mirror of https://github.com/ArduPilot/ardupilot
Tools: remove sim_vehicle.sh in favour of sim_vehicle.py
This commit is contained in:
Peter Barker
Lucas De Marchi
parent
38ebe582cc
commit
06b0dec15e
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@ -1,529 +0,0 @@
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#!/bin/bash
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# home location lat, lon, alt, heading
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LOCATION="CMAC"
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TRACKER_LOCATION="CMAC_PILOTSBOX"
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VEHICLE=""
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BUILD_TARGET="sitl"
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FRAME=""
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NUM_PROCS=1
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SPEEDUP="1"
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# check the instance number to allow for multiple copies of the sim running at once
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INSTANCE=0
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USE_VALGRIND=0
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USE_GDB=0
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USE_GDB_STOPPED=0
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DEBUG_BUILD=0
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USE_MAVLINK_GIMBAL=0
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CLEAN_BUILD=0
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START_ANTENNA_TRACKER=0
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WIPE_EEPROM=0
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REVERSE_THROTTLE=0
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NO_REBUILD=0
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START_HIL=0
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SITLRCIN=1
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EXTRA_ARGS=""
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MODEL=""
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BREAKPOINT=""
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OVERRIDE_BUILD_TARGET=""
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DELAY_START=0
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DEFAULTS_PATH=""
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MAVLINK_PROTOCOL_VERSION="1"
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usage()
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{
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cat <<EOF
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Usage: sim_vehicle.sh [options] [mavproxy_options]
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Options:
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-v VEHICLE vehicle type (ArduPlane, ArduCopter or APMrover2)
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vehicle type defaults to working directory
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-I INSTANCE instance of simulator (default 0)
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-V enable valgrind for memory access checking (very slow!)
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-G use gdb for debugging ardupilot
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-g use gdb for debugging ardupilot, but don't auto-start
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-D build with debugging
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-B add a breakpoint at given location in debugger
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-T start an antenna tracker instance
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-A pass arguments to SITL instance
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-t set antenna tracker start location
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-L select start location from Tools/autotest/locations.txt
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-l set the custom start location from -L
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-c do a make clean before building
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-N don't rebuild before starting ardupilot
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-w wipe EEPROM and reload parameters
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-R reverse throttle in plane
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-M enable MAVLink gimbal
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-f FRAME set aircraft frame type
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for copters can choose +, X, quad or octa
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for planes can choose elevon or vtail
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-b BUILD_TARGET override SITL build target
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-j NUM_PROC number of processors to use during build (default 1)
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-H start HIL
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-S SPEEDUP set simulation speedup (1 for wall clock time)
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-d TIME delays the start of mavproxy by the number of seconds
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-P VERSION mavlink protocol version (1 or 2)
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mavproxy_options:
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--map start with a map
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--console start with a status console
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--out DEST start MAVLink output to DEST
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Note:
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eeprom.bin in the starting directory contains the parameters for your
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simulated vehicle. Always start from the same directory. It is recommended that
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you start in the main vehicle directory for the vehicle you are simulating,
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for example, start in the ArduPlane directory to simulate ArduPlane
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EOF
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}
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# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
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while getopts ":I:VgGcj:TA:t:L:l:v:hwf:RNHeMS:DB:b:d:P:" opt; do
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case $opt in
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v)
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VEHICLE=$OPTARG
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;;
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I)
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INSTANCE=$OPTARG
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;;
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V)
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USE_VALGRIND=1
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;;
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N)
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NO_REBUILD=1
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;;
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H)
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START_HIL=1
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NO_REBUILD=1
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;;
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T)
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START_ANTENNA_TRACKER=1
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;;
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A)
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EXTRA_ARGS="$OPTARG"
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;;
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R)
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REVERSE_THROTTLE=1
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;;
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G)
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USE_GDB=1
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;;
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D)
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DEBUG_BUILD=1
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;;
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d)
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DELAY_START="$OPTARG"
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;;
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B)
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BREAKPOINT="$OPTARG"
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;;
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M)
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USE_MAVLINK_GIMBAL=1
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;;
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g)
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USE_GDB=1
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USE_GDB_STOPPED=1
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;;
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L)
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LOCATION="$OPTARG"
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;;
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l)
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CUSTOM_LOCATION="$OPTARG"
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;;
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f)
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FRAME="$OPTARG"
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;;
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S)
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SPEEDUP="$OPTARG"
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;;
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t)
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TRACKER_LOCATION="$OPTARG"
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;;
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c)
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CLEAN_BUILD=1
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;;
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j)
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NUM_PROCS=$OPTARG
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;;
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w)
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WIPE_EEPROM=1
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;;
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b)
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OVERRIDE_BUILD_TARGET="$OPTARG"
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;;
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P)
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MAVLINK_PROTOCOL_VERSION="$OPTARG"
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;;
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h)
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usage
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exit 0
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;;
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\?)
