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HAL_SITL: added a table of simulator constructors

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This commit is contained in:
Andrew Tridgell 2015-05-03 17:48:20 +10:00
parent 6ec6158b8b
commit 11df612c04
1 changed files with 23 additions and 4 deletions
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27
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
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@ -22,6 +22,7 @@
#include <AP_Param.h>
#include <SIM_Multicopter.h>
#include <SIM_Helicopter.h>
#ifdef __CYGWIN__
#include <stdio.h>
@ -71,6 +72,19 @@ void SITL_State::_usage(void)
fprintf(stdout, "\t-M MODEL set simulation model\n");
}
static const struct {
const char *name;
Aircraft *(*constructor)(const char *home_str, const char *frame_str);
} model_constructors[] = {
{ "+", MultiCopter::create },
{ "x", MultiCopter::create },
{ "hexa", MultiCopter::create },
{ "hexax", MultiCopter::create },
{ "octa", MultiCopter::create },
{ "octa-quad", MultiCopter::create },
{ "heli", Helicopter::create }
};
void SITL_State::_parse_command_line(int argc, char * const argv[])
{
int opt;
@ -134,10 +148,15 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
}
if (model_str && home_str) {
sitl_model = new MultiCopter(home_str, model_str);
sitl_model->set_speedup(speedup);
_synthetic_clock_mode = true;
printf("Started model %s at %s at speed %.1f\n", model_str, home_str, speedup);
for (uint8_t i=0; i<sizeof(model_constructors)/sizeof(model_constructors[0]); i++) {
if (strcmp(model_constructors[i].name, model_str) == 0) {
sitl_model = model_constructors[i].constructor(home_str, model_str);
sitl_model->set_speedup(speedup);
_synthetic_clock_mode = true;
printf("Started model %s at %s at speed %.1f\n", model_str, home_str, speedup);
break;
}
}
}
fprintf(stdout, "Starting sketch '%s'\n", SKETCH);