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Add workaround for stuck-on-launch headless simulation #398

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Add workaround for stuck-on-launch headless simulation #398

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20 changes: 19 additions & 1 deletion etc/scripts/gazsim.bash
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Original file line number Diff line number Diff line change
Expand Up @@ -433,7 +433,25 @@ if [ $COMMAND == start ]; then
if [ "$(command -v rcll-refbox-instruct)" == "" ]; then
echo "rcll-refbox-instruct not found, not built or old version?"
else
rcll-refbox-instruct -w
(rcll-refbox-instruct -w) & pid=$!
# in the background, sleep for 2 secs, kill, retry
run_wake=true
retry_count=0
while $run_wake
do sleep 2
if [ $retry_count -eq 10 ]
then exit
retry_count=$((retry_count+1))
fi
if ps -p $pid > /dev/null
then kill -9 $pid
echo "Refbox wakeup stuck, retrying"
(rcll-refbox-instruct -w) & pid=$!
else
run_wake=false
echo "Refbox alive"
fi
done
echo "Starting game (Phase: $START_GAME ${TEAM_CYAN:+Cyan: ${TEAM_CYAN}}${TEAM_MAGENTA:+ Magenta: ${TEAM_MAGENTA}})"
rcll-refbox-instruct -p SETUP -s RUNNING ${TEAM_CYAN:+-c ${TEAM_CYAN}}${TEAM_MAGENTA:+-m ${TEAM_MAGENTA}}
rcll-refbox-instruct -n $NUM_ROBOTINOS -W60 || (stop_simulation; exit 1)
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