From 881932c99cb44653283c275fb1ac644e1d6cf616 Mon Sep 17 00:00:00 2001
From: "Arend-Jan van Hilten (TU)" <a.j.vanhilten@tudelft.nl>
Date: Fri, 8 Mar 2024 10:40:44 +0100
Subject: [PATCH] Fix hard-coded upload port

---
 run_arduino.sh | 72 ++++++++++++++++++++++++++++++--------------------
 1 file changed, 43 insertions(+), 29 deletions(-)

diff --git a/run_arduino.sh b/run_arduino.sh
index 9093a1f..25ea842 100755
--- a/run_arduino.sh
+++ b/run_arduino.sh
@@ -1,47 +1,61 @@
 #!/bin/bash
-
 #TODO: script should have format ./run.sh build|upload] mcu_type arduino_folder
 # with mcu_type and arduino_folder optional
 
 # Check if ROS is running
 ROS_RUNNING=$(ps aux | grep -c "[r]osmaster")
-
+COMMAND=$1
+PROJECT=$2
 # Stop ROS when uploading new code
-if test "$1" == "upload" && [[ $ROS_RUNNING == "1" ]]; then
+if test "$COMMAND" == "upload" && [[ $ROS_RUNNING == "1" ]]; then
 	echo "STOPPING ROS"
 	sudo service mirte-ros stop || /bin/true
 fi
 
 # Different build scripts
-if test "$1" == "build"; then
-	arduino-cli -v compile --fqbn STM32:stm32:GenF1:pnum=BLUEPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano /home/mirte/arduino_project/$2
-fi
-if test "$1" == "build_nano"; then
-	arduino-cli -v compile --fqbn arduino:avr:nano:cpu=atmega328 /home/mirte/arduino_project/$2
-fi
-if test "$1" == "build_nano_old"; then
-	arduino-cli -v compile --fqbn arduino:avr:nano:cpu=atmega328old /home/mirte/arduino_project/$2
-fi
-if test "$1" == "build_uno"; then
-	arduino-cli -v compile --fqbn arduino:avr:uno /home/mirte/arduino_project/$2
-fi
+if test "$COMMAND" == "build"; then
+	arduino-cli -v compile --fqbn STM32:stm32:GenF1:pnum=BLUEPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano /home/mirte/arduino_project/$PROJECT
+fi
+if test "$COMMAND" == "build_nano"; then
+	arduino-cli -v compile --fqbn arduino:avr:nano:cpu=atmega328 /home/mirte/arduino_project/$PROJECT
+fi
+if test "$COMMAND" == "build_nano_old"; then
+	arduino-cli -v compile --fqbn arduino:avr:nano:cpu=atmega328old /home/mirte/arduino_project/$PROJECT
+fi
+if test "$COMMAND" == "build_uno"; then
+	arduino-cli -v compile --fqbn arduino:avr:uno /home/mirte/arduino_project/$PROJECT
+fi
+upload() {
+	PORT=$1
+	# Different upload scripts
+	if test "$COMMAND" == "upload" || test "$COMMAND" == "upload_stm32"; then
+		arduino-cli -v upload -p $PORT --fqbn STM32:stm32:GenF1:pnum=BLUEPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano /home/mirte/arduino_project/$PROJECT
+	fi
+	if test "$COMMAND" == "upload_nano"; then
+		arduino-cli -v upload -p $PORT --fqbn arduino:avr:nano:cpu=atmega328 /home/mirte/arduino_project/$PROJECT
+	fi
+	if test "$COMMAND" == "upload_nano_old"; then
+		arduino-cli -v upload -p $PORT --fqbn arduino:avr:nano:cpu=atmega328old /home/mirte/arduino_project/$PROJECT
+	fi
+	if test "$COMMAND" == "upload_uno"; then
+		arduino-cli -v upload -p $PORT --fqbn arduino:avr:uno /home/mirte/arduino_project/$PROJECT
+	fi
+}
 
-# Different upload scripts
-if test "$1" == "upload" || test "$1" == "upload_stm32"; then
-	arduino-cli -v upload -p /dev/ttyACM0 --fqbn STM32:stm32:GenF1:pnum=BLUEPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano /home/mirte/arduino_project/$2
-fi
-if test "$1" == "upload_nano"; then
-	arduino-cli -v upload -p /dev/ttyUSB0 --fqbn arduino:avr:nano:cpu=atmega328 /home/mirte/arduino_project/$2
-fi
-if test "$1" == "upload_nano_old"; then
-	arduino-cli -v upload -p /dev/ttyUSB0 --fqbn arduino:avr:nano:cpu=atmega328old /home/mirte/arduino_project/$2
-fi
-if test "$1" == "upload_uno"; then
-	arduino-cli -v upload -p /dev/ttyACM0 --fqbn arduino:avr:uno /home/mirte/arduino_project/$2
-fi
+if [[ $COMMAND == upload* ]]; then
+	shopt -s nullglob
 
+	for PORT in "/dev/ttyUSB"*; do
+		echo "Uploading to $PORT"
+		upload $PORT
+	done
+	for PORT in "/dev/ttyACM"*; do
+		echo "Uploading to $PORT"
+		upload $PORT
+	done
+fi
 # Start ROS again
-if test "$1" == "upload" && test "$2" == "Telemetrix4Arduino" && [[ $ROS_RUNNING == "1" ]]; then
+if test "$COMMAND" == "upload" && test "$PROJECT" == "Telemetrix4Arduino" && [[ $ROS_RUNNING == "1" ]]; then
 	sudo service mirte-ros start
 	echo "STARTING ROS"
 fi