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
"""
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from __future__ import print_function
import atexit
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
from pysim import vehicleinfo
# List of open terminal windows for macosx
windowID = []
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)
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output_lines = pipe.stdout.read().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:
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():
if proc.status == psutil.STATUS_ZOMBIE:
continue
if proc.name in victims:
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',
'APMrover2.elf',
'AntennaTracker.elf',
'JSBSIm.exe',
'MAVProxy.exe',
'runsim.py',
'AntennaTracker.elf',
}
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 find_autotest_dir():
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"""Return path to autotest directory"""
return os.path.dirname(os.path.realpath(__file__))
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def find_root_dir():
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"""Return path to root directory"""
return os.path.realpath(os.path.join(find_autotest_dir(), '../..'))
def wait_unlimited():
"""Wait until signal received"""
while True:
time.sleep(600)
vinfo = vehicleinfo.VehicleInfo()
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def do_build_waf(opts, frame_options):
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"""Build sitl using waf"""
progress("WAF build")
old_dir = os.getcwd()
root_dir = find_root_dir()
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.OSD:
cmd_configure.append("--enable-sfml")
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(
find_root_dir(), "Tools/autotest/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 do_build(vehicledir, opts, frame_options):
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"""Build build target (e.g. sitl) in directory vehicledir"""
if opts.build_system == 'waf':
return do_build_waf(opts, frame_options)
old_dir = os.getcwd()
os.chdir(vehicledir)
if opts.clean:
run_cmd_blocking("Building clean", ["make", "clean"])
build_target = frame_options["make_target"]
if opts.debug:
build_target += "-debug"
build_cmd = ["make", build_target]
if opts.jobs is not None:
build_cmd += ['-j', str(opts.jobs)]
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_, sts = run_cmd_blocking("Building %s" % build_target, build_cmd)
if sts != 0:
progress("Build failed; cleaning and rebuilding")
run_cmd_blocking("Cleaning", ["make", "clean"])
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_, sts = run_cmd_blocking("Building %s" % build_target, build_cmd)
if sts != 0:
progress("Build failed")
sys.exit(1)
os.chdir(old_dir)
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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_location_by_name(autotest, 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, "locations.txt")
comment_regex = re.compile("\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 loc
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print("Failed to find location (%s)" % cmd_opts.location)
sys.exit(1)
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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(autotest, name, cmd):
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"""Execute the run_in_terminal_window.sh command for cmd"""
global windowID
runme = [os.path.join(autotest, "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
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out = subprocess.Popen(runme, stdout=subprocess.PIPE).communicate()[0]
out = out.decode('utf-8')
import re
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:
p = subprocess.Popen(runme)
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tracker_uarta = None # blemish
def start_antenna_tracker(autotest, 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(find_autotest_dir(),
opts.tracker_location)
vehicledir = os.path.join(autotest, "../../" + "AntennaTracker")
options = vinfo.options["AntennaTracker"]
tracker_default_frame = options["default_frame"]
tracker_frame_options = options["frames"][tracker_default_frame]
do_build(vehicledir, 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)
exe = os.path.join(vehicledir, "AntennaTracker.elf")
run_in_terminal_window(autotest,
"AntennaTracker",
["nice",
exe,
"-I" + str(tracker_instance),
"--model=tracker",
"--home=" + tracker_home])
os.chdir(oldpwd)
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def start_vehicle(binary, autotest, opts, stuff, loc):
"""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")
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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 not opts.gdb_stopped:
gdb_commands_file.write("r\n")
gdb_commands_file.close()
cmd.extend(["-x", gdb_commands_file.name])
cmd.append("--args")
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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")
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cmd.append("-I" + str(opts.instance))
cmd.extend(["--home", loc])
if opts.wipe_eeprom:
cmd.append("-w")
cmd.extend(["--model", stuff["model"]])
cmd.extend(["--speedup", str(opts.speedup)])
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, 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:
if not os.path.isfile(opts.add_param_file):
print("The parameter file (%s) does not exist" %
(opts.add_param_file,))
sys.exit(1)
path += "," + str(opts.add_param_file)
