diff --git a/install_wolf.sh b/install_wolf.sh
index 0d94c31236f363bcada7e0ac75113e606392e60f..7704d90127917f7bfa47966edd039f67ec67dd10 100755
--- a/install_wolf.sh
+++ b/install_wolf.sh
@@ -1,6 +1,6 @@
#!/bin/bash
-## FUNCTIONS
+## FUNCTIONS #####################################################
func_make_install () {
if [ "$UID" -eq 0 -o "$EUID" -eq 0 ]; then
make install
@@ -10,24 +10,118 @@ func_make_install () {
}
func_echo () {
- if [ $VERBOSE == "true" ]; then
- echo "$1"
- fi
+ if [ $VERBOSE == "true" ]; then
+ echo "$1"
+ fi
+}
+
+usage() {
+ echo "Usage: $0 [-v] [-a] [-d <string>] [-w <string>] [-p <string>] [-f <y/n>] [-c <y/n>]"
+ echo " v: disables echo"
+ echo " a: installs all plugins (incompatible with -p)"
+ echo " d: dependencies destination path (either /global/path or relative/path). If not set, will be asked later."
+ echo " w: wolf folder destination path (either /global/path or relative/path). If not set, will be asked later."
+ echo " p: plugins to be installed (incompatible with -a) being a string of 6 chars y/n corresponding to plugins imu, gnss, laser, vision, apriltag, bodydynamics (for example 'ynynnn'). Plugins apriltag and bodydynamics won't be installed if vision and imu plugins are installed, respectively."
+ echo " f: y/n install Falko optional dependency. If not set, will be asked later."
+ echo " c: y/n install CSM optional dependency. If not set, will be asked later."
+}
+
+func_check_yn () {
+ if [ "$1" != "y" ] && [ "$1" != "n" ]; then
+ echo "options -p, -f, -c should containing only 'y' or 'n'"
+ usage
+ exit 0
+ fi
}
-# verbose
+## OPTIONS #####################################################
VERBOSE="true"
-while getopts "he" option; do
- case $option in
- e) # disable verbose
+INSTALL_PLUGINS=""
+INSTALL_IMU="undefined"
+INSTALL_GNSS="undefined"
+INSTALL_LASER="undefined"
+INSTALL_VISION="undefined"
+INSTALL_APRILTAG="undefined"
+INSTALL_BODYDYNAMICS="undefined"
+INSTALL_FALKO="undefined"
+INSTALL_CSM="undefined"
+DEPS_PATH="undefined"
+WOLF_PATH="undefined"
+
+while getopts "vap:d:w:hf:c:" opt; do
+ case ${opt} in
+ v) # disable verbose
VERBOSE="false"
;;
+ a) # install all plugins
+ if [ "$INSTALL_PLUGINS" != "" ]; then
+ echo "options -p and -a are incompatible!"
+ usage
+ exit 0
+ fi
+ INSTALL_PLUGINS="a"
+ INSTALL_IMU="y"
+ INSTALL_GNSS="y"
+ INSTALL_LASER="y"
+ INSTALL_VISION="y"
+ INSTALL_APRILTAG="y"
+ INSTALL_BODYDYNAMICS="y"
+ ;;
+ p) # install all plugins
+ if [ "$INSTALL_PLUGINS" != "" ]; then
+ echo "options -p and -a are incompatible!"
+ usage
+ exit 0
+ fi
+ if [ ${#OPTARG} != 6 ]; then
+ echo "option -p should contain 6 characters"
+ usage
+ exit 0
+ fi
+ INSTALL_PLUGINS=$OPTARG
+ INSTALL_IMU=${INSTALL_PLUGINS:0:1}
+ INSTALL_GNSS=${INSTALL_PLUGINS:1:1}
+ INSTALL_LASER=${INSTALL_PLUGINS:2:1}
+ INSTALL_VISION=${INSTALL_PLUGINS:3:1}
+ INSTALL_APRILTAG=${INSTALL_PLUGINS:4:1}
+ INSTALL_BODYDYNAMICS=${INSTALL_PLUGINS:5:1}
+ func_check_yn $INSTALL_IMU
+ func_check_yn $INSTALL_GNSS
+ func_check_yn $INSTALL_LASER
+ func_check_yn $INSTALL_VISION
+ func_check_yn $INSTALL_APRILTAG
+ func_check_yn $INSTALL_BODYDYNAMICS
+ ;;
+ f) # install falko
+ INSTALL_FALKO=$OPTARG
+ func_check_yn $INSTALL_FALKO
+ c) # install csm
+ INSTALL_CSM=$OPTARG
+ func_check_yn $INSTALL_CSM
+ d) # deps path
+ DEPS_PATH=$OPTARG
+ w) # wolf path
+ WOLF_PATH=$OPTARG
+ ;;
+ h )
+ usage
+ exit 0
+ ;;
+ :)
+ echo "Error: -${OPTARG} requires an argument."
