mirror of
https://github.com/modelec/Initialisation.git
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56 lines
1.5 KiB
Bash
56 lines
1.5 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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# Démarrer le serveur TCP
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echo "Starting the TCP server"
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/home/modelec/Serge/TCPSocketServer/build/socketServer &
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pids+=($!)
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sleep 1
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# Démarrer le Lidar
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echo "Starting the Lidar"
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/home/modelec/Serge/detection_adversaire/build/lidar &
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pids+=($!)
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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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/home/modelec/Serge/detection_pot/build/arucoDetector /home/modelec/Serge/detection_pot/build/camera_calibration.yml 8080 --headless &
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pids+=($!)
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sleep 1
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# Démarrer l'IHM
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echo "Starting the IHM"
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/home/modelec/Serge/ihm/build/ihm_robot fullscreen &
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pids+=($!)
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# Fonction pour surveiller la fermeture de l'IHM
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monitor_all() {
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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 wait $pid; then
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echo "Program with PID $pid has terminated, stopping other programs"
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pkill -P $$ -f "lidar|arucoDetector|ihm_robot"
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sleep 1
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pkill -P $$ -f "socketServer"
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break
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fi
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done
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echo "All programs have terminated"
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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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# 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/starting-position |