ardupilot/Tools/autotest/sim_vehicle.py

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#!/usr/bin/env python
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"""
Framework to start a simulated vehicle and connect it to MAVProxy.
Peter Barker, April 2016
based on sim_vehicle.sh by Andrew Tridgell, October 2011
AP_FLAKE8_CLEAN
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"""
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from __future__ import print_function
import atexit
import datetime
import errno
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import optparse
import os
import os.path
import re
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import signal
import subprocess
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import sys
import tempfile
import textwrap
import time
import shlex
import binascii
import math
from pysim import vehicleinfo
# List of open terminal windows for macosx
windowID = []
autotest_dir = os.path.dirname(os.path.realpath(__file__))
root_dir = os.path.realpath(os.path.join(autotest_dir, '../..'))
try:
from pymavlink import mavextra
except ImportError:
sys.path.append(os.path.join(root_dir, "modules/mavlink"))
from pymavlink import mavextra
os.environ["SIM_VEHICLE_SESSION"] = binascii.hexlify(os.urandom(8)).decode()
class CompatError(Exception):
"""A custom exception class to hold state if we encounter the parse
error we are looking for"""
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def __init__(self, error, opts, rargs):
Exception.__init__(self, error)
self.opts = opts
self.rargs = rargs
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class CompatOptionParser(optparse.OptionParser):
"""An option parser which emulates the behaviour of the old
sim_vehicle.sh; if passed -C, the first argument not understood starts
a list of arguments that are passed straight to mavproxy
"""
class CustomFormatter(optparse.IndentedHelpFormatter):
def __init__(self, *args, **kwargs):
optparse.IndentedHelpFormatter.__init__(self, *args, **kwargs)
# taken and modified from from optparse.py's format_option
def format_option_preserve_nl(self, option):
# The help for each option consists of two parts:
# * the opt strings and metavars
# eg. ("-x", or "-fFILENAME, --file=FILENAME")
# * the user-supplied help string
# eg. ("turn on expert mode", "read data from FILENAME")
#
# If possible, we write both of these on the same line:
# -x turn on expert mode
#
# But if the opt string list is too long, we put the help
# string on a second line, indented to the same column it would
# start in if it fit on the first line.
# -fFILENAME, --file=FILENAME
# read data from FILENAME
result = []
opts = self.option_strings[option]
opt_width = self.help_position - self.current_indent - 2
if len(opts) > opt_width:
opts = "%*s%s\n" % (self.current_indent, "", opts)
else: # start help on same line as opts
opts = "%*s%-*s " % (self.current_indent, "", opt_width, opts)
result.append(opts)
if option.help:
help_text = self.expand_default(option)
tw = textwrap.TextWrapper(replace_whitespace=False,
initial_indent="",
subsequent_indent=" ",
width=self.help_width)
for line in help_text.split("\n"):
help_lines = tw.wrap(line)
for wline in help_lines:
result.extend(["%*s%s\n" % (self.help_position,
"",
wline)])
elif opts[-1] != "\n":
result.append("\n")
return "".join(result)
def format_option(self, option):
if str(option).find('frame') != -1:
return self.format_option_preserve_nl(option)
return optparse.IndentedHelpFormatter.format_option(self, option)
def __init__(self, *args, **kwargs):
formatter = CompatOptionParser.CustomFormatter()
optparse.OptionParser.__init__(self,
*args,
formatter=formatter,
**kwargs)
def error(self, error):
"""Override default error handler called by
optparse.OptionParser.parse_args when a parse error occurs;
raise a detailed exception which can be caught
"""
if error.find("no such option") != -1:
raise CompatError(error, self.values, self.rargs)
optparse.OptionParser.error(self, error)
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def parse_args(self, args=None, values=None):
'''Wrap parse_args so we can catch the exception raised upon
discovering the known parameter parsing error
'''
try:
opts, args = optparse.OptionParser.parse_args(self)
except CompatError as e:
if not e.opts.sim_vehicle_sh_compatible:
print(e)
print("Perhaps you want --sim_vehicle_sh_compatible (-C)?")
