run

#!/bin/bash

IMAGE_NAME=goldarte/clever-show-ds
DEFAULT_ID=1
DEFAULT_PORT=14560
DEFAULT_DX=0
DEFAULT_DY=0
ID=$DEFAULT_ID
CONTAINER_NAME=sim-$DEFAULT_ID
PORT=$DEFAULT_PORT
DX=$DEFAULT_DX
DY=$DEFAULT_DY

function usage()
{
    echo ""
    echo "Script for running docker image $IMAGE_NAME"
    echo "Usage: ./run [options]"
    echo "Options:"
    echo -e "  -h --help \t\tPrint this message"
    echo -e "  -i --id=ID \t\tID of simulated copter. Used as MAV_SYS_ID."
    echo -e "\t\t\tContainer name and hostname are set to sim-<ID> (default: $DEFAULT_ID)"
    echo -e "  -p --port=PORT \tInitial UDP port (default: $DEFAULT_PORT)"
    echo -e "\t\t\tUDP listening port for simulator data is set to <PORT>+<ID>"
    echo -e "  --headless \t\tSet this option to run lightweight jmavsim simulator directly in container"
    echo -e "  --lat=LATITUDE \tSet initial latitude"
    echo -e "  --lon=LONGITUDE \tSet initial longitude"
    echo -e "  --dx=DX \t\tSet dx shift in meters to East (default: $DEFAULT_DX)"
    echo -e "  --dy=DY \t\tSet dy shift in meters to North (default: $DEFAULT_DY)"
    echo "See defaults for initial latitude and longitude here:"
    echo "https://github.com/goldarte/clover-ds/blob/master/scripts/calculate_gps.py#L7"
    echo ""
}

while [ "$1" != "" ]; do
    PARAM=`echo $1 | awk -F= '{print $1}'`
    VALUE=`echo $1 | awk -F= '{print $2}'`
    case $PARAM in
        -h | --help)
            usage
            exit
            ;;
        -i | --id)
            ID=$VALUE
            CONTAINER_NAME=sim-$VALUE
            ;;
        -p | --port)
            PORT=$VALUE
            ;;
        --headless)
            HEADLESS=1
            ;;
        --lat)
            LAT=$VALUE
            ;;
        --lon)
            LON=$VALUE
            ;;
        --dx)
            DX=$VALUE
            ;;
        --dy)
            DY=$VALUE
            ;;
        *)
            echo "ERROR: unknown parameter \"$PARAM\""
            usage
            exit 1
            ;;
    esac
    shift
done

echo -e "\nRun image $IMAGE_NAME with name and hostname $CONTAINER_NAME"

CMD1="docker run \
    -d \
    -it \
    --rm \
    --name $CONTAINER_NAME \
    --hostname $CONTAINER_NAME \
    --tmpfs /tmp \
    --tmpfs /run \
    --tmpfs /run/lock \
    -v /sys/fs/cgroup:/sys/fs/cgroup:ro \
    -e DX=$DX \
    -e DY=$DY \
    -e MAV_SYS_ID=$ID "
CMD2="-e LAT=$LAT "
CMD3="-e LON=$LON "
CMD4="-p $((PORT+ID)):14560/udp "
CMD5="-e HEADLESS=$HEADLESS "
CMD6="$IMAGE_NAME"

CMD=$CMD1

if [ ! -z $LAT ]; then
    CMD=$CMD$CMD2
fi

if [ ! -z $LON ]; then
    CMD=$CMD$CMD3
fi

if [ -z $HEADLESS ]
then
    CMD=$CMD$CMD4$CMD6
    echo -e "Listening UDP port on host machine for simulator data is $((PORT+ID))"
else
    CMD=$CMD$CMD5$CMD6
    echo -e "Running in HEADLESS mode"
fi

echo -e "MAV_SYS_ID is set to $ID\n"

# echo -e "Command:\n$CMD\n"

eval $CMD