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# allow other args to pass on to mavproxy
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break
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;;
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:)
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echo "Option -$OPTARG requires an argument." >&2
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usage
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exit 1
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esac
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done
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shift $((OPTIND-1))
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# kill existing copy if this is the '0' instance only
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kill_tasks()
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{
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[ "$INSTANCE" -eq "0" ] && {
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for pname in JSBSim lt-JSBSim ArduPlane.elf ArduCopter.elf APMrover2.elf AntennaTracker.elf JSBSIm.exe MAVProxy.exe; do
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pkill "$pname"
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done
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pkill -f runsim.py
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}
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}
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if [ $START_HIL == 0 ]; then
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kill_tasks
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fi
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trap kill_tasks SIGINT
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# setup ports for this instance
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MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
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SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE))
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[ -z "$VEHICLE" ] && {
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CDIR="$PWD"
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rpath=$(which realpath)
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[ -n "$rpath" ] && {
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CDIR=$(realpath $CDIR)
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}
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VEHICLE=$(basename $CDIR)
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}
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[ -z "$FRAME" -a "$VEHICLE" = "APMrover2" ] && {
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FRAME="rover"
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}
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[ -z "$FRAME" -a "$VEHICLE" = "ArduPlane" ] && {
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FRAME="jsbsim"
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}
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[ -z "$FRAME" -a "$VEHICLE" = "ArduCopter" ] && {
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FRAME="quad"
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}
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[ -z "$FRAME" -a "$VEHICLE" = "AntennaTracker" ] && {
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FRAME="tracker"
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}
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EXTRA_PARM=""
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check_jsbsim_version()
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{
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jsbsim_version=$(JSBSim --version)
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if [[ $jsbsim_version != *"ArduPilot"* ]]
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then
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cat <<EOF
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=========================================================
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You need the latest ArduPilot version of JSBSim installed
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and in your \$PATH
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Please get it from git://github.com/tridge/jsbsim.git
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See
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http://dev.ardupilot.org/wiki/simulation-2/sitl-simulator-software-in-the-loop/setting-up-sitl-on-linux/
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for more details
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=========================================================
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EOF
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exit 1
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fi
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}
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autotest="../Tools/autotest"
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[ -d "$autotest" ] || {
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# we are not running from one of the standard vehicle directories. Use
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# the location of the sim_vehicle.sh script to find the path
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autotest=$(dirname $(readlink -e $0))
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}
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# modify build target based on copter frame type
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case $FRAME in
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+|quad|quad-*)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter.parm"
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;;
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X*)
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BUILD_TARGET="sitl"
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EXTRA_PARM="param set FRAME 1;"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter.parm"
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;;
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octa*)
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BUILD_TARGET="sitl-octa"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter.parm"
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;;
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tri*)
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BUILD_TARGET="sitl-tri"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter-tri.parm"
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;;
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y6*)
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BUILD_TARGET="sitl-y6"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter-y6.parm"
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;;
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firefly*)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/firefly.parm"
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;;
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heli-dual)
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BUILD_TARGET="sitl-heli-dual"
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MODEL="heli-dual"
