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autotest: use new tracker simulator in sim_vehicle.sh

This commit is contained in:
Andrew Tridgell 2015-06-01 12:54:06 +10:00
parent d57eca9de8
commit 074a6cad91
1 changed files with 13 additions and 40 deletions
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53
Tools/autotest/sim_vehicle.sh
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@ -167,7 +167,6 @@ kill_tasks()
pkill "$pname"
done
pkill -f runsim.py
pkill -f sim_tracker.py
}
}
@ -197,6 +196,9 @@ FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE))
[ -z "$FRAME" -a "$VEHICLE" = "ArduCopter" ] && {
FRAME="quad"
}
[ -z "$FRAME" -a "$VEHICLE" = "AntennaTracker" ] && {
FRAME="tracker"
}
EXTRA_PARM=""
EXTRA_SIM=""
@ -273,6 +275,10 @@ case $FRAME in
EXTRA_SIM="$EXTRA_SIM --frame=$FRAME"
MODEL="$FRAME"
;;
tracker)
EXTRA_SIM="$EXTRA_SIM --frame=$FRAME"
MODEL="$FRAME"
;;
"")
;;
*)
@ -335,17 +341,14 @@ if [ $START_ANTENNA_TRACKER == 1 ]; then
if [ $CLEAN_BUILD == 1 ]; then
make clean
fi
make sitl -j$NUM_PROCS || {
make sitl-debug -j$NUM_PROCS || {
make clean
make sitl -j$NUM_PROCS
make sitl-debug -j$NUM_PROCS
}
TRACKER_INSTANCE=1
TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE))
TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE))
TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1"
cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1 --model=tracker --home=$TRACKER_HOME"
$autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
$autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT $TRACKER_ARGS || exit 1
popd
fi
@ -354,26 +357,20 @@ if [ $WIPE_EEPROM == 1 ]; then
cmd="$cmd -w"
fi
cmd="$cmd --model $MODEL --speedup=$SPEEDUP"
case $VEHICLE in
ArduPlane)
PARMS="ArduPlane.parm"
RUNSIM=""
cmd="$cmd --model $MODEL --speedup=$SPEEDUP"
;;
ArduCopter)
RUNSIM=""
cmd="$cmd --model $MODEL --speedup=$SPEEDUP"
PARMS="copter_params.parm"
;;
APMrover2)
RUNSIM=""
cmd="$cmd --model $MODEL --speedup=$SPEEDUP"
PARMS="Rover.parm"
;;
*)
echo "Unknown vehicle simulation type $VEHICLE - please specify vehicle using -v VEHICLE_TYPE"
usage
exit 1
PARMS=""
;;
esac
@ -403,30 +400,6 @@ fi
trap kill_tasks SIGINT
echo "RUNSIM: $RUNSIM"
if [ -n "$RUNSIM" -o "$EXTERNAL_SIM" == 1 ]; then
sleep 2
rm -f $tfile
if [ $EXTERNAL_SIM == 0 ]; then
$autotest/run_in_terminal_window.sh "Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
sleep 2
else
echo "Using external ROS simulator"
RUNSIM="$autotest/ROS/runsim.py --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
$autotest/run_in_terminal_window.sh "ROS Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
sleep 2
fi
else
echo "not running external simulator"
fi
# 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
options=""
if [ $START_HIL == 0 ]; then