8.12

missions/auv150/launch.sh

@@ -0,0 +1,68 @@
+#!/bin/bash -e
+
+#----------------------------------------------------------
+#  Script: launch.sh
+#  Author: Michael Benjamin
+#  LastEd: May 17th 2019
+#----------------------------------------------------------
+#  Part 1: Set global var defaults
+#----------------------------------------------------------
+# 注意书写格式，不能有空格
+TIME_WARP=1
+JUST_MAKE="no"
+
+LatOrigin="39.0935" 
+LongOrigin="117.5361" 
+
+
+server_host="192.168.1.88"
+#----------------------------------------------------------
+#  Part 2: Check for and handle command-line arguments
+#----------------------------------------------------------
+for ARGI; do
+    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 "  --fast, -f           Init positions for fast encounter " 
+	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 [ "${ARGI}" = "--fast" -o "${ARGI}" = "-f" ] ; then
+	START_POS1="170,-80,270"         
+	START_POS2="-30,-80,90"        
+	LOITER_POS1="x=0,y=-95"
+	LOITER_POS2="x=125,y=-65"
+    else 
+        echo "launch.sh Bad arg:" $ARGI " Exiting with code: 1"
+        exit 1
+    fi
+done
+
+#----------------------------------------------------------
+#  Part 3: Create the .moos and .bhv files. 
+#----------------------------------------------------------
+nsplug alpha_vehicle.moos targ_vehicle.moos -i -f WARP=$TIME_WARP \
+       LatOrigin=$LatOrigin   \
+       LongOrigin=$LongOrigin  \
+       server_host=$server_host
+
+# nsplug meta_vehicle.bhv targ_gilda.bhv -i -f VNAME=$VNAME2    \
+#        START_POS=$START_POS2 LOITER_POS=$LOITER_POS2       
+
+if [ ${JUST_MAKE} = "yes" ] ; then
+    echo "Files assembled; nothing launched; exiting per request."
+    exit 0
+fi
+
+#----------------------------------------------------------
+#  Part 4: Launch the processes
+#----------------------------------------------------------
+echo "Launching Shoreside MOOS Community. WARP is" $TIME_WARP
+pAntler targ_vehicle.moos >& /dev/null &
+
+uMAC targ_vehicle.moos
+
+kill -- -$$