9db1897af7
systemd n'inclut pas ~/.local/bin dans PATH, uvicorn non trouvé (exit 127). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
70 lines
1.6 KiB
Bash
Executable File
70 lines
1.6 KiB
Bash
Executable File
#!/bin/bash
|
|
|
|
echo "=== WireClaw Startup ==="
|
|
|
|
# 1. Nettoyage
|
|
echo "Nettoyage..."
|
|
pkill -f "hermes" 2>/dev/null
|
|
pkill -f "arducopter" 2>/dev/null
|
|
pkill -f "mavproxy" 2>/dev/null
|
|
pkill -f "wireclaw_core" 2>/dev/null
|
|
pkill -f "uvicorn" 2>/dev/null
|
|
pkill -f "web_server" 2>/dev/null
|
|
sleep 2
|
|
sudo fuser -k 14550/udp 14551/udp 14552/udp 2>/dev/null
|
|
sleep 1
|
|
# Créer le hotspot WiFi drone
|
|
echo "Démarrage hotspot WireClaw..."
|
|
sudo nmcli dev wifi hotspot ifname wlP1p1s0 ssid "WireClaw" password "wireclaw2024"
|
|
sleep 3
|
|
|
|
# 2. Lancer ArduCopter SITL directement
|
|
echo "Lancement ArduCopter..."
|
|
/home/nicoboy/ardupilot/build/sitl/bin/arducopter \
|
|
--model + \
|
|
--speedup 1 \
|
|
--sim-address=127.0.0.1 \
|
|
--defaults /home/nicoboy/wireclaw/sitl_params.parm \
|
|
> /tmp/arducopter.log 2>&1 &
|
|
sleep 3
|
|
|
|
# 3. Lancer MAVProxy directement
|
|
echo "Lancement MAVProxy..."
|
|
/home/nicoboy/.local/bin/mavproxy.py \
|
|
--master tcp:127.0.0.1:5760 \
|
|
--sitl 127.0.0.1:5501 \
|
|
--out udp:127.0.0.1:14551 \
|
|
--out udp:127.0.0.1:14552 \
|
|
--daemon \
|
|
> /tmp/arducopter.log 2>&1 &
|
|
sleep 2
|
|
|
|
# 4. Attendre GPS fix
|
|
echo "Attente GPS fix..."
|
|
timeout=120
|
|
while [ $timeout -gt 0 ]; do
|
|
if grep -q "IMU0 is using GPS" /tmp/arducopter.log 2>/dev/null; then
|
|
echo ""
|
|
echo "✅ SITL prêt !"
|
|
break
|
|
fi
|
|
sleep 2
|
|
timeout=$((timeout-2))
|
|
echo -n "."
|
|
done
|
|
|
|
if [ $timeout -le 0 ]; then
|
|
echo ""
|
|
echo "❌ Timeout — logs :"
|
|
tail -10 /tmp/arducopter.log
|
|
tail -10 /tmp/arducopter.log
|
|
exit 1
|
|
fi
|
|
|
|
sleep 2
|
|
|
|
# 5. Lancer WireClaw
|
|
echo "Lancement WireClaw..."
|
|
cd ~/wireclaw
|
|
/home/nicoboy/.local/bin/uvicorn web_server:app --host 0.0.0.0 --port 8765
|