From 01c56d381ff5bb4bd511d98691c0980e956ed0b0 Mon Sep 17 00:00:00 2001
From: Zhengyi Jiang <anthony.jiang.github@outlook.com>
Date: Wed, 8 Nov 2023 21:53:05 +0000
Subject: [PATCH] added kill, restart options

---
 autostart/autostart.sh | 83 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 82 insertions(+), 1 deletion(-)

diff --git a/autostart/autostart.sh b/autostart/autostart.sh
index 18a49a7..73b2127 100755
--- a/autostart/autostart.sh
+++ b/autostart/autostart.sh
@@ -1,5 +1,86 @@
 #!/bin/bash
 
+kill_auxiliary() {
+	pid=`ps ux | grep -v grep | grep "bash -c" | grep launch_auxiliary | head -1 | awk '{print $2}'`
+	kill ${pid}
+}
+
+kill_camera() {
+	pid=`ps ux | grep -v grep | grep "bash -c" | grep launch_camera | head -1 | awk '{print $2}'`
+	kill ${pid}
+}
+
+kill_reach() {
+	pid=`ps ux | grep -v grep | grep "bash -c" | grep launch_reach | head -1 | awk '{print $2}'`
+	kill ${pid}
+}
+
+kill_slam() {
+	pid=`ps ux | grep -v grep | grep "bash -c" | grep launch_slam | head -1 | awk '{print $2}'`
+	kill ${pid}
+}
+
+kill_unitree_base() {
+	pid=`ps ux | grep -v grep | grep "bash -c" | grep launch_unitree_base | head -1 | awk '{print $2}'`
+	kill ${pid}
+}
+
+kill_roscore() {
+	pid=`ps ux | grep -v grep | grep "bash -c" | grep launch_roscore | head -1 | awk '{print $2}'`
+	kill ${pid}
+}
+
+if [[ $1 == "-h" ]]; then
+	echo "Usage: $0"
+	echo "This script is used to launch all the necessary nodes for the ICE9 project."
+	echo "It is meant to be run on startup."
+    echo "  -h, --help			display this help and exit"
+    echo "  -l, --log			display log and exit"
+	echo "  -ka, --killall		kill all processes launched by autostart"
+	echo "  -k [name], --kill [name]	kill a specific process launched by autostart"
+	echo "  	[name] can be one of the following:"
+	echo "		auxiliary, camera, reach, slam, unitree_base, roscore"
+	echo "  -r, --restart		restart all processes launched by autostart"
+    exit 0
+elif [[ $1 == "-l" || $1 == "--log" ]]; then
+    cat ${HOME}/Unitree_GPS_Integration/autostart/.log
+    exit 0
+elif [[ $1 == "-ka" || $1 == "--killall" ]]; then
+	kill_auxiliary
+	kill_camera
+	kill_reach
+	kill_slam
+	kill_unitree_base
+	kill_roscore
+	exit 0
+elif [[ $1 == "-k" || $1 == "--kill" ]]; then
+	if [[ $2 == "auxiliary" ]]; then
+		kill_auxiliary
+	elif [[ $2 == "camera" ]]; then
+		kill_camera
+	elif [[ $2 == "reach" ]]; then
+		kill_reach
+	elif [[ $2 == "slam" ]]; then
+		kill_slam
+	elif [[ $2 == "unitree_base" ]]; then
+		kill_unitree_base
+	elif [[ $2 == "roscore" ]]; then
+		kill_roscore
+	else
+		echo "Error! Unknown process name."
+		exit 1
+	fi
+	exit 0
+elif [[ $1 == "-r" || $1 == "--restart" ]]; then
+	kill_auxiliary
+	kill_camera
+	kill_reach
+	kill_slam
+	kill_unitree_base
+	kill_roscore
+fi
+
+
 log_file=${HOME}/Unitree_GPS_Integration/autostart/.log
 log() {
 	printf "[%-12.12s]: %s\n" "main" "$1" >> ${log_file}
@@ -7,7 +88,7 @@ log() {
 }
 
 export SUDO_ASKPASS=${HOME}/Unitree/autostart/passwd.sh
-ice9_scripts=/home/unitree/Unitree_GPS_Integration/autostart
+ice9_scripts=${HOME}/Unitree_GPS_Integration/autostart
 
 mv ${log_file} ${log_file}.backup
 log "ICE9 autostart list started."