sys.exit(1)
if e.opts.mavproxy_args:
print("--mavproxy-args not permitted in compat mode")
sys.exit(1)
args = []
opts = e.opts
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mavproxy_args = [str(e)[16:]] # this trims "no such option" off
mavproxy_args.extend(e.rargs)
opts.ensure_value("mavproxy_args", " ".join(mavproxy_args))
return opts, args
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def cygwin_pidof(proc_name):
""" Thanks to kata198 for this:
https://github.com/kata198/cygwin-ps-misc/blob/master/pidof
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"""
pipe = subprocess.Popen("ps -ea | grep " + proc_name,
shell=True,
stdout=subprocess.PIPE)
output_lines = pipe.stdout.read().decode('utf-8').replace("\r", "").split("\n")
ret = pipe.wait()
pids = []
if ret != 0:
# No results
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return []
for line in output_lines:
if not line:
continue
line_split = [item for item in line.split(' ') if item]
cmd = line_split[-1].split('/')[-1]
if cmd == proc_name:
try:
pid = int(line_split[0].strip())
except Exception:
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pid = int(line_split[1].strip())
if pid not in pids:
pids.append(pid)
return pids
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def under_cygwin():
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"""Return if Cygwin binary exist"""
return os.path.exists("/usr/bin/cygstart")
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def under_macos():
return sys.platform == 'darwin'
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def kill_tasks_cygwin(victims):
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"""Shell out to ps -ea to find processes to kill"""
for victim in list(victims):
pids = cygwin_pidof(victim)
# progress("pids for (%s): %s" %
# (victim,",".join([ str(p) for p in pids])))
for apid in pids:
os.kill(apid, signal.SIGKILL)
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def kill_tasks_macos():
for window in windowID:
cmd = ("osascript -e \'tell application \"Terminal\" to close "
"(window(get index of window id %s))\'" % window)
os.system(cmd)
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def kill_tasks_psutil(victims):
"""Use the psutil module to kill tasks by name. Sadly, this module is
not available on Windows, but when it is we should be able to *just*
use this routine"""
import psutil
for proc in psutil.process_iter():
pdict = proc.as_dict(attrs=['environ', 'status'])
if pdict['status'] == psutil.STATUS_ZOMBIE:
continue
if pdict['environ'] is not None:
if pdict['environ'].get('SIM_VEHICLE_SESSION') == os.environ['SIM_VEHICLE_SESSION']:
proc.kill()
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def kill_tasks_pkill(victims):
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"""Shell out to pkill(1) to kill processed by name"""
for victim in victims: # pkill takes a single pattern, so iterate
cmd = ["pkill", victim[:15]] # pkill matches only first 15 characters
run_cmd_blocking("pkill", cmd, quiet=True)
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class BobException(Exception):
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"""Handle Bob's Exceptions"""
pass
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def kill_tasks():
"""Clean up stray processes by name. This is a shotgun approach"""
progress("Killing tasks")
try:
victim_names = {
'JSBSim',
'lt-JSBSim',
'ArduPlane.elf',
'ArduCopter.elf',
'ArduSub.elf',
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'Rover.elf',
'AntennaTracker.elf',
'JSBSIm.exe',
'MAVProxy.exe',
'runsim.py',
'AntennaTracker.elf',
'scrimmage'
'ardurover',
'arduplane',
'arducopter'
}
for vehicle in vinfo.options:
for frame in vinfo.options[vehicle]["frames"]:
frame_info = vinfo.options[vehicle]["frames"][frame]
if "waf_target" not in frame_info:
continue
exe_name = os.path.basename(frame_info["waf_target"])
victim_names.add(exe_name)
if under_cygwin():
return kill_tasks_cygwin(victim_names)
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if under_macos() and os.environ.get('DISPLAY'):
# use special macos kill routine if Display is on
return kill_tasks_macos()
try:
kill_tasks_psutil(victim_names)
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except ImportError:
kill_tasks_pkill(victim_names)
except Exception as e:
progress("kill_tasks failed: {}".format(str(e)))
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def progress(text):
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"""Display sim_vehicle progress text"""
print("SIM_VEHICLE: " + text)
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def wait_unlimited():
"""Wait until signal received"""
while True:
time.sleep(600)
vinfo = vehicleinfo.VehicleInfo()
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def do_build(opts, frame_options):
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"""Build sitl using waf"""
progress("WAF build")
old_dir = os.getcwd()
os.chdir(root_dir)
waf_light = os.path.join(root_dir, "modules/waf/waf-light")
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cmd_configure = [waf_light, "configure", "--board", "sitl"]
if opts.debug:
cmd_configure.append("--debug")
if opts.enable_onvif and 'antennatracker' in frame_options["waf_target"]:
cmd_configure.append("--enable-onvif")
if opts.OSD:
cmd_configure.append("--enable-sfml")
cmd_configure.append("--sitl-osd")
if opts.OSDMSP:
cmd_configure.append("--osd")
if opts.rgbled:
cmd_configure.append("--enable-sfml")
cmd_configure.append("--sitl-rgbled")
if opts.tonealarm:
cmd_configure.append("--enable-sfml-audio")
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if opts.flash_storage:
cmd_configure.append("--sitl-flash-storage")
if opts.math_check_indexes:
cmd_configure.append("--enable-math-check-indexes")
if opts.disable_ekf2:
cmd_configure.append("--disable-ekf2")
if opts.disable_ekf3:
cmd_configure.append("--disable-ekf3")
if opts.postype_single:
cmd_configure.append("--postype-single")
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if opts.ekf_double:
cmd_configure.append("--ekf-double")
if opts.ekf_single:
cmd_configure.append("--ekf-single")
pieces = [shlex.split(x) for x in opts.waf_configure_args]
for piece in pieces:
cmd_configure.extend(piece)
run_cmd_blocking("Configure waf", cmd_configure, check=True)
if opts.clean:
run_cmd_blocking("Building clean", [waf_light, "clean"])
cmd_build = [waf_light, "build", "--target", frame_options["waf_target"]]
if opts.jobs is not None:
cmd_build += ['-j', str(opts.jobs)]
pieces = [shlex.split(x) for x in opts.waf_build_args]
for piece in pieces:
cmd_build.extend(piece)
_, sts = run_cmd_blocking("Building", cmd_build)
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if sts != 0: # build failed
if opts.rebuild_on_failure:
progress("Build failed; cleaning and rebuilding")
run_cmd_blocking("Building clean", [waf_light, "clean"])
_, sts = run_cmd_blocking("Building", cmd_build)
if sts != 0:
progress("Build failed")
sys.exit(1)
else:
progress("Build failed")
sys.exit(1)
os.chdir(old_dir)
def do_build_parameters(vehicle):
# build succeeded
# now build parameters
progress("Building fresh parameter descriptions")
param_parse_path = os.path.join(
autotest_dir, "param_metadata/param_parse.py")
cmd_param_build = ["python", param_parse_path, '--vehicle', vehicle]
_, sts = run_cmd_blocking("Building fresh params", cmd_param_build)
if sts != 0:
progress("Parameter build failed")
sys.exit(1)
def get_user_locations_path():
'''The user locations.txt file is located by default in
$XDG_CONFIG_DIR/ardupilot/locations.txt. If $XDG_CONFIG_DIR is
not defined, we look in $HOME/.config/ardupilot/locations.txt. If
$HOME is not defined, we look in ./.config/ardpupilot/locations.txt.'''
