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fullReset.sh
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fullReset.sh
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#! /bin/bash
# clean everything up
mysql -u rexos -p equiplet < src/REXOS/databases/knowledgeDatabaseDef.sql ;
rm -r generatedOutput/ ;
rm -r /tmp/rexos_model_spawner/ ;
rm -r /tmp/rexos_node_spawner/ ;
trap 'echo "ERROR"; trap - SIGQUIT SIGTERM SIGINT; trap - ERR; return;' ERR ;
trap 'echo "Exiting"; cleanUp; trap - SIGQUIT SIGTERM SIGINT; trap - ERR; return;' SIGQUIT SIGTERM SIGINT ;
# copy compiled plugins to the worlds
mkdir -p generatedOutput/worlds/ ;
cp devel/lib/libacceleration_plugin.so generatedOutput/worlds/ ;
cp devel/lib/libcollision_plugin.so generatedOutput/worlds/ ;
cp devel/lib/libjoint_plugin.so generatedOutput/worlds/ ;
# copy compiled plugins to the models
cp devel/lib/libattach_plugin.so src/REXOS/modules/HU/delta_robot_type_B/_model/ ;
cp devel/lib/libattach_plugin.so src/REXOS/modules/HU/gripper_type_A/_model/ ;
cp devel/lib/libattach_plugin.so src/REXOS/modules/HU/gripper_type_B/_model/ ;
cp devel/lib/libattach_plugin.so src/REXOS/modules/HU/workplane_type_A/_model/ ;
cp devel/lib/libattach_plugin.so src/REXOS/modules/HU/stewart_gough_type_A/_model/ ;
cp devel/lib/libattach_plugin.so src/REXOS/modules/The_Imaging_Source_Europe_GmbH/cheap_ass_lens/_model/ ;
cp devel/lib/libattach_plugin.so src/REXOS/modules/The_Imaging_Source_Europe_GmbH/DFK_22AUC03/_model/ ;
cp devel/lib/libmotor_manager_plugin.so src/REXOS/modules/HU/delta_robot_type_B/_model/ ;
cp devel/lib/libmotor_manager_plugin.so src/REXOS/modules/HU/stewart_gough_type_A/_model/ ;
cp devel/lib/libsensor_manager_plugin.so src/REXOS/modules/HU/delta_robot_type_B/_model/ ;
cp devel/lib/libsensor_manager_plugin.so src/REXOS/modules/HU/stewart_gough_type_A/_model/ ;
cp devel/lib/libgripper_plugin.so src/REXOS/modules/HU/gripper_type_A/_model/ ;
cp devel/lib/libgripper_plugin.so src/REXOS/modules/HU/gripper_type_B/_model/ ;
# export rosSoftware, halSoftware, models
ant generate-all ;
# export staticSettings
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.ModuleRecordGenerator ;
# insert parts
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader chessboard_1 chessboard ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader GC4x4MB_1 GC4x4MB ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader GC4x4MB_2 GC4x4MB ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader GC4x4MB_3 GC4x4MB ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader GC4x4MB_4 GC4x4MB ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader GC4x4MB_5 GC4x4MB ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader GC4x4MB_6 GC4x4MB ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_1 redBall GC4x4MB_1 -16.5 16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_2 redBall GC4x4MB_1 -5.5 16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_3 redBall GC4x4MB_1 5.5 16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_4 redBall GC4x4MB_1 16.5 16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_5 redBall GC4x4MB_1 -16.5 5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_6 redBall GC4x4MB_1 -5.5 5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_7 redBall GC4x4MB_1 5.5 5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_8 redBall GC4x4MB_1 16.5 5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_9 redBall GC4x4MB_1 -16.5 -5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_10 redBall GC4x4MB_1 -5.5 -5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_11 redBall GC4x4MB_1 5.5 -5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_12 redBall GC4x4MB_1 16.5 -5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_13 redBall GC4x4MB_1 -16.5 -16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_14 redBall GC4x4MB_1 -5.5 -16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_15 redBall GC4x4MB_1 5.5 -16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader redBall_16 redBall GC4x4MB_1 16.5 -16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_1 blueBall GC4x4MB_2 -16.5 16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_2 blueBall GC4x4MB_2 -5.5 16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_3 blueBall GC4x4MB_2 5.5 16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_4 blueBall GC4x4MB_2 16.5 16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_5 blueBall GC4x4MB_2 -16.5 5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_6 blueBall GC4x4MB_2 -5.5 5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_7 blueBall GC4x4MB_2 5.5 5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_8 blueBall GC4x4MB_2 16.5 5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_9 blueBall GC4x4MB_2 -16.5 -5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_10 blueBall GC4x4MB_2 -5.5 -5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_11 blueBall GC4x4MB_2 5.5 -5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_12 blueBall GC4x4MB_2 16.5 -5.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_13 blueBall GC4x4MB_2 -16.5 -16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_14 blueBall GC4x4MB_2 -5.5 -16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_15 blueBall GC4x4MB_2 5.5 -16.5 10 0 0 0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.PartRecordLoader blueBall_16 blueBall GC4x4MB_2 16.5 -16.5 10 0 0 0 ;
# insert equiplets
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.EquipletRecordLoader EQ0 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.EquipletRecordLoader EQ2 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.EquipletRecordLoader EQ3 ;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.EquipletRecordLoader EQD ;
# insert modules
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.HALTesterClass --noTranslate EQ0;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.HALTesterClassPickAndPlace --noTranslate EQ2;
java -cp build/REXOS/:src/REXOS/external_libraries/* HAL.testerClasses.HALTesterClassStewartGough --noTranslate EQ3;
trap - SIGQUIT SIGTERM SIGINT;
trap - ERR;