runParallal.sh

#! /bin/bash

clear

usage()
{
	echo "USAGE: ./runParallal.sh [OPTIONS] NB_OF_EXP CONFIG_FILE NB_OF_INSTANCE "
	echo ""
	echo "OPTIONS"
	echo "	-p, --postExperiemtScript=SCRIPT_AND_PARAMETERS"
	echo "		Use the SCRIPT_AND_PARAMETERS after an experiment has been completed"
}


oneRun()
{
	#init variables
	config=$1
	mainTimeStamp=$2
	postExperimentScript=$3
	readSpawn=$4
	expNo=$5

	echo "LAUNCH COUNT $cnt"

	isSuccess=0
	timeStamp=`date +%H%M%S%N`	

	#launch experiment
	#expNo=$(cat	"complete$mainTimeStamp")

        #Read spawn locations from file
	if [ "$readSpawn" = "r" ]
	then
		echo "READING Spawn locations"
		config=$(echo $config|sed 's/pheromone.properties/pheromone-read.properties/')
		readSpawnLocations $expNo $config
	else
		echo "Spawn locations Random"
		config=$(echo $config|sed 's/pheromone.properties/pheromone-random.properties/')
	fi

	./roborobo -l $config 2>"temp"$timeStamp"Error" | tee "temp$timeStamp"

	#apply post-experiment processing if the last experiment isn't already done
	if [ ! -e "./lastRunDone" ]
	then
		#standard post-experiment processing
		if [ "$postExperimentScript" = "" ]
		then
			#wait until can update the results
			while [ -e "take$mainTimeStamp" ]
			do
				sleep 1
			done
			#update results
			touch "take$mainTimeStamp" 
			count=$(cat	"complete$mainTimeStamp")
			count=$((count+1))
			echo $count > "complete$mainTimeStamp"
			rm "take$mainTimeStamp" 
			rm "temp$timeStamp"

			echo "Done : $count/$nbExp"

		#user specified post-experiment processing
		else
			. $postExperimentScript
		fi
	else
		rm "take$mainTimeStamp" 
		rm "temp$timeStamp"
	fi
}



readSpawnLocations()
{
	expNo=$1
	conf=$2
	export IFS=","
	cat output/spawn/"$expNo"spawn | while read n x y o; 
	       do 
		   #echo "$expNo spawn robot: $n x: $x y:  $y  theta $o";
		   #echo "using config file $conf"
		   sed -i "/agent\[$n\]\.x =/s/= .*/= $x/" "$conf";
		   sed -i "/agent\[$n\]\.y =/s/= .*/= $y/" "$conf";
		   sed -i "/agent\[$n\]\.orientation =/s/= .*/= $o/" "$conf";
		   
	       done
	   		
	
}






if [ $# -lt 3 ]
then
	usage
else

	nbInst=""
	nbExp=""
	config=""
	postExperimentScript=""
	rdSpawn=""

	while [ "$1" != "" ]; do
			case $1 in
					-p | --postExperimentScript )	shift
																				postExperimentScript=$1
																				;;
					-h | --help )           			usage
																				exit
																				;;
					*) break
			esac
			shift
	done

	nbExp=$1
	config=$2
	nbInst=$3
	rdSpawn=$4

	mainTimeStamp=`date +%H%M%S%N`	
	completeCnt=0
	totCnt=0
	lastRunDone=0
	launchCnt=0

	if [ -e "./lastRunDone" ]
	then
		rm lastRunDone
	fi

	echo "0" > "complete$mainTimeStamp"

	while [ $completeCnt -lt $nbExp ]
	do
		while [ `jobs | wc -l` -ge $nbInst ] # check the number of instance currently running
		do
			jobs >/dev/null
			sleep 5
		done

		while [ -e "take$mainTimeStamp" ]
		do
			sleep 1
		done
		touch "take$mainTimeStamp" 
		completeCnt=$(cat "complete$mainTimeStamp")
		rm "take$mainTimeStamp" 

		if [ $totCnt -lt $nbExp ]
		then
			oneRun $config $mainTimeStamp "$postExperimentScript" "$rdSpawn" "$launchCnt" &
			totCnt=$((totCnt+1))
			launchCnt=$((launchCnt+1))
		fi
		sleep 1
	done
	touch "./lastRunDone"
	killall -9 roborobo
fi