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remove invalid options from launch.sh
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Signed-off-by: Daisuke Sato <[email protected]>
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@daisukes
daisukes committed Feb 6, 2024
1 parent 07be9c0 commit 94dfff6
Showing 1 changed file with 70 additions and 144 deletions.
214 changes: 70 additions & 144 deletions launch.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -32,22 +32,22 @@ function ctrl_c() {
terminating=1
cd $scriptdir
if [[ ! -z $dccom ]]; then
while [[ $launched -lt 5 ]]; do
snore 1
launched=$((launched+1))
done

red "$dccom down"
if [ $verbose -eq 1 ]; then
$dccom down
else
$dccom down > /dev/null 2>&1
fi
while [[ $launched -lt 5 ]]; do
snore 1
launched=$((launched+1))
done

red "$dccom down"
if [ $verbose -eq 1 ]; then
$dccom down
else
$dccom down > /dev/null 2>&1
fi
fi

for pid in ${pids[@]}; do
signal=2
if [[ "${termpids[*]}" =~ "$pid" ]]; then
if [[ "${termpids[*]}" =~ "$pid" ]]; then
signal=15
fi
if [ $verbose -eq 1 ]; then
Expand All @@ -72,9 +72,9 @@ function ctrl_c() {
fi
done
if [[ $run_test -eq 1 ]]; then
# not sure but record_system_stat.launch.xml cannot
# terminate child processes when running with run_test
pkill -f "python3.*command_logger.py.*"
# not sure but record_system_stat.launch.xml cannot
# terminate child processes when running with run_test
pkill -f "python3.*command_logger.py.*"
fi
exit $user
}
Expand Down Expand Up @@ -102,18 +102,11 @@ function help()
{
echo "Usage:"
echo "-h show this help"
echo "-d do not record bag file"
echo "-D debug"
echo "-r record camera image as well"
echo "-s simulation mode"
echo "-p <name> docker compose's project name"
echo "-n <name> set log name prefix"
echo "-v verbose option"
echo "-c <name> config name (default=) docker-compose(-<name>)(-production).yaml will use"
echo " if there is no nvidia-smi and config name is not set, automatically set to 'nuc'"
echo "-3 equivalent to -c rs3"
echo "-M log dmesg output"
echo "-S record screen cast"
echo "-y do not confirm"
echo "-t run test"
echo "-T <module> run test CABOT_SITE.<module>"
Expand All @@ -123,17 +116,11 @@ function help()


simulation=0
use_nuc=0
nvidia_gpu=0
project_option=
log_prefix=cabot
verbose=0
config_name=
local_map_server=0
debug=0
reset_all_realsence=0
log_dmesg=0
screen_recording=0
yes=0
run_test=0
module=tests
Expand All @@ -145,20 +132,11 @@ cd $scriptdir
scriptdir=`pwd`
source $scriptdir/.env

if [ -n "$CABOT_LAUNCH_CONFIG_NAME" ]; then
config_name=$CABOT_LAUNCH_CONFIG_NAME
fi
if [ -n "$CABOT_LAUNCH_DO_NOT_RECORD" ]; then
do_not_record=$CABOT_LAUNCH_DO_NOT_RECORD
fi
if [ -n "$CABOT_LAUNCH_RECORD_CAMERA" ]; then
record_cam=$CABOT_LAUNCH_RECORD_CAMERA
fi
if [ -n "$CABOT_LAUNCH_LOG_PREFIX" ]; then
log_prefix=$CABOT_LAUNCH_LOG_PREFIX
fi

while getopts "hsdrp:n:vc:3DMSytHT:f:" arg; do
while getopts "hsn:vDMSytHT:f:" arg; do
case $arg in
s)
simulation=1
Expand All @@ -167,51 +145,33 @@ while getopts "hsdrp:n:vc:3DMSytHT:f:" arg; do
help
exit
;;
d)
do_not_record=1
;;
r)
record_cam=1
;;
p)
project_option="-p $OPTARG"
;;
n)
log_prefix=$OPTARG
;;
v)
verbose=1
;;
c)
config_name=$OPTARG
;;
3)
config_name=rs3
;;
D)
debug=1
;;
M)
log_dmesg=1
;;
S)
screen_recording=1
;;
y)
yes=1
;;
t)
run_test=1
;;
T)
module=$OPTARG
;;
f)
test_func=$OPTARG
;;
H)
export CABOT_HEADLESS=1
;;
D)
debug=1
;;
M)
log_dmesg=1
;;
y)
yes=1
;;
t)
run_test=1
;;
T)
module=$OPTARG
;;
f)
test_func=$OPTARG
;;
H)
export CABOT_HEADLESS=1
;;
esac
done
shift $((OPTIND-1))
Expand All @@ -221,16 +181,6 @@ shift $((OPTIND-1))
pids=()
termpids=()

## check nvidia-smi
if [ -z `which nvidia-smi` ]; then
if [ -z $config_name ]; then
red "[WARNING] cannot find nvidia-smi, so config_name is changed to 'nuc'"
config_name=nuc
fi
else
nvidia_gpu=1
fi

