#!/usr/bin/env bash

# Make sure that the SLPI DSP test signature is there otherwise px4 cannot run
# on the DSP
if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
    /bin/echo "Found DSP signature file"
else
    /bin/echo "[WARNING] Could not find DSP signature file"
    # Look for the DSP signature generation script (platform-specific)
    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
        /bin/echo "[INFO] Attempting to generate the DSP signature file (qcs6490)"
        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh
    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
        /bin/echo "[INFO] Attempting to generate the DSP signature file (qrb5165)"
        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
    else
        /bin/echo "[ERROR] Could not find the DSP signature file generation script"
        exit 0
    fi
fi

print_usage() {
    echo -e "\nUsage: voxl-px4-hitl"
    echo "                [-h (show help)]"

    exit 1
}

while getopts "h" flag
do
    case "${flag}" in
        h)
            print_usage
            ;;
        *)
            print_usage
            ;;
    esac
done

px4 -s /usr/bin/voxl-px4-hitl-start