start_inspection.sh

#!/usr/bin/env bash
# ═══════════════════════════════════════════════════════════════════════════
#  EV Drone Inspection — ONE-CLICK launcher
#
#  Brings up the whole stack in the right order and opens the Control Center:
#     1. PX4 SITL + Gazebo (warehouse world)        — run_sim.sh
#     2. ROS2 bridge  (camera feed + live editing)  — ros2 run camera_bridge bridge_all
#     3. Control Center dashboard                   — run_control_center.py  (opens browser)
#
#  Close this terminal window (or press Ctrl+C) to shut EVERYTHING down cleanly.
# ═══════════════════════════════════════════════════════════════════════════

PROJECT="/home/dikshant/Desktop/drone_inspector"
PX4_DIR="$HOME/Desktop/PX4-Autopilot"
PYTHON_BIN="/home/dikshant/miniconda3/bin/python"
ROS_SETUP="/opt/ros/humble/setup.bash"
WS_SETUP="$PROJECT/ros2_ws/install/setup.bash"
PORT=8765

LOG_DIR="/tmp/drone_inspection_logs"
PX4_LOG="$LOG_DIR/px4_sitl_console.log"
BRIDGE_LOG="$LOG_DIR/bridge.log"
DASH_LOG="$LOG_DIR/dashboard.log"

# ── Re-launch self inside a visible terminal (when started from the icon) ───
if [ -z "${INSIDE_TERM:-}" ]; then
  exec gnome-terminal --title="EV Drone Inspection" -- \
       bash -c "INSIDE_TERM=1 '$0'; echo; echo 'Press Enter to close…'; read"
fi

mkdir -p "$LOG_DIR"

c_blue='\033[1;36m'; c_grn='\033[1;32m'; c_yel='\033[1;33m'; c_red='\033[1;31m'; c_off='\033[0m'
step(){ echo -e "\n${c_blue}▶ $*${c_off}"; }
ok(){   echo -e "${c_grn}  ✓ $*${c_off}"; }
warn(){ echo -e "${c_yel}  ! $*${c_off}"; }

# ── Cleanup: tear the whole stack down on exit ─────────────────────────────
cleanup() {
  echo -e "\n${c_red}■ Shutting down EV Drone Inspection…${c_off}"
  pkill -f run_control_center 2>/dev/null
  pkill -f "camera_bridge bridge_all" 2>/dev/null
  pkill -f "ros2 run camera_bridge" 2>/dev/null
  pkill -9 -f gzclient 2>/dev/null
  pkill -9 -f gzserver 2>/dev/null
  pkill -9 -f "px4 " 2>/dev/null
  pkill -9 -f mavsdk_server 2>/dev/null
  pkill -f run_sim.sh 2>/dev/null
  fuser -k ${PORT}/tcp 2>/dev/null
  notify-send "EV Drone Inspection" "Stack stopped." 2>/dev/null
  echo -e "${c_grn}  ✓ All processes stopped.${c_off}"
}
trap cleanup EXIT INT TERM

clear
echo -e "${c_blue}╔══════════════════════════════════════════════╗${c_off}"
echo -e "${c_blue}║      EV  DRONE  INSPECTION  —  Control Center  ║${c_off}"
echo -e "${c_blue}╚══════════════════════════════════════════════╝${c_off}"
echo "  Logs: $LOG_DIR"

# ── 0. Clean stale state ───────────────────────────────────────────────────
step "Cleaning up any previous run…"
pkill -9 -f gzserver 2>/dev/null; pkill -9 -f gzclient 2>/dev/null
pkill -9 -f "px4 " 2>/dev/null;   pkill -9 -f mavsdk_server 2>/dev/null
pkill -f run_control_center 2>/dev/null; pkill -f "ros2 run camera_bridge" 2>/dev/null
fuser -k ${PORT}/tcp 2>/dev/null
rm -rf /tmp/gazebo-$USER-rtshaderlibcache 2>/dev/null   # corrupt shader cache → hang fix
rm -f /tmp/scene_cmd.json /tmp/scene_state.json 2>/dev/null
sleep 2
ok "Clean."

# ── 1. PX4 SITL + Gazebo ───────────────────────────────────────────────────
step "Starting PX4 SITL + Gazebo (warehouse)…  (first launch can take ~60s)"
( "$PROJECT/run_sim.sh" > "$PX4_LOG" 2>&1 ) &
echo "  console → $PX4_LOG"

echo -n "  waiting for the drone to be ready"
ready=0
for i in $(seq 1 150); do
  if grep -qE "Ready for takeoff|INFO *\[commander\] Ready" "$PX4_LOG" 2>/dev/null; then
    ready=1; break
  fi
  if ! pgrep -f "px4|gzserver" >/dev/null 2>&1 && [ "$i" -gt 15 ]; then
    echo; warn "PX4 process exited early — check $PX4_LOG"; break
  fi
  echo -n "."; sleep 1
done
echo
[ "$ready" = 1 ] && ok "PX4 ready for takeoff." || warn "Proceeding without explicit 'ready' (continuing anyway)."

# ── 2. ROS2 bridge (camera + live world editing) ───────────────────────────
step "Starting ROS2 bridge (camera feed + live world editing)…"
( bash -c "source '$ROS_SETUP' && source '$WS_SETUP' && exec ros2 run camera_bridge bridge_all" \
    > "$BRIDGE_LOG" 2>&1 ) &
echo "  console → $BRIDGE_LOG"
sleep 4
if grep -qi "services ready\|listening on" "$BRIDGE_LOG" 2>/dev/null; then
  ok "Bridge online (camera + spawn/delete services)."
else
  warn "Bridge still initialising (it waits for Gazebo services) — check $BRIDGE_LOG"
fi

# ── 3. Control Center dashboard ────────────────────────────────────────────
step "Starting Control Center dashboard…"
( cd "$PROJECT" && exec "$PYTHON_BIN" run_control_center.py > "$DASH_LOG" 2>&1 ) &
echo "  console → $DASH_LOG"

echo -n "  waiting for dashboard"
for i in $(seq 1 30); do
  if curl -s "http://localhost:${PORT}/api/state" >/dev/null 2>&1; then break; fi
  echo -n "."; sleep 1
done
echo
ok "Dashboard up at http://localhost:${PORT}"

# Open browser (run_control_center also tries; this guarantees it)
xdg-open "http://localhost:${PORT}" >/dev/null 2>&1 &
notify-send "EV Drone Inspection" "Everything is ready — Control Center opening in your browser." 2>/dev/null

echo -e "\n${c_grn}════════════════════════════════════════════════${c_off}"
echo -e "${c_grn}  READY.  Drive everything from the browser:${c_off}"
echo -e "    • ${c_blue}Warehouse Editor${c_off} — build/move/delete objects"
echo -e "    • ${c_blue}Mission Planner${c_off}  — edit waypoints, Run, or Click-to-Go"
echo -e "    • ${c_blue}Top bar${c_off}          — Connect / Take Off / RTL / Land"
echo -e "${c_grn}════════════════════════════════════════════════${c_off}"
echo -e "\n  ${c_yel}Keep this window open. Close it (or Ctrl+C) to stop everything.${c_off}\n"

# ── Keep alive; if the dashboard dies, exit (→ cleanup) ────────────────────
while pgrep -f run_control_center >/dev/null 2>&1; do
  sleep 3
done
warn "Dashboard stopped."