58 lines
1.8 KiB
Bash
Executable File
58 lines
1.8 KiB
Bash
Executable File
#!/bin/bash
|
|
# run_uav.sh - Auto-detecting wrapper for UAV runner
|
|
# Detects testbed vs local environment and launches with appropriate connection
|
|
#
|
|
# Usage:
|
|
# ./run_uav.sh # Auto-detect and run
|
|
# ./run_uav.sh testbed # Force testbed mode
|
|
# ./run_uav.sh local # Force local mode
|
|
|
|
set -e
|
|
|
|
# Change to script directory
|
|
cd "$(dirname "$0")"
|
|
|
|
# Activate venv if it exists
|
|
if [ -d "venv" ]; then
|
|
source venv/bin/activate
|
|
fi
|
|
|
|
# Connection strings
|
|
# AERPAW testbed: E-VM LISTENS on port 14550, MAVLink Filter connects TO us
|
|
# See: https://sites.google.com/ncsu.edu/aerpaw-user-manual/6-sample-experiments-repository/6-2-vehicle-control-software/vcs1-preplanned-trajectory
|
|
# "the IP address corresponds to the E-VM IP address and the port is where
|
|
# the MAVLink filter expects to find the vehicle control script"
|
|
TESTBED_CONN="udp:0.0.0.0:14550"
|
|
LOCAL_CONN="udp:127.0.0.1:14550"
|
|
|
|
# Function to check if we're in testbed environment
|
|
check_testbed() {
|
|
# Check if we're on the AERPAW testbed network (192.168.122.X)
|
|
ip addr | grep -q "192.168.122"
|
|
return $?
|
|
}
|
|
|
|
# Determine connection based on argument or auto-detection
|
|
if [ "$1" = "testbed" ]; then
|
|
CONN="$TESTBED_CONN"
|
|
echo "[run_uav] Forced testbed mode: $CONN"
|
|
elif [ "$1" = "local" ]; then
|
|
CONN="$LOCAL_CONN"
|
|
echo "[run_uav] Forced local mode: $CONN"
|
|
else
|
|
echo "[run_uav] Auto-detecting environment..."
|
|
if check_testbed; then
|
|
CONN="$TESTBED_CONN"
|
|
echo "[run_uav] Testbed detected, using: $CONN"
|
|
else
|
|
CONN="$LOCAL_CONN"
|
|
echo "[run_uav] Local mode (testbed not reachable), using: $CONN"
|
|
fi
|
|
fi
|
|
|
|
# Run via aerpawlib
|
|
echo "[run_uav] Starting UAV runner..."
|
|
python3 -m aerpawlib \
|
|
--script client.uav_runner \
|
|
--conn "$CONN" \
|
|
--vehicle drone |