#!/bin/bash -e #---------------------------------------------------------- # Script: launch.sh # Author: Michael Benjamin # LastEd: Apr 25th 2020 #---------------------------------------------------------- # Part 1: Set Exit actions and declare global var defaults #---------------------------------------------------------- TIME_WARP=1 JUST_MAKE="no" AUTO="" LAUNCH_GUI="yes" MAX_ENCOUNTERS="1000" MAX_TIME="-1" COLAVD="colregs" MISSION_TAG="" PATIENCE="50" #------------------------------------------------------- # Part 2: Check for and handle command-line arguments #------------------------------------------------------- for ARGI; do echo "Arg:["$ARGI"]" if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ]; then echo "launch.sh [SWITCHES] [time_warp] " echo " --help, -h Show this help message " echo " --just_make, -j Just create targ files, no launch " echo " --auto, -a Auto-launched. uMAC not used " echo " --nogui, -n Launch in headless mode " echo " --me= Max encounters when uQueryDB used " echo " --mt= Max time when uQueryDB used " echo " --avd=cpa Basic CPA coll avoidance, no COLREGS " echo " --avd=off No Collision avoidance at all " echo " --pat= Set Loiter patience to N (default 50)" echo " --tag= Post MISSION_TAG= in shoreside " exit 0; elif [ "${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}" = "--auto" -o "${ARGI}" = "-a" ]; then AUTO="yes" elif [ "${ARGI}" = "--nogui" -o "${ARGI}" = "-n" ]; then LAUNCH_GUI="no" elif [ "${ARGI:0:6}" = "--tag=" ]; then MISSION_TAG="${ARGI#--tag=*}" elif [ "${ARGI:0:5}" = "--me=" ]; then MAX_ENCOUNTERS="${ARGI#--me=*}" elif [ "${ARGI:0:5}" = "--mt=" ]; then MAX_TIME="${ARGI#--mt=*}" elif [ "${ARGI}" = "--avd=cpa" ]; then COLAVD="cpa" elif [ "${ARGI}" = "--avd=off" ]; then COLAVD="off" elif [ "${ARGI:0:6}" = "--pat=" ]; then PATIENCE="${ARGI#--pat=*}" else echo "launch.sh Bad arg:" $ARGI " Exiting with code: 1" exit 1 fi done #------------------------------------------------------- # Part 3: Create the .moos and .bhv files. #------------------------------------------------------- VNAME1="abe" # The first vehicle Community VNAME2="ben" # The second vehicle Community VNAME3="cal" # The third vehicle Community VNAME4="deb" # The fourth vehicle Community START_POS1="0,0" START_POS2="80,0" START_POS3="40,20" START_POS4="60,20" LOITER_POS1="x=0,y=-75" LOITER_POS2="x=125,y=-50" SHORE_LISTEN="9300" nsplug meta_vehicle.moos targ_abe.moos -f WARP=$TIME_WARP \ VNAME=$VNAME1 SHARE_LISTEN="9301" \ VPORT="9001" SHORE_LISTEN=$SHORE_LISTEN \ START_POS=$START_POS1 nsplug meta_vehicle.moos targ_ben.moos -f WARP=$TIME_WARP \ VNAME=$VNAME2 SHARE_LISTEN="9302" \ VPORT="9002" SHORE_LISTEN=$SHORE_LISTEN \ START_POS=$START_POS2 nsplug meta_vehicle.moos targ_cal.moos -f WARP=$TIME_WARP \ VNAME=$VNAME3 SHARE_LISTEN="9303" \ VPORT="9003" SHORE_LISTEN=$SHORE_LISTEN \ START_POS=$START_POS3 nsplug meta_vehicle.moos targ_deb.moos -f WARP=$TIME_WARP \ VNAME=$VNAME4 SHARE_LISTEN="9304" \ VPORT="9004" SHORE_LISTEN=$SHORE_LISTEN \ START_POS=$START_POS4 nsplug meta_shoreside.moos targ_shoreside.moos -f WARP=$TIME_WARP \ SNAME="shoreside" SHARE_LISTEN=$SHORE_LISTEN \ SPORT="9000" MISSION_TAG=$MISSION_TAG \ VNAME1=$VNAME1 LAUNCH_GUI=$LAUNCH_GUI \ VNAME2=$VNAME2 MAX_ENCOUNTERS=$MAX_ENCOUNTERS \ MAX_TIME=$MAX_TIME nsplug meta_vehicle.bhv targ_abe.bhv -f VNAME=$VNAME1 \ START_POS=$START_POS1 COLAVD=$COLAVD \ LOITER_POS=$LOITER_POS1 MISSION_ROLE="SIDE" \ PATIENCE=$PATIENCE nsplug meta_vehicle.bhv targ_ben.bhv -f VNAME=$VNAME2 \ START_POS=$START_POS2 COLAVD=$COLAVD \ LOITER_POS=$LOITER_POS2 MISSION_ROLE="SIDE" \ PATIENCE=$PATIENCE nsplug meta_vehicle.bhv targ_cal.bhv -f VNAME=$VNAME3 \ START_POS=$START_POS3 COLAVD=$COLAVD \ MISSION_ROLE="MIDDLE" PATIENCE=$PATIENCE nsplug meta_vehicle.bhv targ_deb.bhv -f VNAME=$VNAME4 \ START_POS=$START_POS4 COLAVD=$COLAVD \ MISSION_ROLE="MIDDLE" PATIENCE=$PATIENCE if [ ! -e targ_abe.moos ]; then echo "no targ_abe.moos"; exit; fi if [ ! -e targ_abe.bhv ]; then echo "no targ_abe.bhv "; exit; fi if [ ! -e targ_ben.moos ]; then echo "no targ_ben.moos"; exit; fi if [ ! -e targ_ben.bhv ]; then echo "no targ_ben.bhv "; exit; fi if [ ! -e targ_cal.moos ]; then echo "no targ_cal.moos"; exit; fi if [ ! -e targ_cal.bhv ]; then echo "no targ_cal.bhv "; exit; fi if [ ! -e targ_deb.moos ]; then echo "no targ_deb.moos"; exit; fi if [ ! -e targ_deb.bhv ]; then echo "no targ_deb.bhv "; exit; fi if [ ! -e targ_shoreside.moos ]; then echo "no targ_shoreside.moos"; exit; fi if [ ${JUST_MAKE} = "yes" ] ; then exit 0 fi #------------------------------------------------------- # Part 4: Launch the processes #------------------------------------------------------- echo "Launching $SNAME MOOS Community with WARP:" $TIME_WARP pAntler targ_shoreside.moos >& /dev/null & echo "Launching $VNAME1 MOOS Community with WARP:" $TIME_WARP pAntler targ_abe.moos >& /dev/null & echo "Launching $VNAME2 MOOS Community with WARP:" $TIME_WARP pAntler targ_ben.moos >& /dev/null & echo "Launching $VNAME3 MOOS Community with WARP:" $TIME_WARP pAntler targ_cal.moos >& /dev/null & echo "Launching $VNAME4 MOOS Community with WARP:" $TIME_WARP pAntler targ_deb.moos >& /dev/null & echo "Done " #-------------------------------------------------------------- # Part 5: Unless auto-launched, launch uMAC until mission quit #-------------------------------------------------------------- if [ "${AUTO}" = "yes" ]; then exit 0 fi uMAC targ_shoreside.moos --node=shoreside --proc=uFldCollisionDetect kill -- -$$