUV \
   VNAME=$VNAME2      START_POS=$START_POS2                              \
   VPORT="9002"       SHARE_LISTEN="9302"    

nsplug meta_vehicle.bhv targ_$VNAME2.bhv -f VNAME=$VNAME2 START_POS=$START_POS2 

if [ ${JUST_MAKE} = "yes" ] ; then
    exit 0
fi

#-------------------------------------------------------
#  Part 3: Launch the processes
#-------------------------------------------------------
printf "Launching $VNAME1 MOOS Community (WARP=%s) \n" $TIME_WARP
pAntler targ_$VNAME1.moos >& /dev/null &
sleep .25
printf "Launching $VNAME2 MOOS Community (WARP=%s) \n" $TIME_WARP
pAntler targ_$VNAME2.moos >& /dev/null &
sleep .25
printf "Launching $SNAME MOOS Community (WARP=%s) \n"  $TIME_WARP
pAntler targ_shoreside.moos >& /dev/null &
printf "Done \n"

uMAC targ_shoreside.moos

printf "Killing all processes ... \n"
kill %1 %2 %3 
printf "Done killing processes.   \n"