config_dir = os.environ.get(
'XDG_CONFIG_DIR',
os.path.join(os.environ.get('HOME', '.'), '.config'))
user_locations_path = os.path.join(
config_dir, 'ardupilot', 'locations.txt')
return user_locations_path
def find_offsets(instances, file_path):
offsets = {}
swarminit_filepath = os.path.join(autotest_dir, "swarminit.txt")
comment_regex = re.compile(r"\s*#.*")
for path in [file_path, swarminit_filepath]:
if os.path.isfile(path):
with open(path, 'r') as fd:
for line in fd:
line = re.sub(comment_regex, "", line)
line = line.rstrip("\n")
if len(line) == 0:
continue
(instance, offset) = line.split("=")
instance = (int)(instance)
if (instance not in offsets) and (instance in instances):
offsets[instance] = [(float)(x) for x in offset.split(",")]
continue
if len(offsets) == len(instances):
return offsets
if len(offsets) == len(instances):
return offsets
for instance in instances:
if instance not in offsets:
offsets[instance] = [90.0, 20.0 * instance, 0.0, None]
return offsets
def find_geocoder_location(locname):
'''find a location using geocoder and SRTM'''
try:
import geocoder
except ImportError:
print("geocoder not installed")
return None
j = geocoder.osm(locname)
if j is None or not hasattr(j, 'lat') or j.lat is None:
print("geocoder failed to find '%s'" % locname)
return None
lat = j.lat
lon = j.lng
from MAVProxy.modules.mavproxy_map import srtm
downloader = srtm.SRTMDownloader()
downloader.loadFileList()
start = time.time()
alt = None
while time.time() - start < 5:
tile = downloader.getTile(int(math.floor(lat)), int(math.floor(lon)))
if tile:
alt = tile.getAltitudeFromLatLon(lat, lon)
break
if alt is None:
print("timed out getting altitude for '%s'" % locname)
return None
return [lat, lon, alt, 0.0]
def find_location_by_name(locname):
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"""Search locations.txt for locname, return GPS coords"""
locations_userpath = os.environ.get('ARDUPILOT_LOCATIONS',
get_user_locations_path())
locations_filepath = os.path.join(autotest_dir, "locations.txt")
comment_regex = re.compile(r"\s*#.*")
for path in [locations_userpath, locations_filepath]:
if not os.path.isfile(path):
continue
with open(path, 'r') as fd:
for line in fd:
line = re.sub(comment_regex, "", line)
line = line.rstrip("\n")
if len(line) == 0:
continue
(name, loc) = line.split("=")
if name == locname:
return [(float)(x) for x in loc.split(",")]
# fallback to geocoder if available
loc = find_geocoder_location(locname)
if loc is None:
sys.exit(1)
return loc
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def find_spawns(loc, offsets):
lat, lon, alt, heading = loc
spawns = {}
for k in offsets:
(x, y, z, head) = offsets[k]
if head is None:
head = heading
g = mavextra.gps_offset(lat, lon, x, y)
spawns[k] = ",".join([str(g[0]), str(g[1]), str(alt+z), str(head)])
return spawns
def progress_cmd(what, cmd):
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"""Print cmd in a way a user could cut-and-paste to get the same effect"""
progress(what)
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shell_text = "%s" % (" ".join(['"%s"' % x for x in cmd]))
progress(shell_text)
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def run_cmd_blocking(what, cmd, quiet=False, check=False, **kw):
if not quiet:
progress_cmd(what, cmd)
try:
p = subprocess.Popen(cmd, **kw)
ret = os.waitpid(p.pid, 0)
except Exception as e:
print("[%s] An exception has occurred with command: '%s'" % (what, (' ').join(cmd)))
print(e)
sys.exit(1)
_, sts = ret
if check and sts != 0:
progress("(%s) exited with code %d" % (what, sts,))
sys.exit(1)
return ret
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def run_in_terminal_window(name, cmd, **kw):
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"""Execute the run_in_terminal_window.sh command for cmd"""
global windowID
runme = [os.path.join(autotest_dir, "run_in_terminal_window.sh"), name]
runme.extend(cmd)
progress_cmd("Run " + name, runme)
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if under_macos() and os.environ.get('DISPLAY'):
# on MacOS record the window IDs so we can close them later
out = subprocess.Popen(runme, stdout=subprocess.PIPE, **kw).communicate()[0]
out = out.decode('utf-8')
p = re.compile('tab 1 of window id (.*)')
tstart = time.time()
while time.time() - tstart < 5:
tabs = p.findall(out)
if len(tabs) > 0:
break
time.sleep(0.1)
# sleep for extra 2 seconds for application to start
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time.sleep(2)
if len(tabs) > 0:
windowID.append(tabs[0])
else:
progress("Cannot find %s process terminal" % name)
else:
subprocess.Popen(runme, **kw)
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tracker_uarta = None # blemish
def start_antenna_tracker(opts):
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"""Compile and run the AntennaTracker, add tracker to mavproxy"""
global tracker_uarta
progress("Preparing antenna tracker")
tracker_home = find_location_by_name(opts.tracker_location)
vehicledir = os.path.join(autotest_dir, "../../" + "AntennaTracker")
options = vinfo.options["AntennaTracker"]
tracker_default_frame = options["default_frame"]
tracker_frame_options = options["frames"][tracker_default_frame]