## check required environment variables
error=0
if [ -z $CABOT_MODEL ]; then
Expand All @@ -242,29 +192,6 @@ if [ -z $CABOT_SITE ]; then
error=1
fi

if [ "$config_name" = "rs3" ]; then
if [ -z $CABOT_REALSENSE_SERIAL_1 ]; then
err "CABOT_REALSENSE_SERIAL_1: environment variable should be specified"
error=1
fi
if [ -z $CABOT_REALSENSE_SERIAL_2 ]; then
err "CABOT_REALSENSE_SERIAL_2: environment variable should be specified"
error=1
fi
if [ -z $CABOT_REALSENSE_SERIAL_3 ]; then
err "CABOT_REALSENSE_SERIAL_3: environment variable should be specified"
error=1
fi
reset_all_realsence=1
fi

if [[ "$config_name" = "nuc" ]]; then
if [[ -z $CABOT_JETSON_CONFIG ]]; then
err "CABOT_JETSON_CONFIG: environment variable should be specified to launch people on Jetson"
error=1
fi
fi

if [ $error -eq 1 ]; then
exit 1
fi
Expand Down Expand Up @@ -312,44 +239,43 @@ cd $scriptdir
dcfile=

dcfile=docker-compose
if [ ! -z $config_name ]; then dcfile="${dcfile}-$config_name"; fi
if [ $simulation -eq 0 ]; then dcfile="${dcfile}-production"; fi
dcfile="${dcfile}.yaml"

if [ ! -e $dcfile ]; then
err "There is not $dcfile (config_name=$config_name, simulation=$simulation)"
err "There is not $dcfile, simulation=$simulation)"
exit
fi

dccom="docker compose $project_option -f $dcfile"
dccom="docker compose -f $dcfile"

if [ $local_map_server -eq 1 ]; then
blue "Checking the map server is available $( echo "$(date +%s.%N) - $start" | bc -l )"
curl http://localhost:9090/map/map/floormaps.json --fail > /dev/null 2>&1
test=$?
launching_server=0
while [[ $test -ne 0 ]]; do
if [[ $launching_server -eq 1 ]]; then
snore 5
blue "waiting the map server is ready..."
curl http://localhost:9090/map/map/floormaps.json --fail > /dev/null 2>&1
test=$?
else
if [[ $yes -eq 0 ]]; then
red "Note: launch.sh no longer launch server in the script"
red -n "You need to run local web server for $CABOT_SITE, do you want to launch the server [Y/N]: "
read -r ans
else
ans=y
fi
if [[ $ans = 'y' ]] || [[ $ans = 'Y' ]]; then
launching_server=1
gnome-terminal -- bash -c "./server-launch.sh -d $cabot_site_dir/server_data; exit"
else
echo ""
exit 1
fi
fi
if [[ $launching_server -eq 1 ]]; then
snore 5
blue "waiting the map server is ready..."
curl http://localhost:9090/map/map/floormaps.json --fail > /dev/null 2>&1
test=$?
else
if [[ $yes -eq 0 ]]; then
red "Note: launch.sh no longer launch server in the script"
red -n "You need to run local web server for $CABOT_SITE, do you want to launch the server [Y/N]: "
read -r ans
else
ans=y
fi
if [[ $ans = 'y' ]] || [[ $ans = 'Y' ]]; then
launching_server=1
gnome-terminal -- bash -c "./server-launch.sh -d $cabot_site_dir/server_data; exit"
else
echo ""
exit 1
fi
fi
done
fi

Expand Down Expand Up @@ -381,9 +307,9 @@ blue "All launched: $( echo "$(date +%s.%N) - $start" | bc -l )"
if [[ $run_test -eq 1 ]]; then
blue "Running test"
if [[ $debug -eq 1 ]]; then
docker compose exec navigation /home/developer/ros2_ws/script/run_test.sh -w -d $module $test_func # debug
docker compose exec navigation /home/developer/ros2_ws/script/run_test.sh -w -d $module $test_func # debug
else
docker compose exec navigation /home/developer/ros2_ws/script/run_test.sh -w $module $test_func
docker compose exec navigation /home/developer/ros2_ws/script/run_test.sh -w $module $test_func
fi
pids+=($!)
runtest_pid=$!
Expand All @@ -394,16 +320,16 @@ while [ 1 -eq 1 ];
do
# check if any of container got Exit status
if [[ $terminating -eq 0 ]] && [[ `$dccom ps | grep Exit | wc -l` -gt 0 ]]; then
red "docker compose may have some issues. Check errors in the log or run with '-v' option."
ctrl_c 1
exit
red "docker compose may have some issues. Check errors in the log or run with '-v' option."
ctrl_c 1
exit
fi
if [[ $run_test -eq 1 ]]; then
kill -0 $runtest_pid
if [[ $? -eq 1 ]]; then
ctrl_c 1
exit
fi
kill -0 $runtest_pid
if [[ $? -eq 1 ]]; then
ctrl_c 1
exit
fi
fi
snore 1
done

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