+ usage
+ exit 1
+ ;;
+ *)
+ usage
+ exit 1
+ ;;
esac
done
+# START #####################################################
CORES=$(nproc)
func_echo "The number of available cores on this machine is $CORES"
-
RUN_PATH=$PWD
# UBUNTU
@@ -51,8 +145,10 @@ fi
# WOLF DEPENDENCIES #####################################################
func_echo "You are in folder $PWD"
-echo "Enter path for dependencies (either /global/path or relative/path):"
-read DEPS_PATH
+if [ $DEPS_PATH == "undefined" ]; then
+ echo "Enter path for dependencies (either /global/path or relative/path):"
+ read DEPS_PATH
+fi
cd $DEPS_PATH
DEPS_PATH=$PWD
func_echo "path dependencies: $DEPS_PATH"
@@ -112,13 +208,15 @@ func_make_install
# WOLF #####################################################
cd $RUN_PATH
func_echo "You are in folder $PWD"
-echo "Enter path for wolf folder (either /global/path or relative/path):"
-read WOLF_PATH
+if [ $WOLF_PATH == "undefined" ]; then
+ echo "Enter path for wolf folder (either /global/path or relative/path):"
+ read WOLF_PATH
+fi
cd $WOLF_PATH
mkdir wolf
cd wolf
WOLF_PATH=$PWD
-func_echo "wolf folder path: $PWD/wolf"
+func_echo "wolf folder path: $WOLF_PATH"
# CORE -----------------------------------------------------
@@ -141,8 +239,10 @@ ctest -j$CORES
# IMU --------------------------------------------------
-echo "Do you want to download and install plugin imu? (y/n)"
-read INSTALL_IMU
+if [ $INSTALL_IMU == "undefined" ]; then
+ echo "Do you want to download and install plugin imu? (y/n)"
+ read INSTALL_IMU
+fi
if [ $INSTALL_IMU == "y" ]; then
func_echo "Cloning plugin imu..."
@@ -166,8 +266,10 @@ else
fi
# GNSS --------------------------------------------------
-echo "Do you want to download and install plugin gnss? (y/n)"
-read INSTALL_GNSS
+if [ $INSTALL_GNSS == "undefined" ]; then
+ echo "Do you want to download and install plugin gnss? (y/n)"
+ read INSTALL_GNSS
+fi
if [ $INSTALL_GNSS == "y" ]; then
func_echo "Installing plugin gnss dependencies..."
@@ -203,15 +305,19 @@ fi
# LASER --------------------------------------------------
-echo "Do you want to download and install plugin laser? (y/n)"
-read INSTALL_LASER
+if [ $INSTALL_LASER == "undefined" ]; then
+ echo "Do you want to download and install plugin laser? (y/n)"
+ read INSTALL_LASER
+fi
if [ $INSTALL_LASER == "y" ]; then
func_echo "Installing plugin laser dependencies..."
# CSM
- echo "Do you want to install CSM to enable ICP processors? (y/n)"
- read INSTALL_CSM
+ if [ $INSTALL_CSM == "undefined" ]; then
+ echo "Do you want to install CSM to enable ICP processors? (y/n)"
+ read INSTALL_CSM
+ fi
if [ $INSTALL_CSM == "y" ]; then
cd $DEPS_PATH
git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/csm.git
@@ -225,8 +331,10 @@ if [ $INSTALL_LASER == "y" ]; then
fi
# FALKO
- echo "Do you want to install FALKO to enable Falko loop closure processors? (y/n)"
- read INSTALL_FALKO
+ if [ $INSTALL_FALKO == "undefined" ]; then
+ echo "Do you want to install FALKO to enable Falko loop closure processors? (y/n)"
+ read INSTALL_FALKO
+ fi
if [ $INSTALL_FALKO == "y" ]; then
cd $DEPS_PATH
git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/falkolib.git
@@ -275,8 +383,10 @@ else
fi
# VISION --------------------------------------------------
-echo "Do you want to download and install plugin vision (requires to install opencv 3.3.0)? (y/n)"
-read INSTALL_VISION
+if [ $INSTALL_VISION == "undefined" ]; then
+ echo "Do you want to download and install plugin vision (requires to install opencv 3.3.0)? (y/n)"
+ read INSTALL_VISION
+fi
if [ $INSTALL_VISION == "y" ]; then
func_echo "Installing plugin vision dependencies..."
@@ -319,8 +429,10 @@ fi
# APRILTAG --------------------------------------------------
if [ $INSTALL_VISION == "y" ]; then
- echo "Do you want to download and install plugin apriltag? (y/n)"
- read INSTALL_APRILTAG
+ if [ $INSTALL_APRILTAG == "undefined" ]; then
+ echo "Do you want to download and install plugin apriltag? (y/n)"
+ read INSTALL_APRILTAG
+ fi
if [ $INSTALL_APRILTAG == "y" ]; then
func_echo "Installing plugin apriltag dependencies..."
@@ -358,9 +470,11 @@ fi
# BODYDYNAMICS --------------------------------------------------
if [ $INSTALL_IMU == "y" ]; then
- echo "Do you want to download and install plugin bodydynamics? (y/n)"
- read INSTALL_BD
- if [ $INSTALL_BD == "y" ]; then
+ if [ $INSTALL_BODYDYNAMICS == "undefined" ]; then
+ echo "Do you want to download and install plugin bodydynamics? (y/n)"
+ read INSTALL_BODYDYNAMICS
+ fi
+ if [ $INSTALL_BODYDYNAMICS == "y" ]; then
func_echo "Cloning plugin bodydynamics..."
cd $WOLF_PATH