mirror of
https://github.com/modelec/Initialisation.git
synced 2026-01-18 15:57:20 +01:00
106 lines
3.7 KiB
Bash
106 lines
3.7 KiB
Bash
#!/bin/bash
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# Bash script for start up all the programs for SERGE
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# All programs are started in the background and in parallel
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# All the programs are called with their needed arguments
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# Author: Félix MARQUET
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# Stocker les PIDs des programmes en arrière-plan dans une array
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pids=()
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pidserver=()
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if [ -z "$1" ]; then
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port=8080
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else
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port="$1"
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fi
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# Démarrer le serveur TCP
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echo "Starting the TCP server GC"
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/home/modelec/Serge/TCPSocketServerGC/build/socketServer --port "$port" &
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echo "TCP server pid" $! > /home/modelec/Serge/TCP_GC_pid.txt
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pidserver+=($!)
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sleep 1
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# Démarrer le Lidar
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echo "Starting the Lidar"
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rm /home/modelec/Serge/Logs/lidar.log
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screen -L -Logfile /home/modelec/Serge/Logs/lidar.log -dmS lidar /home/modelec/Serge/detection_adversaire/build/lidar --port "$port"
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pidLidar=$(screen -ls | grep -o '[0-9]*\.lidar' | grep -o '[0-9]*')
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echo "Lidar pid" $pidLidar > /home/modelec/Serge/Lidar_pid.txt
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pids+=($pidLidar)
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sleep 1
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# Démarrer l'IHM
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echo "Starting the IHM"
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rm /home/modelec/Serge/Logs/ihm_robot.log
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/home/modelec/Serge/ihm/build/ihm_robot --window-mode fullscreen --port "$port" > /home/modelec/Serge/Logs/ihm_robot.log &
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echo "IHM pid" $! > /home/modelec/Serge/IHM_pid.txt
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pids+=($!)
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sleep 1
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# Démarrer le programme d'interconnexion raspi -> arduino
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echo "Starting the interconnection program"
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rm /home/modelec/Serge/Logs/connectos.log
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screen -L -Logfile /home/modelec/Serge/Logs/connectos.log -dmS connectors /home/modelec/Serge/connectors/build/connectors --port "$port"s
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pid=$(screen -ls | grep -o '[0-9]*\.connectors' | grep -o '[0-9]*')
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echo "Interconnection pid" $pid > /home/modelec/Serge/Interconnection_pid.txt
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pids+=($pid)
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sleep 1
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# Démarrer le programme de contrôle des servomoteurs
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echo "Starting the servomotor control program"
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rm /home/modelec/Serge/Logs/servo_motor.log
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screen -L -Logfile /home/modelec/Serge/Logs/servo_motor.log -dmS servo_motor /home/modelec/Serge/servo_moteurs/build/servo_motor --port "$port"
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pid=$(screen -ls | grep -o '[0-9]*\.servo_motor' | grep -o '[0-9]*')
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echo "Servomotor pid" $pid > /home/modelec/Serge/Servomotor_pid.txt
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pids+=($pid)
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sleep 1
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# Démarrer le programme de contrôle des servomoteurs
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echo "Starting the GameController"
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rm /home/modelec/Serge/Logs/gc.log
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screen -L -Logfile /home/modelec/Serge/Logs/gc.log -dmS gc /home/modelec/Serge/GameController/build/GameController --port "$port"
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pid=$(screen -ls | grep -o '[0-9]*\.gc' | grep -o '[0-9]*')
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echo "Servomotor pid" $pid > /home/modelec/Serge/GC.txt
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pids+=($pid)
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sleep 1
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echo "Starting the client logger program"
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rm /home/modelec/Serge/Logs/client.log
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echo "$(date +'%Y-%m-%d %H:%M:%S') - Starting the client logger program" >> /home/modelec/Serge/Logs/client.log
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/home/modelec/Serge/cpp-lib/example/build/client --port "$port" --logger >> /home/modelec/Serge/Logs/client.log 2>&1 &
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echo "Client Logger pid" $! > /home/modelec/Serge/client_pid.txt
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pids+=($!)
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sleep 1
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# Fonction pour surveiller la fermeture de l'IHM
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monitor_all() {
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while true; do
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# Attendre que un des programmes se termine
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for pid in "${pids[@]}"; do
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if ! kill -0 $pid 2>/dev/null; then
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echo "Program with PID $pid has terminated, stopping other programs"
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for other_pid in "${pids[@]}"; do
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if [ "$other_pid" != "$pid" ]; then
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kill -SIGINT $other_pid 2>/dev/null
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fi
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done
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echo "Stopping the TCP server"
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for server_pid in "${pidserver[@]}"; do
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kill -SIGKILL $server_pid 2>/dev/null
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done
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return
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fi
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done
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sleep 1
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done
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}
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# Démarrer la fonction de surveillance en arrière-plan
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monitor_all &
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# Attendre que tous les programmes se terminent
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wait
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screen -wipe
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