.companion.rc

export COMPANION_DIR=/home/pi/companion

# copy default parameters if neccessary
for default_param_file in $COMPANION_DIR/params/*.param.default; do
    param_file=/home/pi/$(basename -- $(echo $default_param_file | sed "s/.default//"))
    if [ ! -e "$param_file" ]; then
        cp $default_param_file $param_file
    fi
done

if [ ! -f /home/pi/.updating ]; then
	sudo python $COMPANION_DIR/tools/ping_enumerator.py || true
	if [ -d /dev/serial/ping ]; then
		sudo -H -u pi screen -dm -S pingproxy pingproxy.py --device $(ls -d /dev/serial/ping/Ping1* | head -1)
		sudo -H -u pi screen -dm -S pingmav python $COMPANION_DIR/tools/ping1d_mavlink_driver.py
	fi
	sudo -H -u pi screen -dm -S mavproxy $COMPANION_DIR/tools/telem.py
	sudo -H -u pi screen -dm -S video $COMPANION_DIR/tools/streamer.py 
	sudo -H -u pi screen -dm -S webui $COMPANION_DIR/scripts/start_webui.sh
	sudo -H -u pi screen -dm -S webterminal $COMPANION_DIR/scripts/start_webterminal.sh
	sudo -H -u pi screen -dm -S commrouter $COMPANION_DIR/tools/comm_router.py
	sudo -H -u pi screen -dm -S audio $COMPANION_DIR/tools/audio.py
	sudo -H -u pi screen -dm -S file-manager node --harmony $COMPANION_DIR/br-webui/node_modules/node-file-manager/lib/index.js -p 7777 -d /
	sudo -H -u pi screen -dm -S nmearx $COMPANION_DIR/tools/nmea-receiver.py
	sudo -H -u pi screen -dm -S wldriver $COMPANION_DIR/tools/underwater-gps.py --ip=192.168.2.94 --port=80
	sudo -H -u pi screen -dm -S bridgemanager $COMPANION_DIR/tools/ping360_bridge_manager.py
	sudo -H -u pi screen -dm -S mavlink2rest $COMPANION_DIR/tools/mavlink2rest --connect udpout:127.0.0.1:9000 --server 0.0.0.0:4777 --system-id 1 --component-id 99
	sudo -H -u root screen -dm -S network-service $COMPANION_DIR/services/network/main.py
	sudo -H -u pi screen -dm -S dvl-service $COMPANION_DIR/services/waterlinked/dvl-a50/main.py
	$COMPANION_DIR/scripts/start-ardusub-linux.sh || true
else
	sudo -H -u pi echo 'UPDATE FAILED!' >> /home/pi/.update_log
	rm -f /home/pi/.updating
	if [ -d /home/pi/.companion ]; then
		rm -rf $COMPANION_DIR
		sudo -H -u pi cp -r /home/pi/.companion $COMPANION_DIR
	fi
	sudo -H -u pi echo 'Trying to run again...' >> /home/pi/.update_log
	$COMPANION_DIR/.companion.rc
fi