From 8870458a27a3cca3264fd51bff89a79afab14037 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?F=C3=A9lix=20MARQUET?= <felix.marquet@isen-ouest.yncrea.fr>
Date: Thu, 11 Apr 2024 18:05:53 +0200
Subject: [PATCH] Put every sub programs in screen

---
 startup.sh | 21 +++++++++++++--------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/startup.sh b/startup.sh
index 87240c0..15e69f7 100644
--- a/startup.sh
+++ b/startup.sh
@@ -16,9 +16,10 @@ sleep 1
 
 # Démarrer le Lidar
 echo "Starting the Lidar"
-/home/modelec/Serge/detection_adversaire/build/lidar &
+screen -dmS lidar /home/modelec/Serge/detection_adversaire/build/lidar
+pid=$(screen -ls | grep -o '[0-9]*\.lidar' | grep -o '[0-9]*')
 echo "Lidar pid" $! > /home/modelec/Serge/Lidar_pid.txt
-pids+=($!)
+pids+=($pid)
 sleep 1
 
 # Démarrer l'IHM
@@ -38,23 +39,26 @@ sleep 1
 
 # Démarrer le programme d'interconnexion raspi -> arduino
 echo "Starting the interconnection program"
-/home/modelec/Serge/connectors/build/connectors &
+screen -dmS connectors /home/modelec/Serge/connectors/build/connectors
+pid=$(screen -ls | grep -o '[0-9]*\.connectors' | grep -o '[0-9]*')
 echo "Interconnection pid" $! > /home/modelec/Serge/Interconnection_pid.txt
-pids+=($!)
+pids+=($pid)
 sleep 1
 
 # Démarrer le programme de contrôle des servomoteurs
 echo "Starting the servomotor control program"
-/home/modelec/Serge/servo_moteurs/build/servo_motor &
+screen -dmS servo_motor /home/modelec/Serge/servo_moteurs/build/servo_motor
+pid=$(screen -ls | grep -o '[0-9]*\.servo_motor' | grep -o '[0-9]*')
 echo "Servomotor pid" $! > /home/modelec/Serge/Servomotor_pid.txt
-pids+=($!)
+pids+=($pid)
 sleep 1
 
 # Démarrer le programme de la tirette
 echo "Starting the tirette program"
-/home/modelec/Serge/tirette/tirette &
+screen -dmS tirette /home/modelec/Serge/tirette/tirette
+pid=$(screen -ls | grep -o '[0-9]*\.tirette' | grep -o '[0-9]*')
 echo "Tirette pid" $! > /home/modelec/Serge/Tirette_pid.txt
-pids+=($!)
+pids+=($pid)
 sleep 1
 
 
@@ -67,6 +71,7 @@ monitor_all() {
                 echo "Program with PID $pid has terminated, stopping other programs"
                 pkill -P $$ -f "lidar|arucoDetector|ihm_robot|connectors|servo_motor|tirette"
                 sleep 1
+                echo "Stopping the TCP server"
                 pkill -P $$ -f "socketServer"
                 return
             fi