run

#!/bin/bash

run(){
    roslaunch starter starter.launch
}

boot_run(){
    source /opt/ros/melodic/setup.bash
    source /home/swucar/swucar/devel/setup.bash
    run
}

build(){
    rm -rf devel/ build/
    # 解决roscpp程序对于其它包common，引用导致的依赖问题
    # 分2次编译
    catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCATKIN_WHITELIST_PACKAGES='common'
    catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCATKIN_WHITELIST_PACKAGES=''
    # 单核编译
    # catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -j1
}

driver(){
    enable_can
}


enable_can(){
    busybox devmem 0x0c303000 32 0x0000C400 
    busybox devmem 0x0c303008 32 0x0000C458 
    busybox devmem 0x0c303010 32 0x0000C400 
    busybox devmem 0x0c303018 32 0x0000C458

    modprobe can
    modprobe can_raw
    modprobe mttcan

    ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
    #ip link set can1 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on

    ip link set up can0
    #ip link set up can1
}


case $1 in
    "build")
        build
    ;;
    "driver")
        driver
    ;;
    "boot_run")
	boot_run
    ;;
    *)
        run
    ;;
esac

exit 0