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SITL: allow extra arguments to be passed to last_letter

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This commit is contained in:
Andrew Tridgell 2015-06-19 16:24:29 +10:00
parent 7e23912d17
commit 322a61635f
2 changed files with 38 additions and 27 deletions
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63
libraries/SITL/SIM_last_letter.cpp
View File

@ -30,10 +30,11 @@ extern const AP_HAL::HAL& hal;
/* /*
constructor constructor
*/ */
last_letter::last_letter(const char *home_str, const char *frame_str) : last_letter::last_letter(const char *home_str, const char *_frame_str) :
Aircraft(home_str, frame_str), Aircraft(home_str, _frame_str),
last_timestamp_us(0), last_timestamp_us(0),
sock(true) sock(true),
frame_str(_frame_str)
{ {
// try to bind to a specific port so that if we restart ArduPilot // try to bind to a specific port so that if we restart ArduPilot
// last_letter keeps sending us packets. Not strictly necessary but // last_letter keeps sending us packets. Not strictly necessary but
@ -52,31 +53,39 @@ last_letter::last_letter(const char *home_str, const char *frame_str) :
void last_letter::start_last_letter(void) void last_letter::start_last_letter(void)
{ {
pid_t child_pid = fork(); pid_t child_pid = fork();
if (child_pid == 0) { if (child_pid != 0) {
close(0); return;
open("/dev/null", O_RDONLY);
// in child
for (uint8_t i=3; i<100; i++) {
close(i);
}
char argHome[50];
sprintf(argHome,"home:=[%f,%f,%f]",home.lat*1.0e-7,home.lng*1.0e-7,(double)home.alt*1.0e-2);
int ret = execlp("roslaunch",
"roslaunch",
"last_letter",
"launcher.launch",
"ArduPlane:=true",
"simRate:=500",
"deltaT:=0.002",
argHome,
NULL);
if (ret != 0) {
perror("roslaunch");
}
exit(1);
} }
// in child
close(0);
open("/dev/null", O_RDONLY);
for (uint8_t i=3; i<100; i++) {
close(i);
}
char argHome[50];
sprintf(argHome,"home:=[%f,%f,%f]",home.lat*1.0e-7,home.lng*1.0e-7,(double)home.alt*1.0e-2);
const char *uav_name = strchr(frame_str, ':');
if (uav_name != NULL) {
uav_name++;
}
int ret = execlp("roslaunch",
"roslaunch",
"last_letter",
"launcher.launch",
"ArduPlane:=true",
"simRate:=500",
"deltaT:=0.002",
argHome,
uav_name,
NULL);
if (ret != 0) {
perror("roslaunch");
}
exit(1);
} }
/* /*

2
libraries/SITL/SIM_last_letter.h
View File

@ -70,6 +70,8 @@ private:
uint64_t last_timestamp_us; uint64_t last_timestamp_us;
SocketAPM sock; SocketAPM sock;
const char *frame_str;
}; };