sun

#!/bin/sh

VERSION=$(git describe --abbrev=7 --always --long --match v* master)

set -e

COMPOSE="docker-compose"
if ! command -v docker-compose %> /dev/null
then
    echo "docker-compose not found, using 'docker compose'"
    COMPOSE="docker compose"
fi

echo "SUN - Simulated UAV Network"
echo

help() {
    echo "Usage: sun [command] [command options]"
    echo "Commands:"
    echo "  run <scenario_dir>    start simulation scenarion"
    echo "  stop                  stop (stale) simulation"
    echo "  new <scenario_name>   create new scenario"
    echo "  build                 build all docker images"
    echo "  clear                 remove scenario results and temporary files"
    echo "  nsh <node_name>       open shell for given node"
    echo "  version               print version information"
    echo "  help                  print this help"
    echo
    echo "Nodes: uav|core|station|<coreemu virtual node name>"
}

scenario_new() {
    if [ -d "scenarios/$1" ]; then
        echo "Scenario $1 already exists"
        exit 1
    fi

    echo "generating new scenario: $1"
    mkdir -p scenarios/$1

    cp -r templates/shared-TEMPLATE/* scenarios/$1
    cat templates/shared-TEMPLATE/experiment.conf | sed -e "s/SCENARIONAME/$1/g" >scenarios/$1/experiment.conf
}
stop() {
    echo "stopping simulation"
    $COMPOSE down
}
build() {
    echo "building images"

    if [ ! -f "docker-compose.yml" ]; then
        echo "no config found, generating one..."
        cat templates/docker-compose.yml.TEMPLATE | sed -e 's/SHAREDDIR/.\/shared/g' >docker-compose.yml
    fi
    $COMPOSE build
}

clear() {
    echo "clear scenarios"
    sudo rm -rf shared/results-*
    sudo rm -rf scenarios/*/results-*
    sudo rm shared/experiment.log
    sudo rm -rf scenarios/*/experiment.log
}
nsh() {
    echo "opening shell for $1"
    echo

    if [ "$1" = "uav" ]; then
        docker exec -it sun_uav_1 /bin/bash
    elif [ "$1" = "core" ]; then
        docker exec -it sun_core_1 /bin/bash
    elif [ "$1" = "station" ]; then
        docker exec -it sun_station_1 /bin/bash
    else
        docker exec -it sun_core_1 cbash $1
    fi
}
run() {
    echo "running scenario: $1"
    cat templates/docker-compose.yml.TEMPLATE | sed -e "s+SHAREDDIR+./$1+g" >docker-compose.yml
    
    $COMPOSE build

    if [ -f "$1/env.conf" ]; then
        echo "Loading environment variables from $1/env.conf"
        set -o allexport
        . $1/env.conf
        set +o allexport

        echo $PX4_HOME_LAT,$PX4_HOME_LON,$PX4_HOME_ALT
    fi

    $COMPOSE up -d --remove-orphans
    sleep 5
    # connect core gui: password netsim
    #ssh -o StrictHostKeyChecking=no -o UserKnownHostsFile=/dev/null -Y -p 2022 root@localhost core-pygui -s 1 &
    echo "ground station: vnc://127.0.0.1:15901"
    echo "core network: vnc://127.0.0.1:15902"
    echo "core network: ssh://root@127.0.0.1:2022"
    sleep 2
    #docker exec -it sun_core_1 core-cli query session -i 1
    BASE_X=$(docker exec -it sun_core_1 core-pos uav0 | egrep -ex | awk '{print $2}' | sed 's/,*\r*$//')
    BASE_Y=$(docker exec -it sun_core_1 core-pos uav0 | egrep -ey | awk '{print $2}' | sed 's/,*\r*$//')
    echo "base xy: $BASE_X,$BASE_Y"
    docker exec -it sun_core_1 core-cli node edit -i 4 -p $BASE_X,$BASE_Y -ic /root/.coregui/icons/uav.png
    sleep 1

    if [ -f "$1/px4-params.txt" ]; then
        echo "Loading parameters from $1/px4-params.txt"
        for i in $(cat $1/px4-params.txt | grep -v "^#" | grep "="); do
            PARAM=$(echo $i | sed -e 's/=/ /g')
            docker exec -it sun_uav_1 /root/PX4-Autopilot/build/px4_sitl_default/bin/px4-param set $PARAM
            #echo $PARAM
            sleep 1
        done
    else
        echo "File $1/px4-params.txt not found, not setting extra PX4 parameters"

    fi

    if [ -f "$1/autostart.sh" ]; then
        echo "Running $1/autostart.sh"
        bash $1/autostart.sh
    fi
    set +e
    docker exec -it sun_uav_1 python3 /usr/local/bin/gz_pose.py

    # mutli node mesh setup: babeld -D -C 'redistribute metric 256' eth0
    #tail -f /dev/null
    set -e
    $COMPOSE stop
    $COMPOSE rm -f core
    $COMPOSE rm -f uav
    $COMPOSE rm -f station
}

# if no parameters given then print usage
if [ $# -eq 0 ]; then
    help
    exit 0
fi

if [ "$1" = "new" ]; then
    if [ $# -ne 2 ]; then
        help
        exit 0
    fi
    scenario_new $2
elif [ "$1" = "run" ]; then
    if [ $# -ne 2 ]; then
        help
        exit 0
    fi
    run $2
elif [ "$1" = "stop" ]; then
    stop
elif [ "$1" = "build" ]; then
    build
elif [ "$1" = "clear" ]; then
    clear
elif [ "$1" = "nsh" ]; then
    if [ $# -ne 2 ]; then
        help
        exit 0
    fi
    nsh $2
elif [ "$1" = "version" ]; then
    echo "version: $VERSION"
elif [ "$1" = "help" ]; then
    help
else
    echo "unknown command"
    echo
    help
fi