do_build(opts, tracker_frame_options)
tracker_instance = 1
oldpwd = os.getcwd()
os.chdir(vehicledir)
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tracker_uarta = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
if cmd_opts.build_system == "waf":
binary_basedir = "build/sitl"
exe = os.path.join(root_dir,
binary_basedir,
"bin/antennatracker")
else:
exe = os.path.join(vehicledir, "AntennaTracker.elf")
run_in_terminal_window("AntennaTracker",
["nice",
exe,
"-I" + str(tracker_instance),
"--model=tracker",
"--home=" + ",".join([str(x) for x in tracker_home])])
os.chdir(oldpwd)
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def start_vehicle(binary, opts, stuff, spawns=None):
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"""Run the ArduPilot binary"""
cmd_name = opts.vehicle
cmd = []
if opts.valgrind:
cmd_name += " (valgrind)"
cmd.append("valgrind")
# adding this option allows valgrind to cope with the overload
# of operator new
cmd.append("--soname-synonyms=somalloc=nouserintercepts")
cmd.append("--track-origins=yes")
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if opts.callgrind:
cmd_name += " (callgrind)"
cmd.append("valgrind")
cmd.append("--tool=callgrind")
if opts.gdb or opts.gdb_stopped:
cmd_name += " (gdb)"
cmd.append("gdb")
gdb_commands_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
atexit.register(os.unlink, gdb_commands_file.name)
for breakpoint in opts.breakpoint:
gdb_commands_file.write("b %s\n" % (breakpoint,))
if opts.disable_breakpoints:
gdb_commands_file.write("disable\n")
if not opts.gdb_stopped:
gdb_commands_file.write("r\n")
gdb_commands_file.close()
cmd.extend(["-x", gdb_commands_file.name])
cmd.append("--args")
elif opts.lldb or opts.lldb_stopped:
cmd_name += " (lldb)"
cmd.append("lldb")
lldb_commands_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
atexit.register(os.unlink, lldb_commands_file.name)
for breakpoint in opts.breakpoint:
lldb_commands_file.write("b %s\n" % (breakpoint,))
if not opts.lldb_stopped:
lldb_commands_file.write("process launch\n")
lldb_commands_file.close()
cmd.extend(["-s", lldb_commands_file.name])
cmd.append("--")
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if opts.strace:
cmd_name += " (strace)"
cmd.append("strace")
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strace_options = ['-o', binary + '.strace', '-s', '8000', '-ttt']
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cmd.extend(strace_options)
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cmd.append(binary)
cmd.append("-S")
if opts.wipe_eeprom:
cmd.append("-w")
cmd.extend(["--model", stuff["model"]])
cmd.extend(["--speedup", str(opts.speedup)])
if opts.sysid is not None:
cmd.extend(["--sysid", str(opts.sysid)])
if opts.slave is not None:
cmd.extend(["--slave", str(opts.slave)])
if opts.sitl_instance_args:
# this could be a lot better:
cmd.extend(opts.sitl_instance_args.split(" "))
if opts.mavlink_gimbal:
cmd.append("--gimbal")
path = None
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if "default_params_filename" in stuff:
paths = stuff["default_params_filename"]
if not isinstance(paths, list):
paths = [paths]
paths = [os.path.join(autotest_dir, x) for x in paths]
for x in paths:
if not os.path.isfile(x):
print("The parameter file (%s) does not exist" % (x,))
sys.exit(1)
path = ",".join(paths)
progress("Using defaults from (%s)" % (path,))
if opts.add_param_file:
for file in opts.add_param_file:
if not os.path.isfile(file):
print("The parameter file (%s) does not exist" %
(file,))
sys.exit(1)
if path is not None:
path += "," + str(file)
else:
path = str(file)
progress("Adding parameters from (%s)" % (str(file),))
if opts.OSDMSP:
path += "," + os.path.join(root_dir, "libraries/AP_MSP/Tools/osdtest.parm")
path += "," + os.path.join(autotest_dir, "default_params/msposd.parm")
subprocess.Popen([os.path.join(root_dir, "libraries/AP_MSP/Tools/msposd.py")])
if path is not None:
cmd.extend(["--defaults", path])
if opts.mcast:
cmd.extend(["--uartA mcast:"])
elif opts.udp:
cmd.extend(["--uartA udpclient:127.0.0.1:" + str(5760+cmd_opts.instance*10)])
if cmd_opts.start_time is not None:
# Parse start_time into a double precision number specifying seconds since 1900.
try:
start_time_UTC = time.mktime(datetime.datetime.strptime(cmd_opts.start_time, '%Y-%m-%d-%H:%M').timetuple())
except Exception:
print("Incorrect start time format - require YYYY-MM-DD-HH:MM (given %s)" % cmd_opts.start_time)
sys.exit(1)
cmd.append("--start-time=%d" % start_time_UTC)
old_dir = os.getcwd()
for i, i_dir in zip(instances, instance_dir):
c = ["-I" + str(i)]
if spawns is not None:
c.extend(["--home", spawns[i]])
os.chdir(i_dir)
run_in_terminal_window(cmd_name, cmd + c)
os.chdir(old_dir)
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def start_mavproxy(opts, stuff):
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"""Run mavproxy"""
# FIXME: would be nice to e.g. "mavproxy.mavproxy(....).run"
# rather than shelling out
extra_cmd = ""
cmd = []
if under_cygwin():
cmd.append("/usr/bin/cygstart")
cmd.append("-w")
cmd.append("mavproxy.exe")
else:
cmd.append("mavproxy.py")
if opts.tracker:
cmd.extend(["--load-module", "tracker"])
