apollo_base.sh

#!/usr/bin/env bash

###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################


APOLLO_ROOT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/.." && pwd )"

START_TIME=$(($(date +%s%N)/1000000))
TIME=$(date  +%Y%m%d_%H%M)

RED='\033[0;31m'
YELLOW='\e[33m'
NO_COLOR='\033[0m'

function info() {
  (>&2 echo -e "[\e[34m\e[1mINFO\e[0m] $*")
}

function error() {
  (>&2 echo -e "[${RED}ERROR${NO_COLOR}] $*")
}

function warning() {
  (>&2 echo -e "[${YELLOW}WARNING${NO_COLOR}] $*")
}

function ok() {
  (>&2 echo -e "[\e[32m\e[1m OK \e[0m] $*")
}

function print_delim() {
  echo '============================'
}

print_time() {
  END_TIME=$(($(date +%s%N)/1000000))
  ELAPSED_TIME=$(echo "scale=3; ($END_TIME - $START_TIME) / 1000" | bc -l)
  MESSAGE="Took ${ELAPSED_TIME} seconds"
  info "${MESSAGE}"
}

function success() {
  print_delim
  ok "$1"
  print_time
  print_delim
}

function fail() {
  print_delim
  error "$1"
  print_time
  print_delim
  exit -1
}


agreement_record="$HOME/.apollo_agreement.txt"
if [ ! -e "$agreement_record" ]; then
   AGREEMENT_FILE="$APOLLO_ROOT_DIR/scripts/AGREEMENT.txt"
   if [ ! -e "$AGREEMENT_FILE" ]; then
        error "AGREEMENT $AGREEMENT_FILE does not exist."
        exit 0
   fi
   cat $AGREEMENT_FILE
   tip="Type 'y' or 'Y' to agree to the license agreement above, or type any other key to exit"
   echo $tip 
   read -n 1 user_agreed
   if [ "$user_agreed" == "y" ] || [ "$user_agreed" == "Y" ]; then
       rm -rf $agreement_record
       cat $AGREEMENT_FILE >> $agreement_record
       echo "$tip" >> $agreement_record
       echo "$user_agreed" >> $agreement_record
   else
       exit 0
   fi
fi


if [ -f /.dockerenv ]; then
    APOLLO_IN_DOCKER=true
else
    APOLLO_IN_DOCKER=false
fi

if [ "$RELEASE_DOCKER" == 1 ];then
    source /apollo/ros/setup.bash
    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/apollo/lib
    export PYTHONPATH=/apollo/lib:${PYTHONPATH}
else
    if [ -e "${APOLLO_ROOT_DIR}/bazel-apollo/external/ros/setup.bash" ]; then
       source "${APOLLO_ROOT_DIR}/bazel-apollo/external/ros/setup.bash"
    fi
    export PYTHONPATH=${APOLLO_ROOT_DIR}/bazel-genfiles:${PYTHONPATH}
fi

if [ ! -e "${APOLLO_ROOT_DIR}/data/log" ]; then
    mkdir -p "${APOLLO_ROOT_DIR}/data/log"
fi

if [ ! -e "${APOLLO_ROOT_DIR}/data/bag" ]; then
    mkdir -p "${APOLLO_ROOT_DIR}/data/bag"
fi

if [ ! -e "${APOLLO_ROOT_DIR}/data/core" ]; then
    mkdir -p "${APOLLO_ROOT_DIR}/data/core"
fi


APOLLO_BIN_PREFIX=$APOLLO_ROOT_DIR
if [ -e "${APOLLO_ROOT_DIR}/bazel-bin" ]; then
    APOLLO_BIN_PREFIX="${APOLLO_ROOT_DIR}/bazel-bin"
fi
export APOLLO_BIN_PREFIX
export APOLLO_IN_DOCKER

function is_stopped() {
    MODULE=${1}
    NUM_PROCESSES="$(pgrep -c -f "modules/${MODULE}/${MODULE}")"
    if [ "${NUM_PROCESSES}" -eq 0 ]; then
        return 1
    else
        return 0
    fi
}

function start() {
    MODULE=$1
    LOG="${APOLLO_ROOT_DIR}/data/log/${MODULE}.out"
    is_stopped "${MODULE}"
    if [ $? -eq 1 ]; then
        eval "nohup ${APOLLO_BIN_PREFIX}/modules/${MODULE}/${MODULE} \
            --flagfile=modules/${MODULE}/conf/${MODULE}.conf \
            --log_dir=${APOLLO_ROOT_DIR}/data/log  </dev/null >${LOG} 2>&1 &"
        is_stopped "${MODULE}"
        if [ $? -eq 0 ]; then
            echo "Launched module ${MODULE}."
            return 0
        else
            echo "Could not launch module ${MODULE}. Is it already built?"
            return 1
        fi
    else
        echo "Module ${MODULE} is already running - skipping."
        return 2
    fi
}

function start_fe() {
    MODULE=$1
    eval "${APOLLO_BIN_PREFIX}/modules/${MODULE}/${MODULE} \
        --flagfile=modules/${MODULE}/conf/${MODULE}.conf \
        --log_dir=${APOLLO_ROOT_DIR}/data/log"
}

function stop() {
    MODULE=$1
    pkill -SIGINT -f "modules/${MODULE}/${MODULE}"
    if [ $? -eq 0 ]; then
        echo "Successfully stopped module ${MODULE}."
    else
        echo "Module ${MODULE} is not running - skipping."
    fi
}

function print_usage() {
  echo "Usage:
  ./$0 [COMMAND]"
  echo "COMMAND:
  help: this help message
  start: start the module in background
  start_fe: start the module without putting in background
  stop: stop the module
  "
}

# run command_name module_name
function run() {
    case $1 in
        start)
            start "$2"
            ;;
        start_fe)
            start_fe "$2"
            ;;
        stop)
            stop "$2"
            ;;
        help)
            print_usage
            ;;
        *)
            start "$2"
            ;;
    esac
}