{# 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