hubo-master-slave

#!/bin/bash

sudo ls > /dev/null

HUBO_REF_FILTER_CHAN='hubo-ref-filter'
#HUBO_STATE_CHAN='hubo-state'
#HUBO_REF_CHAN='hubo-ref'
HUBO_REMOTE_ADDRESS='0.0.0.0'
FLAG_DRC_HUBO=0
FLAG_REMOTE=0

MakeAch()
{
	hubo-ach make
	ach -1 -C $HUBO_REF_FILTER_CHAN -m 10 -n 3000
	sudo chmod 777 /dev/shm/achshm-$HUBO_REF_FILTER_CHAN
}

Kill()
{
}

Remote()
{
	achd -r pull $1 $HUBO_STATE_CHAN &
	achd -r push $1 $HUBO_REF_CHAN &
}

KillRemote()
{
	hubo-ach remote kill
}

Start()
{
	MakeAch
        if [[ $FLAG_REMOTE -eq 1 ]]
        then
            echo 'Starting remote connection'
            Remote $HUBO_REMOTE_ADDRESS
        fi
	python drc_hubo_master_slave.py
}

StartOpenHubo()
{
	hubo-ach sim openhubo nophysics drc
}

Install()
{
}

ShowUsage()
{
	echo 'start            : Starts controller'
}

SetFlags()
{
	HUBO_I=0
	HUBO_TEMP1="$@"
	HUBO_TEMP=($HUBO_TEMP1)
	for var in "$@"
	do
	#    echo "$var"
	    case "$var" in
	      'remote' )
	          FLAG_REMOTE=1
	          HUBO_REMOTE_ADDRESS=${HUBO_TEMP[$(($HUBO_I+1))]}
	          echo "Remote address set: "$HUBO_REMOTE_ADDRESS
	      ;;
	      'drc' )
	          FLAG_DRC_HUBO=1
	      ;;
	    esac
	    HUBO_I=$(($HUBO_I+1))
	
	done
}




#Start here
SetFlags $@
case "$1" in
	'start' )
		Start
	;;
esac

exit 0