From a2d7c8c37ce131d6e434de7e97eda8cdc6d62e11 Mon Sep 17 00:00:00 2001
From: Dong Li <lidong.main@gmail.com>
Date: Tue, 26 Dec 2017 11:38:08 -0800
Subject: [PATCH] scripts: added support for dreamview

---
 modules/tools/supervisord/dev.conf     | 11 +++++++++
 modules/tools/supervisord/release.conf | 11 +++++++++
 scripts/bootstrap.sh                   |  7 ++----
 scripts/dreamview_sim_control.sh       | 33 +++++++++++++++++++++++++-
 4 files changed, 56 insertions(+), 6 deletions(-)

diff --git a/modules/tools/supervisord/dev.conf b/modules/tools/supervisord/dev.conf
index c68515eb58..04aacadc20 100644
--- a/modules/tools/supervisord/dev.conf
+++ b/modules/tools/supervisord/dev.conf
@@ -115,6 +115,17 @@ autorestart=unexpected
 redirect_stderr=true
 stdout_logfile=/apollo/data/log/dreamview.out
 
+[program:sim_control]
+command=/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamview/conf/dreamview.conf --enable_sim_control --log_dir=/apollo/data/log
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=/apollo/data/log/dreamview.out
+
 [program:monitor]
 command=/apollo/bazel-bin/modules/monitor/monitor --flagfile=/apollo/modules/monitor/conf/monitor.conf --log_dir=/apollo/data/log
 autostart=false
diff --git a/modules/tools/supervisord/release.conf b/modules/tools/supervisord/release.conf
index cacac96a0a..790bf04d52 100644
--- a/modules/tools/supervisord/release.conf
+++ b/modules/tools/supervisord/release.conf
@@ -115,6 +115,17 @@ autorestart=unexpected
 redirect_stderr=true
 stdout_logfile=/apollo/data/log/dreamview.out
 
+[program:sim_control]
+command=/apollo/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamview/conf/dreamview.conf --enable_sim_control --log_dir=/apollo/data/log
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=/apollo/data/log/dreamview.out
+
 [program:monitor]
 command=/apollo/modules/monitor/monitor --flagfile=/apollo/modules/monitor/conf/monitor.conf --log_dir=/apollo/data/log
 autostart=false
diff --git a/scripts/bootstrap.sh b/scripts/bootstrap.sh
index e75528cc84..0e31d6aa58 100755
--- a/scripts/bootstrap.sh
+++ b/scripts/bootstrap.sh
@@ -30,22 +30,19 @@ function start() {
         supervisord -c /apollo/modules/tools/supervisord/release.conf >& /tmp/supervisord.start.log
         echo "Started supervisord with release conf"
         supervisorctl start monitor > /dev/null
-        supervisorctl start dreamview > /dev/null
     else
         supervisord -c /apollo/modules/tools/supervisord/dev.conf >& /tmp/supervisord.start.log
         echo "Started supervisord with dev conf"
-        bash scripts/dreamview.sh
     fi
+    supervisorctl start dreamview > /dev/null
     echo "Dreamview is running at http://localhost:8888"
 }
 
 function stop() {
     if [ "$HOSTNAME" == "in_release_docker" ]; then
         supervisorctl stop monitor > /dev/null  2>&1 &
-        supervisorctl stop dreamview > /dev/null 2>&1 &
-    else
-        bash scripts/dreamview.sh stop
     fi
+    supervisorctl stop dreamview
     pkill -f roscore
 }
 
diff --git a/scripts/dreamview_sim_control.sh b/scripts/dreamview_sim_control.sh
index c0f0ff78e7..c7fabfc6ff 100755
--- a/scripts/dreamview_sim_control.sh
+++ b/scripts/dreamview_sim_control.sh
@@ -25,4 +25,35 @@ source "${DIR}/apollo_base.sh"
 
 # run function from apollo_base.sh
 # run command_name module_name
-run dreamview "$@" --enable_sim_control=true
+
+function start() {
+    echo "Start roscore..."
+    ROSCORELOG="${APOLLO_ROOT_DIR}/data/log/roscore.out"
+    nohup roscore </dev/null >"${ROSCORELOG}" 2>&1 &
+    if [ "$HOSTNAME" == "in_release_docker" ]; then
+        supervisord -c /apollo/modules/tools/supervisord/release.conf >& /tmp/supervisord.start.log
+        echo "Started supervisord with release conf"
+    else
+        supervisord -c /apollo/modules/tools/supervisord/dev.conf >& /tmp/supervisord.start.log
+        echo "Started supervisord with dev conf"
+    fi
+    supervisorctl start sim_control > /dev/null
+    echo "Dreamview is running at http://localhost:8888"
+}
+
+function stop() {
+    supervisorctl stop sim_control > /dev/null 2>&1 &
+    pkill -f roscore
+}
+
+case $1 in
+  start)
+    start
+    ;;
+  stop)
+    stop
+    ;;
+  *)
+    start
+    ;;
+esac
-- 
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