global tracker_uarta
# tracker_uarta is set when we start the tracker...
extra_cmd += ("module load map;"
"tracker set port %s; "
"tracker start; "
"tracker arm;" % (tracker_uarta,))
if opts.mavlink_gimbal:
cmd.extend(["--load-module", "gimbal"])
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if "extra_mavlink_cmds" in stuff:
extra_cmd += " " + stuff["extra_mavlink_cmds"]
# Parsing the arguments to pass to mavproxy, split args on space
# and "=" signs and ignore those signs within quotation marks
if opts.mavproxy_args:
# It would be great if this could be done with regex
mavargs = opts.mavproxy_args.split(" ")
# Find the arguments with '=' in them and split them up
for i, x in enumerate(mavargs):
if '=' in x:
mavargs[i] = x.split('=')[0]
mavargs.insert(i+1, x.split('=')[1])
# Use this flag to tell if parsing character inbetween a pair
# of quotation marks
inString = False
beginStringIndex = []
endStringIndex = []
# Iterate through the arguments, looking for the arguments
# that begin with a quotation mark and the ones that end with
# a quotation mark
for i, x in enumerate(mavargs):
if not inString and x[0] == "\"":
beginStringIndex.append(i)
mavargs[i] = x[1:]
inString = True
elif inString and x[-1] == "\"":
endStringIndex.append(i)
inString = False
mavargs[i] = x[:-1]
# Replace the list items with one string to be passed into mavproxy
for begin, end in zip(beginStringIndex, endStringIndex):
replacement = " ".join(mavargs[begin:end+1])
mavargs[begin] = replacement
mavargs = mavargs[0:begin+1] + mavargs[end+1:]
cmd.extend(mavargs)
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# compatibility pass-through parameters (for those that don't want
# to use -C :-)
for out in opts.out:
cmd.extend(['--out', out])
if opts.map:
cmd.append('--map')
if opts.console:
cmd.append('--console')
if opts.aircraft is not None:
cmd.extend(['--aircraft', opts.aircraft])
if opts.moddebug:
cmd.append('--moddebug=%u' % opts.moddebug)
if opts.fresh_params:
# these were built earlier:
path = os.path.join(os.getcwd(), "apm.pdef.xml")
cmd.extend(['--load-module', 'param:{"xml-filepath":"%s"}' % path])
if len(extra_cmd):
cmd.extend(['--cmd', extra_cmd])
# add Tools/mavproxy_modules to PYTHONPATH in autotest so we can
# find random MAVProxy helper modules like sitl_calibration
local_mp_modules_dir = os.path.abspath(
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os.path.join(__file__, '..', '..', 'mavproxy_modules'))
env = dict(os.environ)
old = env.get('PYTHONPATH', None)
env['PYTHONPATH'] = local_mp_modules_dir
if old is not None:
env['PYTHONPATH'] += os.path.pathsep + old
old_dir = os.getcwd()
for i, i_dir in zip(instances, instance_dir):
c = []
if not opts.no_extra_ports:
ports = [p + 10 * i for p in [14550, 14551]]
for port in ports:
if os.path.isfile("/ardupilot.vagrant"):
# We're running inside of a vagrant guest; forward our
# mavlink out to the containing host OS
c.extend(["--out", "10.0.2.2:" + str(port)])
else:
c.extend(["--out", "127.0.0.1:" + str(port)])
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if True:
if opts.mcast:
c.extend(["--master", "mcast:"])
elif opts.udp:
c.extend(["--master", ":" + str(5760 + 10 * i)])
else:
c.extend(["--master", "tcp:127.0.0.1:" + str(5760 + 10 * i)])
if stuff["sitl-port"] and not opts.no_rcin:
c.extend(["--sitl", "127.0.0.1:" + str(5501 + 10 * i)])
os.chdir(i_dir)
if i == instances[-1]:
run_cmd_blocking("Run MavProxy", cmd + c, env=env)
else:
run_in_terminal_window("Run MavProxy", cmd + c, env=env)
os.chdir(old_dir)
vehicle_options_string = '|'.join(vinfo.options.keys())
def generate_frame_help():
ret = ""
for vehicle in vinfo.options:
frame_options = sorted(vinfo.options[vehicle]["frames"].keys())
frame_options_string = '|'.join(frame_options)
ret += "%s: %s\n" % (vehicle, frame_options_string)
return ret
# define and run parser
parser = CompatOptionParser(
"sim_vehicle.py",
epilog=""
"eeprom.bin in the starting directory contains the parameters for your "
"simulated vehicle. Always start from the same directory. It is "
"recommended that you start in the main vehicle directory for the vehicle "
"you are simulating, for example, start in the ArduPlane directory to "
"simulate ArduPlane")
vehicle_choices = list(vinfo.options.keys())
# add an alias for people with too much m
vehicle_choices.append("APMrover2")
vehicle_choices.append("Copter") # should change to ArduCopter at some stage
vehicle_choices.append("Plane") # should change to ArduPlane at some stage
vehicle_choices.append("Sub") # should change to Sub at some stage
parser.add_option("-v", "--vehicle",
type='choice',
default=None,
help="vehicle type (%s)" % vehicle_options_string,
choices=vehicle_choices)
parser.add_option("-f", "--frame", type='string', default=None, help="""set vehicle frame type
%s""" % (generate_frame_help()))
parser.add_option("--vehicle-binary",
default=None,
help="vehicle binary path")
parser.add_option("-C", "--sim_vehicle_sh_compatible",
action='store_true',
default=False,
help="be compatible with the way sim_vehicle.sh works; "
"make this the first option")
group_build = optparse.OptionGroup(parser, "Build options")
group_build.add_option("-N", "--no-rebuild",
action='store_true',
default=False,
help="don't rebuild before starting ardupilot")
group_build.add_option("-D", "--debug",
action='store_true',
default=False,
help="build with debugging")
group_build.add_option("-c", "--clean",
action='store_true',
default=False,
help="do a make clean before building")
group_build.add_option("-j", "--jobs",
default=None,
type='int',
help="number of processors to use during build "
"(default for waf : number of processor, for make : 1)")
group_build.add_option("-b", "--build-target",
default=None,
type='string',
help="override SITL build target")
group_build.add_option("-s", "--build-system",
default="waf",
type='choice',
choices=["make", "waf"],
help="build system to use")
group_build.add_option("--enable-math-check-indexes",
default=False,
action="store_true",
dest="math_check_indexes",
help="enable checking of math indexes")
group_build.add_option("", "--rebuild-on-failure",
dest="rebuild_on_failure",
action='store_true',
default=False,
help="if build fails, do not clean and rebuild")
group_build.add_option("", "--waf-configure-arg",
action="append",
dest="waf_configure_args",
type="string",
default=[],
help="extra arguments to pass to waf in configure step")
group_build.add_option("", "--waf-build-arg",
action="append",
dest="waf_build_args",
type="string",
default=[],
help="extra arguments to pass to waf in its build step")
parser.add_option_group(group_build)
group_sim = optparse.OptionGroup(parser, "Simulation options")
group_sim.add_option("-I", "--instance",
default=0,
type='int',
help="instance of simulator")
group_sim.add_option("-n", "--count",
type='int',
default=1,
help="vehicle count; if this is specified, -I is used as a base-value")
group_sim.add_option("-i", "--instances",
default=None,
type='string',
help="a space delimited list of instances to spawn; if specified, overrides -I and -n.")
