mirror of
https://github.com/modelec/Initialisation.git
synced 2026-01-19 00:07:20 +01:00
118 lines
3.9 KiB
Bash
118 lines
3.9 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"
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/home/modelec/Serge/TCPSocketServer/build/socketServer $port &
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echo "TCP server pid" $! > /home/modelec/Serge/TCP_pid.txt
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pidserver+=($!)
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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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screen -dmS lidar /home/modelec/Serge/detection_adversaire/build/lidar $port
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pidLidar=$(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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/home/modelec/Serge/ihm/build/ihm_robot fullscreen $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 la caméra
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echo "Starting the camera"
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screen -dmS camera /home/modelec/Serge/detection_pot/build/arucoDetector /home/modelec/Serge/detection_pot/build/camera_calibration.yml $port --headless
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pidCam=$(screen -ls | grep -o '[0-9]*\.camera' | grep -o '[0-9]*')
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echo "Camera pid" $pidCam > /home/modelec/Serge/Camera_pid.txt
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pids+=($pidCam)
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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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screen -dmS connectors /home/modelec/Serge/connectors/build/connectors $port
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pid=$(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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screen -dmS servo_motor /home/modelec/Serge/servo_moteurs/build/servo_motor $port
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pid=$(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 la tirette
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echo "Starting the tirette program"
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screen -dmS tirette /home/modelec/Serge/tirette/tirette $port
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pid=$(screen -ls | grep -o '[0-9]*\.tirette' | grep -o '[0-9]*')
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echo "Tirette pid" $pid > /home/modelec/Serge/Tirette_pid.txt
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pids+=($pid)
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sleep 1
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echo "Starting the client logger program"
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/home/modelec/Serge/TCPSocketClient/example/build/client $port > /home/modelec/Serge/Logs/client.log &
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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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if ps -p $other_pid -o comm= | grep -q "camera"; then
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screen_pid=$(ps -ef | grep "SCREEN -dmS camera" | grep -v grep | awk '{print $2}')
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kill -SIGKILL $screen_pid 2>/dev/null
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continue
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fi
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kill -SIGKILL $other_pid 2>/dev/null
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fi
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done
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echo "Stopping the TCP server"
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for server_pid in "${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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sleep 1
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# Retourner à la position de départ
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echo "Put SERGE back in the starting position"
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/home/modelec/Serge/emergency/build/emergency ./end_point.txt &
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