#!/usr/bin/env bash

###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################

DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${DIR}/scripts/apollo_base.sh"

function start() {
  LOG="${APOLLO_ROOT_DIR}/data/log/velodyne.out"
  CMD="cyber_launch start /apollo/modules/drivers/lidar/velodyne/launch/velodyne.launch"
  NUM_PROCESSES="$(pgrep -f "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag" | grep -cv '^1$')"
  if [ "${NUM_PROCESSES}" -eq 0 ]; then
    eval "nohup ${CMD} </dev/null >${LOG} 2>&1 &"
  fi
}

function stop() {
  eval "nohup cyber_launch stop /apollo/modules/drivers/lidar/velodyne/launch/velodyne.launch < /dev/null 2>&1 &"
}

# run command_name module_name
function run() {
  case $1 in
    start)
      start
      ;;
    stop)
      stop
      ;;
    restart)
      stop
      start
      ;;
    *)
      start
      ;;
  esac
}

run "$1"