mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.4 KiB
Python
79 lines
2.4 KiB
Python
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# Copyright 2023 ArduPilot.org.
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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"""
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Launch a process to create virtual ports.
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Run with default arguments:
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ros2 launch ardupilot_sitl virtual_ports.launch.py
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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import ExecuteProcess
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from launch.actions import OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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def launch_socat(context, *args, **kwargs):
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"""Launch a process to create virtual ports using `socat`."""
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command = "socat"
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tty0 = LaunchConfiguration("tty0").perform(context)
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tty1 = LaunchConfiguration("tty1").perform(context)
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# Display launch arguments.
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print(f"command: {command}")
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print(f"tty0: {tty0}")
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print(f"tty1: {tty1}")
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# Create action.
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socat_process = ExecuteProcess(
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cmd=[
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[
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"socat ",
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"-d -d ",
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f"pty,raw,echo=0,link={tty0} ",
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f"pty,raw,echo=0,link={tty1} ",
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]
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],
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shell=True,
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output="both",
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respawn=False,
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)
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launch_processes = [socat_process]
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return launch_processes
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def generate_launch_description():
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"""Generate a launch description for creating virtual ports using `socat`."""
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return LaunchDescription(
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[
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# Launch arguments.
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DeclareLaunchArgument(
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"tty0",
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default_value="tty0",
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description="Symbolic link name for tty0.",
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),
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DeclareLaunchArgument(
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"tty1",
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default_value="tty1",
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description="Symbolic link name for tty1.",
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),
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# Launch function.
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OpaqueFunction(function=launch_socat),
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]
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)
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