group_sim.add_option("-V", "--valgrind",
action='store_true',
default=False,
help="enable valgrind for memory access checking (slow!)")
group_sim.add_option("", "--callgrind",
action='store_true',
default=False,
help="enable valgrind for performance analysis (slow!!)")
group_sim.add_option("-T", "--tracker",
action='store_true',
default=False,
help="start an antenna tracker instance")
group_sim.add_option("", "--enable-onvif",
action="store_true",
help="enable onvif camera control sim using AntennaTracker")
group_sim.add_option("-A", "--sitl-instance-args",
type='string',
default=None,
help="pass arguments to SITL instance")
group_sim.add_option("-G", "--gdb",
action='store_true',
default=False,
help="use gdb for debugging ardupilot")
group_sim.add_option("-g", "--gdb-stopped",
action='store_true',
default=False,
help="use gdb for debugging ardupilot (no auto-start)")
group_sim.add_option("--lldb",
action='store_true',
default=False,
help="use lldb for debugging ardupilot")
group_sim.add_option("--lldb-stopped",
action='store_true',
default=False,
help="use ldb for debugging ardupilot (no auto-start)")
group_sim.add_option("-d", "--delay-start",
default=0,
type='float',
help="delay start of mavproxy by this number of seconds")
group_sim.add_option("-B", "--breakpoint",
type='string',
action="append",
default=[],
help="add a breakpoint at given location in debugger")
group_sim.add_option("--disable-breakpoints",
default=False,
action='store_true',
help="disable all breakpoints before starting")
group_sim.add_option("-M", "--mavlink-gimbal",
action='store_true',
default=False,
help="enable MAVLink gimbal")
group_sim.add_option("-L", "--location", type='string',
default=None,
help="use start location from "
"Tools/autotest/locations.txt")
group_sim.add_option("-l", "--custom-location",
type='string',
default=None,
help="set custom start location (lat,lon,alt,heading)")
group_sim.add_option("-S", "--speedup",
default=1,
type='int',
help="set simulation speedup (1 for wall clock time)")
group_sim.add_option("-t", "--tracker-location",
default='CMAC_PILOTSBOX',
type='string',
help="set antenna tracker start location")
group_sim.add_option("-w", "--wipe-eeprom",
action='store_true',
default=False, help="wipe EEPROM and reload parameters")
group_sim.add_option("-m", "--mavproxy-args",
default=None,
type='string',
help="additional arguments to pass to mavproxy.py")
group_sim.add_option("", "--scrimmage-args",
default=None,
type='string',
help="arguments used to populate SCRIMMAGE mission (comma-separated). "
"Currently visual_model, motion_model, and terrain are supported. "
"Usage: [instance=]argument=value...")