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;;
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heli-compound)
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BUILD_TARGET="sitl-heli-compound"
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MODEL="heli-compound"
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;;
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heli*)
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BUILD_TARGET="sitl-heli"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter-heli.parm"
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;;
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singlecopter*)
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BUILD_TARGET="sitl-single"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter-single.parm"
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;;
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coaxcopter*)
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BUILD_TARGET="sitl-coax"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter-coax.parm"
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;;
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IrisRos)
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BUILD_TARGET="sitl"
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DEFAULTS_PATH="$autotest/default_params/copter.parm"
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;;
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Gazebo)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter.parm"
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;;
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CRRCSim|last_letter*)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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;;
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jsbsim*)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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check_jsbsim_version
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DEFAULTS_PATH="$autotest/default_params/plane-jsbsim.parm"
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;;
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quadplane-tilttri*)
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BUILD_TARGET="sitl-tri"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/quadplane-tilttri.parm"
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;;
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quadplane*)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/quadplane.parm"
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;;
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plane-elevon*)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/plane-elevons.parm"
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;;
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plane-vtail*)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/plane-vtail.parm"
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;;
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plane*)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/plane.parm"
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;;
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rover-skid)
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BUILD_TARGET="sitl"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/rover-skid.parm"
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;;
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flightaxis*)
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MODEL="$FRAME"
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SITLRCIN=0
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;;
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xplane*)
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MODEL="$FRAME"
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SITLRCIN=0
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;;
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*-heli)
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BUILD_TARGET="sitl-heli"
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MODEL="$FRAME"
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DEFAULTS_PATH="$autotest/default_params/copter-heli.parm"
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;;
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*)
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MODEL="$FRAME"
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;;
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esac
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if [ $DEBUG_BUILD == 1 ]; then
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BUILD_TARGET="$BUILD_TARGET-debug"
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fi
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if [ -n "$OVERRIDE_BUILD_TARGET" ]; then
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BUILD_TARGET="$OVERRIDE_BUILD_TARGET"
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fi
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VEHICLEDIR="$autotest/../../$VEHICLE"
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[ -d "$VEHICLEDIR" ] || {
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VEHICLEDIR=$(dirname $(readlink -e $VEHICLEDIR))
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}
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pushd $VEHICLEDIR || {
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echo "Failed to change to vehicle directory for $VEHICLEDIR"
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usage
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exit 1
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}
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AUTOTEST=$autotest
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export AUTOTEST
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VEHICLEDIR=$(pwd)
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if [ $NO_REBUILD == 0 ]; then
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if [ $CLEAN_BUILD == 1 ]; then
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echo "Building clean"
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make clean
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fi
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echo "Building $BUILD_TARGET"
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make $BUILD_TARGET -j$NUM_PROCS || {
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make clean
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make $BUILD_TARGET -j$NUM_PROCS || {
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echo >&2 "$0: Build failed"
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exit 1
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}
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}
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fi
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popd
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# get the location information
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if [ -z $CUSTOM_LOCATION ]; then
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SIMHOME=$(cat $autotest/locations.txt | grep -i "^$LOCATION=" | head -1 | cut -d= -f2)
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else