progress("Adding parameters from (%s)" % (str(opts.add_param_file),))
if path is not None:
cmd.extend(["--defaults", path])
run_in_terminal_window(autotest, cmd_name, cmd)
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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.hil:
cmd.extend(["--load-module", "HIL"])
else:
cmd.extend(["--master", mavlink_port])
if stuff["sitl-port"]:
cmd.extend(["--sitl", simout_port])
if not opts.no_extra_ports:
ports = [p + 10 * cmd_opts.instance 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
cmd.extend(["--out", "10.0.2.2:" + str(port)])
else:
cmd.extend(["--out", "127.0.0.1:" + str(port)])
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.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])
local_mp_modules_dir = os.path.abspath(
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os.path.join(__file__, '..', '..', 'mavproxy_modules'))
env = dict(os.environ)
env['PYTHONPATH'] = (local_mp_modules_dir +
os.pathsep +
env.get('PYTHONPATH', ''))
run_cmd_blocking("Run MavProxy", cmd, env=env)
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progress("MAVProxy exited")
vehicle_options_string = '|'.join(vinfo.options.keys())
def generate_frame_help():
ret = ""
for vehicle in vinfo.options:
frame_options = 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")
parser.add_option("-v", "--vehicle",
type='choice',
default=None,
help="vehicle type (%s)" % vehicle_options_string,
choices=list(vinfo.options.keys()))
parser.add_option("-f", "--frame", type='string', default=None, help="""set vehicle frame type
%s""" % (generate_frame_help()))
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")
parser.add_option("-H", "--hil",
action='store_true',
default=False,
help="start HIL")
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("", "--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("-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("-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("-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("-M", "--mavlink-gimbal",
action='store_true',
default=False,
help="enable MAVLink gimbal")
group_sim.add_option("-L", "--location", type='string',
default='CMAC',
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")
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("", "--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("", "--osd",
action='store_true',
dest='OSD',
default=False,
help="Enable SITL OSD")
group_sim.add_option("", "--add-param-file",
type='string',
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")
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")
parser.add_option_group(group)
cmd_opts, cmd_args = parser.parse_args()
# 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.hil:
if cmd_opts.valgrind:
print("May not use valgrind with hil")
sys.exit(1)
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if cmd_opts.callgrind:
print("May not use callgrind with hil")
sys.exit(1)
if cmd_opts.gdb or cmd_opts.gdb_stopped:
print("May not use gdb with hil")
sys.exit(1)
if cmd_opts.strace:
print("May not use strace with hil")
sys.exit(1)
if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped):
print("May not use valgrind with gdb")
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):
print("May not use strace with gdb")
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)
# 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"]
# setup ports for this instance
mavlink_port = "tcp:127.0.0.1:" + str(5760 + 10 * cmd_opts.instance)
simout_port = "127.0.0.1:" + str(5501 + 10 * cmd_opts.instance)
frame_infos = vinfo.options_for_frame(cmd_opts.frame,
cmd_opts.vehicle,
cmd_opts)
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vehicle_dir = os.path.realpath(os.path.join(find_root_dir(), cmd_opts.vehicle))
if not os.path.exists(vehicle_dir):
print("vehicle directory (%s) does not exist" % (vehicle_dir,))
sys.exit(1)
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if not cmd_opts.hil:
if cmd_opts.instance == 0:
kill_tasks()
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if cmd_opts.tracker:
start_antenna_tracker(find_autotest_dir(), cmd_opts)
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if cmd_opts.custom_location:
location = cmd_opts.custom_location
progress("Starting up at %s" % (location,))
else:
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location = find_location_by_name(find_autotest_dir(), cmd_opts.location)
progress("Starting up at %s (%s)" % (location, cmd_opts.location))
if cmd_opts.use_dir is not None:
new_dir = cmd_opts.use_dir
try:
os.makedirs(os.path.realpath(new_dir))
except OSError as exception:
if exception.errno != errno.EEXIST:
raise
os.chdir(new_dir)
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if cmd_opts.hil:
# (unlikely)
run_in_terminal_window(find_autotest_dir(),
"JSBSim",
[os.path.join(find_autotest_dir(),
"jsb_sim/runsim.py"),
"--home", location,
"--speedup=" + str(cmd_opts.speedup)])
else:
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if not cmd_opts.no_rebuild: # i.e. we should rebuild
do_build(vehicle_dir, cmd_opts, frame_infos)
if cmd_opts.fresh_params:
do_build_parameters(cmd_opts.vehicle)
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if cmd_opts.build_system == "waf":
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binary_basedir = "build/sitl"
vehicle_binary = os.path.join(find_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,
find_autotest_dir(),
cmd_opts,
frame_infos,
location)
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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)