group_sim.add_option("", "--strace",
action='store_true',
default=False,
help="strace the ArduPilot binary")
group_sim.add_option("", "--model",
type='string',
default=None,
help="Override simulation model to use")
group_sim.add_option("", "--use-dir",
type='string',
default=None,
help="Store SITL state and output in named directory")
group_sim.add_option("", "--no-mavproxy",
action='store_true',
default=False,
help="Don't launch MAVProxy")
group_sim.add_option("", "--fresh-params",
action='store_true',
dest='fresh_params',
default=False,
help="Generate and use local parameter help XML")
group_sim.add_option("", "--mcast",
action="store_true",
default=False,
help="Use multicasting at default 239.255.145.50:14550")
group_sim.add_option("", "--udp",
action="store_true",
default=False,
help="Use UDP on 127.0.0.1:5760")
group_sim.add_option("", "--osd",
action='store_true',
dest='OSD',
default=False,
help="Enable SITL OSD")
group_sim.add_option("", "--osdmsp",
action='store_true',
dest='OSDMSP',
default=False,
help="Enable SITL OSD using MSP")
group_sim.add_option("", "--tonealarm",
action='store_true',
dest='tonealarm',
default=False,
help="Enable SITL ToneAlarm")
group_sim.add_option("", "--rgbled",
action='store_true',
dest='rgbled',
default=False,
help="Enable SITL RGBLed")
group_sim.add_option("", "--add-param-file",
type='string',
action="append",
default=None,
help="Add a parameters file to use")
group_sim.add_option("", "--no-extra-ports",
action='store_true',
dest='no_extra_ports',
default=False,
help="Disable setup of UDP 14550 and 14551 output")
group_sim.add_option("-Z", "--swarm",
type='string',
default=None,
help="Specify path of swarminit.txt for shifting spawn location")
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group_sim.add_option("--flash-storage",
action='store_true',
help="enable use of flash storage emulation")
group_sim.add_option("--disable-ekf2",
action='store_true',
help="disable EKF2 in build")
group_sim.add_option("--disable-ekf3",
action='store_true',
help="disable EKF3 in build")
group_sim.add_option("", "--start-time",
default=None,
type='string',
help="specify simulation start time in format YYYY-MM-DD-HH:MM in your local time zone")
group_sim.add_option("", "--sysid",
type='int',
default=None,
help="Set SYSID_THISMAV")
group_sim.add_option("--postype-single",
action='store_true',
help="force single precision postype_t")
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group_sim.add_option("--ekf-double",
action='store_true',
help="use double precision in EKF")
group_sim.add_option("--ekf-single",
action='store_true',
help="use single precision in EKF")
group_sim.add_option("", "--slave",
type='int',
default=0,
help="Set the number of JSON slave")
parser.add_option_group(group_sim)
# special-cased parameters for mavproxy, because some people's fingers
# have long memories, and they don't want to use -C :-)
group = optparse.OptionGroup(parser,
"Compatibility MAVProxy options "
"(consider using --mavproxy-args instead)")
group.add_option("", "--out",
default=[],
type='string',
action="append",
help="create an additional mavlink output")
group.add_option("", "--map",
default=False,
action='store_true',
help="load map module on startup")
group.add_option("", "--console",
default=False,
action='store_true',
help="load console module on startup")
group.add_option("", "--aircraft",
default=None,
help="store state and logs in named directory")
group.add_option("", "--moddebug",
default=0,
type=int,
help="mavproxy module debug")
group.add_option("", "--no-rcin",
action='store_true',
help="disable mavproxy rcin")
parser.add_option_group(group)
group_completion = optparse.OptionGroup(parser, "Completion helpers")
group_completion.add_option("", "--list-vehicle",
action='store_true',
help="List the vehicles")
group_completion.add_option("", "--list-frame",
type='string',
default=None,
help="List the vehicle frames")
parser.add_option_group(group_completion)
cmd_opts, cmd_args = parser.parse_args()
if cmd_opts.list_vehicle:
print(' '.join(vinfo.options.keys()))
sys.exit(1)
if cmd_opts.list_frame:
frame_options = sorted(vinfo.options[cmd_opts.list_frame]["frames"].keys())
frame_options_string = ' '.join(frame_options)
print(frame_options_string)
sys.exit(1)
# clean up processes at exit:
atexit.register(kill_tasks)
progress("Start")
if cmd_opts.sim_vehicle_sh_compatible and cmd_opts.jobs is None:
cmd_opts.jobs = 1
# validate parameters
if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped or cmd_opts.lldb or cmd_opts.lldb_stopped):
print("May not use valgrind with gdb or lldb")
sys.exit(1)
if cmd_opts.valgrind and cmd_opts.callgrind:
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print("May not use valgrind with callgrind")
sys.exit(1)
if cmd_opts.strace and (cmd_opts.gdb or cmd_opts.gdb_stopped or cmd_opts.lldb or cmd_opts.lldb_stopped):
print("May not use strace with gdb or lldb")
sys.exit(1)
if (cmd_opts.gdb or cmd_opts.gdb_stopped) and (cmd_opts.lldb or cmd_opts.lldb_stopped):
print("May not use lldb with gdb")
sys.exit(1)
if cmd_opts.instance < 0:
print("May not specify a negative instance ID")
sys.exit(1)
if cmd_opts.count < 1:
print("May not specify a count less than 1")
sys.exit(1)
if cmd_opts.strace and cmd_opts.valgrind:
print("valgrind and strace almost certainly not a good idea")
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if cmd_opts.strace and cmd_opts.callgrind:
print("callgrind and strace almost certainly not a good idea")
# magically determine vehicle type (if required):
if cmd_opts.vehicle is None:
cwd = os.getcwd()
cmd_opts.vehicle = os.path.basename(cwd)
if cmd_opts.vehicle not in vinfo.options:
# try in parent directories, useful for having config in subdirectories
cwd = os.getcwd()
while cwd:
bname = os.path.basename(cwd)
if not bname:
break
if bname in vinfo.options:
cmd_opts.vehicle = bname
break
cwd = os.path.dirname(cwd)
# map from some vehicle aliases back to canonical names. APMrover2
# was the old name / directory name for Rover.
vehicle_map = {
"APMrover2": "Rover",
"Copter": "ArduCopter", # will switch eventually
"Plane": "ArduPlane", # will switch eventually
"Sub": "ArduSub", # will switch eventually
}
if cmd_opts.vehicle in vehicle_map:
progress("%s is now known as %s" %
(cmd_opts.vehicle, vehicle_map[cmd_opts.vehicle]))
cmd_opts.vehicle = vehicle_map[cmd_opts.vehicle]
# try to validate vehicle
if cmd_opts.vehicle not in vinfo.options:
progress('''
