#!/bin/sh
#
# Start telemetry
#

. /etc/datalink.conf
. /etc/telemetry.conf

keydir="/etc"
fw=$(grep "BUILD_OPTION" "/etc/os-release" | cut -d= -f2)

if [ ! -f /usr/bin/telemetry_rx -a ! -f /usr/bin/telemetry_tx ]; then
	ln -s /usr/bin/wfb_rx /usr/bin/telemetry_rx; chmod +x /usr/bin/telemetry_rx
	ln -s /usr/bin/wfb_tx /usr/bin/telemetry_tx; chmod +x /usr/bin/telemetry_tx
fi

start_drone_telemetry() {
	if [ ${one_way} = "false" ]; then
		telemetry_rx -p ${stream_rx} -u ${port_rx} -K ${keydir}/${unit}.key -i ${link_id} ${wlan} > /dev/null &
	fi
	telemetry_tx -p ${stream_tx} -u ${port_tx} -K ${keydir}/${unit}.key -B ${bandwidth} \
		-M ${mcs_index} -S ${stbc} -L ${ldpc} -G ${guard_interval} -k ${fec_k} -n ${fec_n} \
		-T ${pool_timeout} -i ${link_id} -f ${frame_type} ${wlan} > /dev/null &
}

start_gs_telemetry() {
	if [ ${one_way} = "false" ]; then
		telemetry_tx -p ${stream_tx} -u ${port_tx} -K ${keydir}/${unit}.key -B ${bandwidth} \
			-M ${mcs_index} -S ${stbc} -L ${ldpc} -G ${guard_interval} -k ${fec_k} -n ${fec_n} \
			-T ${pool_timeout} -i ${link_id} -f ${frame_type} ${wlan} > /dev/null &
	fi
	telemetry_rx -p ${stream_rx} -u ${port_rx} -K ${keydir}/${unit}.key -i ${link_id} ${wlan} > /dev/null &
}

case "$1" in
	start)
		echo "Loading MAVLink telemetry service..."
		if [ ${router} -eq 1 ] || [ ${fw} = "lte" ]; then
			mavlink-routerd -c /etc/mavlink.conf > /dev/null 2>&1 &
		else
			mavfwd --channels ${channels} --master ${serial} --baudrate ${baud} \
				--out 127.0.0.1:${port_tx} --in 127.0.0.1:${port_rx} > /dev/null &
		fi
		if [ ${fw} = "fpv" ] || [ ${fw} = "venc" ]; then
			start_${unit}_telemetry
		fi
		echo "Done."
		;;

	stop)
		echo "Stopping telemetry services..."
		killall -q telemetry_rx
		killall -q telemetry_tx
		killall -q mavlink-routerd
		killall -q mavfwd
		;;

	*)
		echo "Usage: $0 {start|stop}"
		exit 1
		;;
esac