uav1.sh

#!/bin/bash

SESSION_NAME=uav1
UAV_NAME=$SESSION_NAME

if [ -z ${TMUX} ];
then
  TMUX= tmux new-session -s $SESSION_NAME -d
  echo "Starting new session."
else
  SESSION_NAME="$(tmux display-message -p '#S')"
fi

# UNCOMMENT IF YOU WANT TO LOG SESSIONS
#LOG_DIR=~/logs_tmux
#suffix=$(date +"%Y_%m_%d_%H_%M_%S")
#SUBLOG_DIR=$LOG_DIR"/logs_"$suffix
#
#mkdir $LOG_DIR > /dev/null 2> /dev/null
#mkdir $SUBLOG_DIR
#unlink $LOG_DIR/latest
#ln -s $SUBLOG_DIR $LOG_DIR/latest

# TMUX= tmux new-session -s $SESSION_NAME -d

# key bindings for subpanels
tmux bind -n M-Left select-pane -L
tmux bind -n M-Right select-pane -R
tmux bind -n M-Up select-pane -U
tmux bind -n M-Down select-pane -D

# remap Ctrl-b
tmux unbind C-b
tmux set -g prefix C-a
tmux bind C-a send-prefix

# define commands
# 'name' 'command'
input=(
 	"Odometry" "export UAV_NAME=$UAV_NAME; roslaunch mbzirc_odom simulation.launch
"
	"PennController" "export UAV_NAME=$UAV_NAME; sleep 3; roslaunch penn_controller simulation.launch
"
	"PrepareUAV" "export UAV_NAME=$UAV_NAME; sleep 5; rosservice call /$UAV_NAME/mavros/cmd/arming 1; sleep 2; rosservice call /$UAV_NAME/mav_manager_node/motors 1; sleep 2; rosservice call /$UAV_NAME/mavros/set_mode \"base_mode: 0
custom_mode: offboard\"; sleep 2; rosservice call /$UAV_NAME/mav_manager_node/takeoff; sleep 5; rosservice call /$UAV_NAME/trackers_manager/transition \"tracker: \"mbzirc_trackers/MpcTracker\"\"; rosservice call /$UAV_NAME/trackers_manager/mpc_tracker/goTo \"goal:
- -10.0
- -1.0
- 8.0
- 0.0\"
"
	"Boids" "export UAV_NAME=$UAV_NAME; roslaunch boid_controller simulation.launch"
	"GoBack" "export UAV_NAME=$UAV_NAME; rosservice call /$UAV_NAME/trackers_manager/mpc_tracker/goTo \"goal:
- -10.0
- -1.0
- 8.0
- 0.0\""
	"KILL_ALL" "tmux kill-session -t $SESSION_NAME"
)

# create arrays of names and commands
for ((i=0; i < ${#input[*]}; i++));
do
  ((i%2==0)) && names[$i/2]="${input[$i]}"
	((i%2==1)) && cmds[$i/2]="${input[$i]}"
done

# run tmux windows
for ((i=0; i < ${#names[*]}; i++));
do
	tmux new-window -t $SESSION_NAME:$(($i+10)) -n "${names[$i]}"
done

sleep 4

# UNCOMMENT IF YOU WANT TO LOG SESSIONS
#for ((i=0; i < ${#names[*]}; i++));
#do
#	tmux pipe-pane -t $SESSION_NAME:$(($i+10)) -o "ts | cat >> $SUBLOG_DIR/$(($i+10))_${names[$i]}.log"
#done
#
#sleep 1

# send commands
for ((i=0; i < ${#cmds[*]}; i++));
do
	tmux send-keys -t $SESSION_NAME:$(($i+10)) "${cmds[$i]}"
done

sleep 4

tmux select-window -t $SESSION_NAME:0
tmux -2 attach-session -t $SESSION_NAME

clear