You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
87 lines
2.3 KiB
87 lines
2.3 KiB
7 years ago
|
{# jinja template to generate the serial autostart script. #}
|
||
|
|
|
||
|
|
# serial autostart script generated with generate_serial_config.py
|
||
|
|
|
||
|
|
|
||
|
|
# set dual gps args
|
||
|
|
set DUAL_GPS_ARGS ""
|
||
|
|
set SER_TAG {{ serial_devices[0].tag }}
|
||
|
|
set SER_DEV {{ serial_devices[0].device }}
|
||
|
|
while [ ${SER_TAG} != exit ]
|
||
|
|
do
|
||
|
|
if param compare SER_${SER_TAG}_CONFIG {{ secondary_gps_value }}
|
||
|
|
then
|
||
|
|
set DUAL_GPS_ARGS "-e ${SER_DEV}"
|
||
|
|
echo "Starting Secondary GPS on ${SER_DEV} (${SER_TAG})"
|
||
|
|
fi
|
||
|
|
|
||
|
|
# loop iteration
|
||
|
|
{# need to iterate in reversed order -#}
|
||
|
|
{% set last = serial_devices|last -%}
|
||
|
|
if [ ${SER_TAG} == {{ last.tag }} ]
|
||
|
|
then
|
||
|
|
set SER_TAG exit
|
||
|
|
fi
|
||
|
|
{% for serial_device in serial_devices | reverse -%}
|
||
|
|
{% if not loop.first -%}
|
||
|
|
{% set next = loop.previtem -%}
|
||
|
|
if [ ${SER_TAG} == {{ serial_device.tag }} ]
|
||
|
|
then
|
||
|
|
set SER_TAG {{ next.tag }}
|
||
|
|
set SER_DEV {{ next.device }}
|
||
|
|
fi
|
||
|
|
{% endif -%}
|
||
|
|
{% endfor %}
|
||
|
|
done
|
||
|
|
|
||
|
|
# start the devices on the configured ports
|
||
|
|
set SER_TAG {{ serial_devices[0].tag }}
|
||
|
|
set SER_DEV {{ serial_devices[0].device }}
|
||
|
|
while [ ${SER_TAG} != exit ]
|
||
|
|
do
|
||
|
|
# Access all params so that they're sent to a GCS upon param loading
|
||
|
|
param touch SER_${SER_TAG}_BAUD SER_${SER_TAG}_MAV_MDE SER_${SER_TAG}_MAV_R SER_${SER_TAG}_MAV_FWD
|
||
|
|
|
||
|
|
# initialize params
|
||
|
|
set MAV_ARGS "-b p:SER_${SER_TAG}_BAUD -m p:SER_${SER_TAG}_MAV_MDE -r p:SER_${SER_TAG}_MAV_R"
|
||
|
|
if param compare SER_${SER_TAG}_MAV_FWD 1
|
||
|
|
then
|
||
|
|
set MAV_ARGS "${MAV_ARGS} -f"
|
||
|
|
fi
|
||
|
|
|
||
|
|
# start commands
|
||
|
|
{% for command in commands -%}
|
||
|
|
{% if command.command | length > 0 -%}
|
||
|
|
if param compare SER_${SER_TAG}_CONFIG {{ command.value }}
|
||
|
|
then
|
||
|
|
{# the echo can be disabled if too verbose... -#}
|
||
|
|
echo "Starting {{ command.label }} on ${SER_DEV} (${SER_TAG})"
|
||
|
|
{{ command.command }}
|
||
|
|
fi
|
||
|
|
{% endif -%}
|
||
|
|
{% endfor %}
|
||
|
|
|
||
|
|
# loop iteration
|
||
|
|
{# need to iterate in reversed order -#}
|
||
|
|
{% set last = serial_devices|last -%}
|
||
|
|
if [ ${SER_TAG} == {{ last.tag }} ]
|
||
|
|
then
|
||
|
|
set SER_TAG exit
|
||
|
|
fi
|
||
|
|
{% for serial_device in serial_devices | reverse -%}
|
||
|
|
{% if not loop.first -%}
|
||
|
|
{% set next = loop.previtem -%}
|
||
|
|
if [ ${SER_TAG} == {{ serial_device.tag }} ]
|
||
|
|
then
|
||
|
|
set SER_TAG {{ next.tag }}
|
||
|
|
set SER_DEV {{ next.device }}
|
||
|
|
fi
|
||
|
|
{% endif -%}
|
||
|
|
{% endfor %}
|
||
|
|
done
|
||
|
|
|
||
|
|
unset DUAL_GPS_ARGS
|
||
|
|
unset SER_TAG
|
||
|
|
unset SER_DEV
|
||
|
|
unset MAV_ARGS
|