#!/bin/bash #--------------------------------------------------------------- # Script: launch_vehicle.sh # Mission: # Author: # LastEd: 2021-May-10 #--------------------------------------------------------------- # Part 1: Set global var defaults #--------------------------------------------------------------- ME=`basename "$0"` TIME_WARP=1 JUST_MAKE="no" VERBOSE="no" CONFIRM="yes" AUTO_LAUNCHED="no" CMD_ARGS="" IP_ADDR="localhost" MOOS_PORT="9000" PSHARE_PORT="" SHORE_IP="localhost" SHORE_PSHARE="9200" VNAME="who" VTYPE="KAYAK" INDEX="1" MAXSPD="5" START_POS="170,-80" START_HDG="270" START_SPD="0" LOITER_POS="x=0,y=-95" #--------------------------------------------------------------- # Part 2: Check for and handle command-line arguments #--------------------------------------------------------------- for ARGI; do CMD_ARGS+=" ${ARGI}" if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ]; then echo "$ME [SWITCHES] " echo " --help, -h " echo " Display this help message " echo " --just_make, -j " echo " Just make targ files, but do not launch " echo " --verbose, -v " echo " Verbose output, confirm before launching " echo " --noconfirm, -nc " echo " No confirmation before launching " echo " --auto, -a " echo " Auto-launched by a script. " echo " Will not launch uMAC as the final step " echo " " echo " --ip= " echo " Force pHostInfo to use this IP Address " echo " --mport=<9001> " echo " Port number of this vehicle's MOOSDB port " echo " --pshare=<9201> " echo " Port number of this vehicle's pShare port " echo " " echo " --shore= " echo " IP address location of shoreside " echo " --vname= " echo " Name of the vehicle being launched " echo " --vtype= " echo " Type name of the vehicle being launched " echo " --vgroup= " echo " Group name of the vehicle being launched " echo " --index=<1> " echo " Index for setting MOOSDB and pShare ports " echo " " echo " --maxspd= (default is 5) " echo " Max speed capability of the vehicle, passed " echo " to uSimMarine for setting its thrust map " echo " --start= (default is 0,0) " echo " Start position chosen by script launching " echo " this script (to ensure separation) " echo " --hdg= (default is 0) " echo " Initial heading of vehicle being launched " echo " --spd= (default is 0) " echo " Initial speed of vehicle being launched " echo " --loiter_pos=<0,0> " echo " Center of Initial loiter position " echo " " exit 0 elif [ "${ARGI//[^0-9]/}" = "$ARGI" -a "$TIME_WARP" = 1 ]; then TIME_WARP=$ARGI elif [ "${ARGI}" = "--just_make" -o "${ARGI}" = "-j" ]; then JUST_MAKE="yes" elif [ "${ARGI}" = "--verbose" -o "${ARGI}" = "-v" ]; then VERBOSE="yes" elif [ "${ARGI}" = "--noconfirm" -o "${ARGI}" = "-nc" ]; then CONFIRM="no" elif [ "${ARGI}" = "--auto" -o "${ARGI}" = "-a" ]; then AUTO_LAUNCHED="yes" CONFIRM="no" elif [ "${ARGI:0:5}" = "--ip=" ]; then IP_ADDR="${ARGI#--ip=*}" elif [ "${ARGI:0:7}" = "--mport" ]; then MOOS_PORT="${ARGI#--mport=*}" elif [ "${ARGI:0:9}" = "--pshare=" ]; then PSHARE_PORT="${ARGI#--pshare=*}" elif [ "${ARGI:0:8}" = "--shore=" ]; then SHORE_IP="${ARGI#--shore=*}" elif [ "${ARGI:0:8}" = "--vname=" ]; then VNAME="${ARGI#--vname=*}" elif [ "${ARGI:0:8}" = "--vtype=" ]; then VTYPE="${ARGI#--vtype=*}" elif [ "${ARGI:0:9}" = "--vgroup=" ]; then VGROUP="${ARGI#--vgroup=*}" elif [ "${ARGI:0:8}" = "--index=" ]; then INDEX="${ARGI#--index=*}" elif [ "${ARGI:0:9}" = "--maxspd=" ]; then MAXSPD="${ARGI#--maxspd=*}" elif [ "${ARGI:0:8}" = "--start=" ]; then START_POS="${ARGI#--start=*}" elif [ "${ARGI:0:6}" = "--hdg=" ]; then START_HDG="${ARGI#--hdg=*}" elif [ "${ARGI:0:6}" = "--spd=" ]; then START_SPD="${ARGI#--spd=*}" elif [ "${ARGI:0:13}" = "--loiter_pos=" ]; then LOITER_POS="${ARGI#--loiter_pos=*}" else echo "$ME: Bad Arg:" ${ARGI} "Exit Code 1" echo "Cmd Args:" ${CMD_ARGS} exit 1 fi done MOOS_PORT=`expr $INDEX + 9000` if [ "${PSHARE_PORT}" = "" ]; then PSHARE_PORT=`expr $INDEX + 9200` fi #--------------------------------------------------------------- # Part 3: If verbose, show vars and confirm before launching #--------------------------------------------------------------- if [ "${VERBOSE}" = "yes" -o "${CONFIRM}" = "yes" ]; then echo "$ME" echo "CMD_ARGS = [${CMD_ARGS}]" echo "TIME_WARP = [${TIME_WARP}]" echo "AUTO_LAUNCHED = [${AUTO_LAUNCHED}]" echo "MOOS_PORT = [${MOOS_PORT}]" echo "PSHARE_PORT = [${PSHARE_PORT}]" echo "IP_ADDR = [${IP_ADDR}]" echo "----------------------------------" echo "SHORE_IP = [${SHORE_IP}]" echo "SHORE_PSHARE = [${SHORE_PSHARE}]" echo "VNAME = [${VNAME}]" echo "VTYPE = [${VTYPE}]" echo "VGROUP = [${VGROUP}]" echo "INDEX = [${INDEX}]" echo "----------------------------------" echo "MAXSPD = [${MAXSPD}]" echo "START_POS = [${START_POS}]" echo "START_HDG = [${START_HDG}]" echo "START_SPD = [${START_SPD}]" echo "----------------------------------" echo "LOITER_POS = [${LOITER_POS}]" echo -n "Hit any key to continue with launching" read ANSWER fi #--------------------------------------------------------------- # Part4: Create the .moos and .bhv files. #--------------------------------------------------------------- nsplug meta_vehicle.moos targ_$VNAME.moos -f WARP=$TIME_WARP \ VNAME=$VNAME START_POS=$START_POS \ VTYPE=$VTYPE START_HDG=$START_HDG \ VGROUP=$VGROUP START_SPD=$START_SPD \ IP_ADDR=$IP_ADDR SHORE_IP=$SHORE_IP \ PSHARE_PORT=$PSHARE_PORT MOOS_PORT=$MOOS_PORT \ SHORE_PSHARE=$SHORE_PSHARE MAXSPD=$MAXSPD nsplug meta_vehicle.bhv targ_$VNAME.bhv -f VNAME=$VNAME \ START_POS=$START_POS LOITER_POS=$LOITER_POS if [ ${JUST_MAKE} = "yes" ]; then echo "Files assembled; nothing launched; exiting per request." exit 0 fi #--------------------------------------------------------------- # Part 5: Launch the processes #--------------------------------------------------------------- echo "Launching $VNAME MOOS Community. WARP is:" $TIME_WARP pAntler targ_$VNAME.moos >& /dev/null & #--------------------------------------------------------------- # Part 6: If launched from script, we're done, exit now #--------------------------------------------------------------- if [ "${AUTO_LAUNCHED}" = "yes" ]; then exit 0 fi #--------------------------------------------------------------- # Part 7: Launch uMAC until the mission is quit #--------------------------------------------------------------- uMAC targ_$VNAME.moos kill -- -$$