start

#!/bin/sh
# Sebastian Rockel, 2010-01-15
# Eases to start the different player instances
#
# @param $1: player cfg file
# @param $2: robot program
#
prefix="stage_local" # player/stage config files
DefStageWait=2 # Seconds to wait for Stage world to come up
PlaPort=6665 # Player port
LogPort=6667

killPlayers() {
  echo "=Now kill remaining player background instances.."
  killall player # Kill player processes in background
  killall playerv # Kill playerv processes
  sleep 1
}

if [ $1 = "-h" ] ; then
  echo "\nUsage: `basename $0` [playerconfig] [robotprogram]\n"
  exit 0
elif [ ! -z $1 ] ; then
  world=$1
else
  world="uhh"
fi

killPlayers

player -p $PlaPort $prefix/$world.cfg & # Stage world
sleep $DefStageWait # Wait for Stage world to come up
# Start playerv with params when in Stage
if [ $world = "uhh" ] ; then make view & fi

#player -p $LogPort -q $prefix/writelog.cfg & # Start writelog driver
#sleep 1
#playervcr -p $LogPort & # Start logging controller

# Start the robot program
if [ ! -z $2 ] ; then ./$2 ; fi