start_db

#!/bin/bash
### BEGIN INIT INFO
# Provides: start DroneBridge
# Required-Start: $remote_fs $syslog $local_fs
# Required-Stop:
# Should-Start: $network
# Should-Stop:
# Default-Start: 2 3 4 5
# Default-Stop: 3 5
# Short-Description: DroneBridge startup script
# Description:  Helper & auto start script for DroneBridge. Placed in /etc/init.d/ to handle DroneBridge on system boot
### END INIT INFO

declare -a DBModuleNames=("osd" "video_air" "video_gnd" "db_pi_player" "db_pi_player_30" "db_pi_player_48"
"db_pi_player_240" "db_status" "db_proxy" "control_air" "control_ground" "db_communication_air.py"
"db_communication_gnd.py" "init_wifi.py" "start_db_modules.py" "usbbridge" "db_syslog_server" "db_recorder")

RED='\033[0;31m'
GRN='\033[1;32m'
NC='\033[0m' # No Color


function start_osd() {
  echo
  dos2unix -n /DroneBridge/osdconfig.txt /DroneBridge/osdconfig.txt
  echo
  cd /home/pi/DroneBridge/osd
  echo Building OSD:
  make -j2 || {
    echo -e "${RED}ERROR: Could not build OSD, check osdconfig.txt!${NC}"
  }
  cd /tmp
  ./osd &
}

function stop_db_modules() {
  echo "Stopping DroneBridge modules"
  for DB_MODULE in ${DBModuleNames[@]}; do
    pkill -f "$DB_MODULE"
  done
}

function init_dronebridge() {
    logrotate -f /etc/logrotate.conf
    /home/pi/DroneBridge/syslog_server/db_syslog_server &

    if vcgencmd get_throttled | nice grep -q -v "0x0"; then
    TEMP=$(cat /sys/class/thermal/thermal_zone0/temp)
    TEMP_C=$(($TEMP / 1000))
    if [[ "$TEMP_C" -lt 75 ]]; then # it must be under-voltage
      mount -o remount,ro /boot
      echo "1" >/tmp/undervolt
      echo -e "${RED}Under-voltage detected. Please check your power supply!${NC}"
    else
      echo "0" >/tmp/undervolt
    fi
  else
    echo "0" >/tmp/undervolt
  fi

  CAM=$(/usr/bin/vcgencmd get_camera | nice grep -c detected=1)
  echo "Building DroneBridge modules..."	# enables optimizations for specific targets
  cd /home/pi/DroneBridge
  # Check for last compile target (may need to recompile to get advantage of NEON SIMD)
  CPU_ARCHITECTURE=$(uname -m)
  COMPILE_TARGET_FILE=.compile_target
  LAST_COMPILE_TARGET=$(head -n 1 "$COMPILE_TARGET_FILE")
  if [[ -f "$COMPILE_TARGET_FILE" ]] && [[ "$LAST_COMPILE_TARGET" = "$CPU_ARCHITECTURE" ]]; then
    echo "DroneBridge is already compiled for the CPU architecture"
  else
    # Force recompilation in case we are having a different CPU
    echo "Re-Compiling DroneBridge..."
    CPU_CORES=$(nproc)
    rm CMakeCache.txt
    cmake .
    make -j"$CPU_CORES"
    echo "Compilation done"
    rm "$COMPILE_TARGET_FILE"
    uname -m > "$COMPILE_TARGET_FILE"
  fi

  DB_VERSION_STR=$(head -n 1 /home/pi/DroneBridge/db_version.txt)
  if [[ "$CAM" == "0" ]]; then
    echo "Welcome to DroneBridge v"$DB_VERSION_STR" Beta (GND) - "
    python3 /home/pi/DroneBridge/startup/init_wifi.py -g
    sleep 1
    python3 /home/pi/DroneBridge/startup/start_db_modules.py -g
    start_osd
  else
    echo "Welcome to DroneBridge v"$DB_VERSION_STR" Beta (UAV) - "
    python3 /home/pi/DroneBridge/startup/init_wifi.py
    sleep 1
    python3 /home/pi/DroneBridge/startup/start_db_modules.py
  fi
}

case "$1" in
  start)
    init_dronebridge
    ;;
  stop)
    stop_db_modules
    ;;
  restart)
    stop_db_modules
    start_db_modules
    ;;
  force-reload)
    stop_db_modules
    init_dronebridge
    ;;
  status)
    echo "Status of DroneBridge applications"
    for DB_MODULE in ${DBModuleNames[@]}; do
      if pgrep -f "$DB_MODULE" >/dev/null
      then
          echo -e "$DB_MODULE ${GRN}running${NC}"
      else
          echo -e "$DB_MODULE ${RED}stopped${NC}"
      fi 
    done
    ;;
  *)
    echo "Usage: /etc/init.d/start_db {start|stop|restart|force-reload|status}"
    exit 1
    ;;
esac
 
exit 0