#!/bin/bash
# run multiple instances of the 'px4' binary, with the gazebo SITL simulation
# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'

# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
# For example gazebo can be run like this:
#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris

function cleanup() {
	pkill -x px4
	pkill gzclient
	pkill gzserver
}

function spawn_model() {
	MODEL=$1
	N=$2 #Instance Number
	X=$3
	Y=$4
	X=${X:=32.0}
	Y=${Y:=$((-16 + 2*${N}))}

	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
	then
		echo "ERROR: Currently only vehicle model $MODEL is not supported!"

		echo "       Supported Models: [${SUPPORTED_MODELS[@]}]"
		trap "cleanup" SIGINT SIGTERM EXIT
		exit 1
	fi

	working_dir="$build_path/rootfs/$n"
	[ ! -d "$working_dir" ] && mkdir -p "$working_dir"

	pushd "$working_dir" &>/dev/null
	echo "starting instance $N in $(pwd)"
	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &

	set --
	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja
	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
	set -- ${@} --mavlink_tcp_port $((4560+${N}))
	set -- ${@} --mavlink_udp_port $((14560+${N}))
	set -- ${@} --mavlink_id $((1+${N}))
	set -- ${@} --gst_udp_port $((5600+${N}))
	set -- ${@} --video_uri $((5600+${N}))
	set -- ${@} --mavlink_cam_udp_port $((14530+${N}))
	set -- ${@} --output-file /tmp/${MODEL}_${N}.sdf

	python3 ${@}

	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83

	popd &>/dev/null

}

if [ "$1" == "-h" ] || [ "$1" == "--help" ]
then
	echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-w <world>] [-s <script>]"
	echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
	exit 1
fi

while getopts n:m:w:s:t:l:p: option
do
	case "${option}"
	in
		n) NUM_VEHICLES=${OPTARG};;
		m) VEHICLE_MODEL=${OPTARG};;
		w) WORLD=${OPTARG};;
		s) SCRIPT=${OPTARG};;
		t) TARGET=${OPTARG};;
		l) LABEL=_${OPTARG};;
		p) POSE_MAP=${OPTARG};;

	esac
done

num_vehicles=${NUM_VEHICLES:=3}
world=${WORLD:=grid_plan}
target=${TARGET:=px4_sitl_default}
vehicle_model=${VEHICLE_MODEL:="iris"}

pose_exists="false"
if [[ -n "${POSE_MAP}" ]]; then
  # Split the map into individual key-value pairs using a comma as the delimiter
  IFS='|' read -ra pose_map <<< "$POSE_MAP"
  pose_exists="true"
fi

export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}

echo "${SCRIPT}"
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/../../.."

build_path=${src_path}/build/${target}
mavlink_udp_port=14560
mavlink_tcp_port=4560
echo "killing running instances"
pkill -x px4 || true

sleep 1

source "${src_path}"/Tools/simulation/gazebo-classic/setup_gazebo.bash "${src_path}" "${src_path}"/build/${target}

# To use gazebo_ros ROS2 plugins
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
else
	ros_args=""
fi

echo "Starting gazebo"
gzserver "${src_path}"/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose "$ros_args" &
sleep 5

n=0
if [ -z "${SCRIPT}" ]; then
	if [ $num_vehicles -gt 255 ]
	then
		echo "Tried spawning $num_vehicles vehicles. The maximum number of supported vehicles is 255"
		exit 1
	fi

	while [ $n -lt $num_vehicles ]; do
		instance=$(($n + 1))
		if [[ "${pose_exists}" == "true" ]]; then
			pose="${pose_map[$n]}"
			if [[ -n "$pose" ]]; then
				IFS=',' read -r x y <<< "$pose"
				spawn_model ${vehicle_model} ${instance} "${x}" "${y}"
			else
				spawn_model ${vehicle_model} ${instance}
			fi
		else
			spawn_model ${vehicle_model} ${instance}
		fi
		n=${instance}
	done
else
	IFS=,
	for target in ${SCRIPT}; do
		target="$(echo "$target" | tr -d ' ')" #Remove spaces
		target_vehicle=$(echo "$target" | cut -f1 -d:)
		target_number=$(echo "$target" | cut -f2 -d:)

		if [ $n -gt 255 ]
		then
			echo "Tried spawning $n vehicles. The maximum number of supported vehicles is 255"
			exit 1
		fi

		m=0
		while [ $m -lt "${target_number}" ]; do
			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
			instance=$(($n + 1))
			# We can now specify a pose for each instance and if none is provided, we use default location
			if [[ "${pose_exists}" == "true" ]]; then
				echo $n
				pose="${pose_map[$n]}"
				if [[ -n "$pose" ]]; then
					IFS=',' read -r x y <<< "$pose"
					spawn_model "${target_vehicle}""${LABEL}" ${instance} "${x}" "${y}"
				else
					spawn_model "${target_vehicle}""${LABEL}" ${instance}
				fi
			else
				spawn_model "${target_vehicle}""${LABEL}" ${instance}
			fi
			n=${instance}
			m=$(($m + 1))
		done
	done

fi
trap "cleanup" SIGINT SIGTERM EXIT

echo "Starting gazebo client"
gzclient
