#!/bin/bash
# 检查到未定义的变量则停止执行并报错
set -u
source /home/cicv/work/pji_desktop/config.sh

# 检查参数数量
if [ "$#" -ne 6 ]; then
  echo "Error: Incorrect number of arguments"
  echo "Usage: $0 DEFAULT_START_FLAG DEFAULT_END_FLAG START_POINT_X START_POINT_Y END_POINT_X END_POINT_Y"
  exit 1
fi

DEFAULT_START_FLAG=$1
DEFAULT_END_FLAG=$2
START_POINT_X=$3
START_POINT_Y=$4
END_POINT_X=$5
END_POINT_Y=$6

#SIMULATION_PATH="/home/cicv/work/pji_desktop/simulation"
VALIDATE_START_POINT_LOG_PATH="$SIMULATION_PATH/logs/validate_start_point.log"
VALIDATE_END_POINT_LOG_PATH="$SIMULATION_PATH/logs/validate_end_point.log"

# 激活conda环境
source activate simulation

cd "$SIMULATION_PATH"/custmoize
source install/setup.bash

if [ "$DEFAULT_START_FLAG" != "true" ]; then
  # 起点判断
 nohup script -q -c rosrun --screen goal_publish custom "$START_POINT_X" "$START_POINT_Y" "$SIMULATION_PATH/data/mapBuf" > "$VALIDATE_START_POINT_LOG_PATH" 2>&1 &

fi