From 846613c794a0b008d2d67de9f659bc2dce6bf557 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Tue, 21 May 2024 17:27:11 +0200
Subject: [PATCH] gc wireless

---
 gc_startup.sh          |  2 +-
 gc_wireless_startup.sh | 96 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 97 insertions(+), 1 deletion(-)
 create mode 100644 gc_wireless_startup.sh

diff --git a/gc_startup.sh b/gc_startup.sh
index b5431db..a10ac67 100644
--- a/gc_startup.sh
+++ b/gc_startup.sh
@@ -41,7 +41,7 @@ sleep 1
 # Démarrer le programme d'interconnexion raspi -> arduino
 echo "Starting the interconnection program"
 rm /home/modelec/Serge/Logs/connectos.log
-screen -L -Logfile /home/modelec/Serge/Logs/connectos.log -dmS connectors /home/modelec/Serge/connectors/build/connectors --port "$port"
+screen -L -Logfile /home/modelec/Serge/Logs/connectos.log -dmS connectors /home/modelec/Serge/connectors/build/connectors --port "$port"s
 pid=$(screen -ls | grep -o '[0-9]*\.connectors' | grep -o '[0-9]*')
 echo "Interconnection pid" $pid > /home/modelec/Serge/Interconnection_pid.txt
 pids+=($pid)
diff --git a/gc_wireless_startup.sh b/gc_wireless_startup.sh
new file mode 100644
index 0000000..556e24e
--- /dev/null
+++ b/gc_wireless_startup.sh
@@ -0,0 +1,96 @@
+#!/bin/bash
+# Bash script for start up all the programs for SERGE
+# All programs are started in the background and in parallel
+# All the programs are called with their needed arguments
+# Author: Félix MARQUET
+
+# Stocker les PIDs des programmes en arrière-plan dans une array
+pids=()
+pidserver=()
+
+if [ -z "$1" ]; then
+    port=8080
+else
+    port="$1"
+fi
+
+# Démarrer le serveur TCP
+echo "Starting the TCP server GC"
+/home/modelec/Serge/TCPSocketServerGC/build/socketServer --port "$port" &
+echo "TCP server pid" $! > /home/modelec/Serge/TCP_GC_pid.txt
+pidserver+=($!)
+sleep 1
+
+# Démarrer le Lidar
+echo "Starting the Lidar"
+rm /home/modelec/Serge/Logs/lidar.log
+screen -L -Logfile /home/modelec/Serge/Logs/lidar.log -dmS lidar /home/modelec/Serge/detection_adversaire/build/lidar --port "$port"
+pidLidar=$(screen -ls | grep -o '[0-9]*\.lidar' | grep -o '[0-9]*')
+echo "Lidar pid" $pidLidar > /home/modelec/Serge/Lidar_pid.txt
+pids+=($pidLidar)
+sleep 1
+
+# Démarrer l'IHM
+echo "Starting the IHM"
+rm /home/modelec/Serge/Logs/ihm_robot.log
+/home/modelec/Serge/ihm/build/ihm_robot --window-mode fullscreen --port "$port" > /home/modelec/Serge/Logs/ihm_robot.log &
+echo "IHM pid" $! > /home/modelec/Serge/IHM_pid.txt
+pids+=($!)
+sleep 1
+
+# Démarrer le programme d'interconnexion raspi -> arduino
+echo "Starting the interconnection program"
+rm /home/modelec/Serge/Logs/connectos.log
+screen -L -Logfile /home/modelec/Serge/Logs/connectos.log -dmS connectors /home/modelec/Serge/connectors/build/connectors --port "$port"s
+pid=$(screen -ls | grep -o '[0-9]*\.connectors' | grep -o '[0-9]*')
+echo "Interconnection pid" $pid > /home/modelec/Serge/Interconnection_pid.txt
+pids+=($pid)
+sleep 1
+
+# Démarrer le programme de contrôle des servomoteurs
+echo "Starting the servomotor control program"
+rm /home/modelec/Serge/Logs/servo_motor.log
+screen -L -Logfile /home/modelec/Serge/Logs/servo_motor.log -dmS servo_motor /home/modelec/Serge/servo_moteurs/build/servo_motor --port "$port"
+pid=$(screen -ls | grep -o '[0-9]*\.servo_motor' | grep -o '[0-9]*')
+echo "Servomotor pid" $pid > /home/modelec/Serge/Servomotor_pid.txt
+pids+=($pid)
+sleep 1
+
+echo "Starting the client logger program"
+rm /home/modelec/Serge/Logs/client.log
+echo "$(date +'%Y-%m-%d %H:%M:%S') - Starting the client logger program" >> /home/modelec/Serge/Logs/client.log
+/home/modelec/Serge/cpp-lib/example/build/client --port "$port" --logger >> /home/modelec/Serge/Logs/client.log 2>&1 &
+echo "Client Logger pid" $! > /home/modelec/Serge/client_pid.txt
+pids+=($!)
+sleep 1
+
+# Fonction pour surveiller la fermeture de l'IHM
+monitor_all() {
+    while true; do
+        # Attendre que un des programmes se termine
+        for pid in "${pids[@]}"; do
+            if ! kill -0 $pid 2>/dev/null; then
+                echo "Program with PID $pid has terminated, stopping other programs"
+                for other_pid in "${pids[@]}"; do
+                    if [ "$other_pid" != "$pid" ]; then
+                        kill -SIGINT $other_pid 2>/dev/null
+                    fi
+                done
+                echo "Stopping the TCP server"
+                for server_pid in "${pidserver[@]}"; do
+                    kill -SIGKILL $server_pid 2>/dev/null
+                done
+                return
+            fi
+        done
+        sleep 1
+    done
+}
+
+# Démarrer la fonction de surveillance en arrière-plan
+monitor_all &
+
+# Attendre que tous les programmes se terminent
+wait
+
+screen -wipe