** Is (%s) really your vehicle type?
Perhaps you could try -v %s
You could also try changing directory to e.g. the ArduCopter subdirectory
''' % (cmd_opts.vehicle, vehicle_options_string))
sys.exit(1)
# determine frame options (e.g. build type might be "sitl")
if cmd_opts.frame is None:
cmd_opts.frame = vinfo.options[cmd_opts.vehicle]["default_frame"]
frame_infos = vinfo.options_for_frame(cmd_opts.frame,
cmd_opts.vehicle,
cmd_opts)
vehicle_dir = os.path.realpath(os.path.join(root_dir, cmd_opts.vehicle))
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if not os.path.exists(vehicle_dir):
print("vehicle directory (%s) does not exist" % (vehicle_dir,))
sys.exit(1)
if cmd_opts.instances is not None:
instances = set()
for i in cmd_opts.instances.split(' '):
i = (int)(i)
if i < 0:
print("May not specify a negative instance ID")
sys.exit(1)
instances.add(i)
instances = sorted(instances) # to list
else:
instances = range(cmd_opts.instance, cmd_opts.instance + cmd_opts.count)
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if cmd_opts.instance == 0:
kill_tasks()
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if cmd_opts.tracker:
start_antenna_tracker(cmd_opts)
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if cmd_opts.custom_location:
location = [(float)(x) for x in cmd_opts.custom_location.split(",")]
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progress("Starting up at %s" % (location,))
elif cmd_opts.location is not None:
location = find_location_by_name(cmd_opts.location)
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progress("Starting up at %s (%s)" % (location, cmd_opts.location))
else:
progress("Starting up at SITL location")
location = None
if cmd_opts.swarm is not None:
offsets = find_offsets(instances, cmd_opts.swarm)
else:
offsets = {x: [0.0, 0.0, 0.0, None] for x in instances}
if location is not None:
spawns = find_spawns(location, offsets)
else:
spawns = None
if cmd_opts.use_dir is not None:
base_dir = os.path.realpath(cmd_opts.use_dir)
try:
os.makedirs(base_dir)
except OSError as exception:
if exception.errno != errno.EEXIST:
raise
os.chdir(base_dir)
else:
base_dir = os.getcwd()
instance_dir = []
if len(instances) == 1:
instance_dir.append(base_dir)
else:
for i in instances:
i_dir = os.path.join(base_dir, str(i))
try:
os.makedirs(i_dir)
except OSError as exception:
if exception.errno != errno.EEXIST:
raise
finally:
instance_dir.append(i_dir)
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if True:
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if not cmd_opts.no_rebuild: # i.e. we should rebuild
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do_build(cmd_opts, frame_infos)
if cmd_opts.fresh_params:
do_build_parameters(cmd_opts.vehicle)
if cmd_opts.vehicle_binary is not None:
vehicle_binary = cmd_opts.vehicle_binary
elif cmd_opts.build_system == "waf":
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binary_basedir = "build/sitl"
vehicle_binary = os.path.join(root_dir,
binary_basedir,
frame_infos["waf_target"])
else:
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vehicle_binary = os.path.join(vehicle_dir, cmd_opts.vehicle + ".elf")
if not os.path.exists(vehicle_binary):
print("Vehicle binary (%s) does not exist" % (vehicle_binary,))
sys.exit(1)
start_vehicle(vehicle_binary,
cmd_opts,
frame_infos,
spawns=spawns)
if cmd_opts.delay_start:
progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
time.sleep(float(cmd_opts.delay_start))
tmp = None
if cmd_opts.frame in ['scrimmage-plane', 'scrimmage-copter']:
# import only here so as to avoid jinja dependency in whole script
from jinja2 import Environment, FileSystemLoader
from tempfile import mkstemp
entities = []
config = {}
config['plane'] = cmd_opts.vehicle == 'ArduPlane'
if location is not None:
config['lat'] = location[0]
config['lon'] = location[1]
config['alt'] = location[2]
entities = {}
for i in instances:
(x, y, z, heading) = offsets[i]
entities[i] = {
'x': x, 'y': y, 'z': z, 'heading': heading,
'to_ardupilot_port': 9003 + i * 10,
'from_ardupilot_port': 9002 + i * 10,
'to_ardupilot_ip': '127.0.0.1'
}
if cmd_opts.scrimmage_args is not None:
scrimmage_args = cmd_opts.scrimmage_args.split(',')
global_opts = ['terrain']
instance_opts = ['motion_model', 'visual_model']
for arg in scrimmage_args:
arg = arg.split('=', 2)
if len(arg) == 2:
k, v = arg
if k in global_opts:
config[k] = v
elif k in instance_opts:
for i in entities:
# explicit instance args take precedence; don't overwrite
if k not in entities[i]:
entities[i][k] = v
elif len(arg) == 3:
i, k, v = arg
try:
i = int(i)
except ValueError:
continue
if i in entities and k in instance_opts:
entities[i][k] = v
config['entities'] = list(entities.values())
env = Environment(loader=FileSystemLoader(os.path.join(autotest_dir, 'template')))
mission = env.get_template('scrimmage.xml').render(**config)
tmp = mkstemp()
atexit.register(os.remove, tmp[1])
with os.fdopen(tmp[0], 'w') as fd:
fd.write(mission)
run_in_terminal_window('SCRIMMAGE', ['scrimmage', tmp[1]])
2016-07-04 15:28:06 -03:00
if cmd_opts.delay_start:
progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
time.sleep(float(cmd_opts.delay_start))
try:
if cmd_opts.no_mavproxy:
time.sleep(3) # output our message after run_in_terminal_window.sh's
progress("Waiting for SITL to exit")
wait_unlimited()
else:
start_mavproxy(cmd_opts, frame_infos)
except KeyboardInterrupt:
progress("Keyboard Interrupt received ...")
sys.exit(0)