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SIMHOME=$CUSTOM_LOCATION
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LOCATION="Custom_Location"
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fi
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[ -z "$SIMHOME" ] && {
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echo "Unknown location $LOCATION"
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usage
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exit 1
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}
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echo "Starting up at $LOCATION : $SIMHOME"
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TRACKER_HOME=$(cat $autotest/locations.txt | grep -i "^$TRACKER_LOCATION=" | cut -d= -f2)
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[ -z "$TRACKER_HOME" ] && {
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echo "Unknown tracker location $TRACKER_LOCATION"
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usage
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exit 1
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}
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if [ $START_ANTENNA_TRACKER == 1 ]; then
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pushd $autotest/../../AntennaTracker
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if [ $CLEAN_BUILD == 1 ]; then
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make clean
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fi
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make sitl-debug -j$NUM_PROCS || {
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make clean
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make sitl-debug -j$NUM_PROCS
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}
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TRACKER_INSTANCE=1
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TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
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cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1 --model=tracker --home=$TRACKER_HOME"
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$autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
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popd
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fi
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cmd="$VEHICLEDIR/$VEHICLE.elf -S -I$INSTANCE --home $SIMHOME"
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if [ $WIPE_EEPROM == 1 ]; then
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cmd="$cmd -w"
|
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fi
|
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cmd="$cmd --model $MODEL --speedup=$SPEEDUP $EXTRA_ARGS"
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if [ $USE_MAVLINK_GIMBAL == 1 ]; then
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echo "Using MAVLink gimbal"
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cmd="$cmd --gimbal"
|
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fi
|
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if [ -n "$DEFAULTS_PATH" ]; then
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echo "Using defaults from $DEFAULTS_PATH"
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cmd="$cmd --defaults $DEFAULTS_PATH"
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fi
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if [ $START_HIL == 0 ]; then
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if [ $USE_VALGRIND == 1 ]; then
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echo "Using valgrind"
|
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$autotest/run_in_terminal_window.sh "ardupilot (valgrind)" valgrind $cmd || exit 1
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elif [ $USE_GDB == 1 ]; then
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echo "Using gdb"
|
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tfile=$(mktemp)
|
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[ $USE_GDB_STOPPED == 0 ] && {
|
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if [ -n "$BREAKPOINT" ]; then
|
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echo "b $BREAKPOINT" >> $tfile
|
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fi
|
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echo r >> $tfile
|
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}
|
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$autotest/run_in_terminal_window.sh "ardupilot (gdb)" gdb -x $tfile --args $cmd || exit 1
|
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else
|
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$autotest/run_in_terminal_window.sh "ardupilot" $cmd || exit 1
|
||||
fi
|
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fi
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|
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if [ $START_HIL == 1 ]; then
|
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$autotest/run_in_terminal_window.sh "JSBSim" $autotest/jsb_sim/runsim.py --home $SIMHOME --speedup=$SPEEDUP || exit 1
|
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fi
|
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|
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trap kill_tasks SIGINT
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|
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# mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
|
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options=""
|
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if [ $START_HIL == 0 ]; then
|
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options="--master $MAVLINK_PORT"
|
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if [ $SITLRCIN == 1 ]; then
|
||||
options="$options --sitl $SIMOUT_PORT"
|
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fi
|
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fi
|
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|
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# If running inside of a vagrant guest, then we probably want to forward our mavlink out to the containing host OS
|
||||
if [ $USER == "vagrant" ]; then
|
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options="$options --out 10.0.2.2:14550"
|
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fi
|
||||
options="$options --out 127.0.0.1:14550 --out 127.0.0.1:14551"
|
||||
extra_cmd=""
|
||||
if [ $START_ANTENNA_TRACKER == 1 ]; then
|
||||
options="$options --load-module=tracker"
|
||||
extra_cmd="$extra_cmd module load map; tracker set port $TRACKER_UARTA; tracker start; tracker arm"
|
||||
fi
|
||||
if [ $START_HIL == 1 ]; then
|
||||
options="$options --load-module=HIL"
|
||||
fi
|
||||
if [ $USE_MAVLINK_GIMBAL == 1 ]; then
|
||||
options="$options --load-module=gimbal"
|
||||
fi
|
||||
if [ $DELAY_START != 0 ]; then
|
||||
sleep $DELAY_START
|
||||
fi
|
||||
|
||||
if [ $MAVLINK_PROTOCOL_VERSION == 2 ]; then
|
||||
options="$options --mav20"
|
||||
fi
|
||||
|
||||
if [ -f /usr/bin/cygstart ]; then
|
||||
cygstart -w "/cygdrive/c/Program Files (x86)/MAVProxy/mavproxy.exe" $options --cmd="$extra_cmd" $*
|
||||
else
|
||||
mavproxy.py $options --cmd="$extra_cmd" $*
|
||||
fi
|
||||
if [ $START_HIL == 0 ]; then
|
||||
kill_tasks
|
||||
fi
|
||||
Loading…
Reference in New Issue