repeat_launch.sh

#!/bin/bash

stop_launch() {
    kill $launch_pid
    wait $launch_pid
    exit 0
}

trap 'stop_launch' SIGINT SIGTERM EXIT

function help()
{
    echo "Usage:"
    echo "-h          show this help"
    echo "-f          set floor"
    echo "-t          repeat times"
    echo "-u          if usb recognition of realsense is not, exit"
    echo "-n          if you don't want to auto stop cabot.service and repeat, use this"
}

floor=0
repeat_times=2
usb_recognition=0
no_repeat=0
wait_map=0

CABOT_INITX=0
CABOT_INITY=0

pwd=`pwd`
scriptdir=`dirname $0`
cd $scriptdir
scriptdir=`pwd`

cd $scriptdir/../
source ./.env

projectdir=`pwd`
project=$(basename $projectdir)

while getopts "hf:t:un" arg; do
    case $arg in
        h)
            help
            exit
            ;;
        f)
            floor=$OPTARG
            ;;
	t)
	    repeat_times=$OPTARG
	    ;;
	u)
	    usb_recognition=1
	    ;;
	n)
	    no_repeat=1
	    repeat_times=1
	    ;;
    esac
done
shift $((OPTIND-1))

source ./.env


pause(){
    trap true 1 2 3 15
    sleep infinity&
    wait $!
}

for i in `eval echo {1..$repeat_times}`; do
    if [[ -z $(docker ps -q -f "name=${project}-map_server*") ]]; then
        wait_map=1
    fi

    ./launch.sh -y &
    launch_pid=$!

    sleep 10

    if [[ $wait_map -eq 1 ]]; then
	echo "wait for map server to start"
	sleep 20
    fi

    ./cabot_debug/set-floor_and_estimate.sh -f $floor
    
    sleep 10

    if [[ $no_repeat -eq 1 ]]; then
	pause
    fi
    kill $launch_pid
    wait $launch_pid
    if [[ $CABOT_MODEL == "cabot2-gtm" ]] && [[ $usb_recognition -eq 1 ]]; then
        count=`lsusb | grep 435 | wc -l`
        if [[ $count -le 1 ]]; then
	    echo "realsense is down"
            break
        fi
    fi
done