ardupilot/Tools/autotest/sim_antennatracker.sh

71 lines
1.7 KiB
Bash
Raw Normal View History

#!/bin/bash
# home location lat, lon, alt, heading
SIMHOME="-35.363261,149.165230,584,353"
# check the instance number to allow for multiple copies of the sim running at once
INSTANCE=0
# Try to run a command in an appropriate type of terminal window
# depending on whats available
# Sigh: theres no common way of handling command line args :-(
function run_in_terminal_window()
{
if [ -x /usr/bin/konsole ]; then
/usr/bin/konsole --hold -e $*
elif [ -x /usr/bin/gnome-terminal ]; then
/usr/bin/gnome-terminal -e "$*"
elif [ -x /usr/bin/xterm ]; then
/usr/bin/xterm -hold -e $* &
else
# out of options: run in the background
$* &
fi
}
# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
while getopts ":I:" opt; do
case $opt in
I)
INSTANCE=$OPTARG
;;
\?)
# allow other args to pass on to mavproxy
break
;;
:)
echo "Option -$OPTARG requires an argument." >&2
exit 1
esac
done
shift $((OPTIND-1))
# kill existing copy if this is the '0' instance only
[ "$INSTANCE" -eq "0" ] && {
killall -q AntennaTracker.elf
}
# setup ports for this instance
MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
set -e
set -x
autotest=$(dirname $(readlink -e $0))
pushd $autotest/../../Tools/AntennaTracker
make clean sitl
tfile=$(mktemp)
echo r > $tfile
#run_in_terminal_window gdb -x $tfile --args /tmp/AntennaTracker.build/AntennaTracker.elf
#run_in_terminal_window /tmp/AntennaTracker.build/AntennaTracker.elf -I$INSTANCE
run_in_terminal_window /tmp/AntennaTracker.build/AntennaTracker.elf -I$INSTANCE
#run_in_terminal_window valgrind -q /tmp/AntennaTracker.build/AntennaTracker.elf
sleep 2
rm -f $tfile
popd
mavproxy.py --master $MAVLINK_PORT $*