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SITL: support multiple instances of SITL running at once

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This commit is contained in:
Andrew Tridgell 2013-08-14 16:35:08 +10:00
parent 4425b6af7c
commit 33cbe6151a
4 changed files with 23 additions and 8 deletions
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5
Tools/autotest/sim_arduplane.sh
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@ -4,6 +4,9 @@ killall -q JSBSim
killall -q ArduPlane.elf killall -q ArduPlane.elf
pkill -f runsim.py pkill -f runsim.py
# check the instance number to allow for multiple copies of the sim running at once
INSTANCE=0
set -e set -e
set -x set -x
@ -14,7 +17,7 @@ make clean sitl
tfile=$(mktemp) tfile=$(mktemp)
echo r > $tfile echo r > $tfile
#gnome-terminal -e "gdb -x $tfile --args /tmp/ArduPlane.build/ArduPlane.elf" #gnome-terminal -e "gdb -x $tfile --args /tmp/ArduPlane.build/ArduPlane.elf"
gnome-terminal -e /tmp/ArduPlane.build/ArduPlane.elf gnome-terminal -e "/tmp/ArduPlane.build/ArduPlane.elf -I$INSTANCE"
#gnome-terminal -e "valgrind -q /tmp/ArduPlane.build/ArduPlane.elf" #gnome-terminal -e "valgrind -q /tmp/ArduPlane.build/ArduPlane.elf"
sleep 2 sleep 2
rm -f $tfile rm -f $tfile

13
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
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@ -27,6 +27,9 @@ using namespace AVR_SITL;
enum SITL_State::vehicle_type SITL_State::_vehicle; enum SITL_State::vehicle_type SITL_State::_vehicle;
uint16_t SITL_State::_framerate; uint16_t SITL_State::_framerate;
uint16_t SITL_State::_base_port = 5760;
uint16_t SITL_State::_rcout_port = 5502;
uint16_t SITL_State::_simin_port = 5501;
struct sockaddr_in SITL_State::_rcout_addr; struct sockaddr_in SITL_State::_rcout_addr;
pid_t SITL_State::_parent_pid; pid_t SITL_State::_parent_pid;
uint32_t SITL_State::_update_count; uint32_t SITL_State::_update_count;
@ -58,6 +61,7 @@ void SITL_State::_usage(void)
fprintf(stdout, "\t-r RATE set SITL framerate\n"); fprintf(stdout, "\t-r RATE set SITL framerate\n");
fprintf(stdout, "\t-H HEIGHT initial barometric height\n"); fprintf(stdout, "\t-H HEIGHT initial barometric height\n");
fprintf(stdout, "\t-C use console instead of TCP ports\n"); fprintf(stdout, "\t-C use console instead of TCP ports\n");
fprintf(stdout, "\t-I set instance of SITL (adds 10*instance to all port numbers)\n");
} }
void SITL_State::_parse_command_line(int argc, char * const argv[]) void SITL_State::_parse_command_line(int argc, char * const argv[])
@ -69,7 +73,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
setvbuf(stdout, (char *)0, _IONBF, 0); setvbuf(stdout, (char *)0, _IONBF, 0);
setvbuf(stderr, (char *)0, _IONBF, 0); setvbuf(stderr, (char *)0, _IONBF, 0);
while ((opt = getopt(argc, argv, "swhr:H:C")) != -1) { while ((opt = getopt(argc, argv, "swhr:H:CI:")) != -1) {
switch (opt) { switch (opt) {
case 'w': case 'w':
AP_Param::erase_all(); AP_Param::erase_all();
@ -84,6 +88,13 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case 'C': case 'C':
AVR_SITL::SITLUARTDriver::_console = true; AVR_SITL::SITLUARTDriver::_console = true;
break; break;
case 'I': {
uint8_t instance = atoi(optarg);
_base_port += instance * 10;
_rcout_port += instance * 10;
_simin_port += instance * 10;
}
break;
default: default:
_usage(); _usage();
exit(1); exit(1);

6
libraries/AP_HAL_AVR_SITL/SITL_State.h
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@ -39,6 +39,7 @@ public:
static uint16_t pwm_input[8]; static uint16_t pwm_input[8];
static bool pwm_valid; static bool pwm_valid;
static void loop_hook(void); static void loop_hook(void);
uint16_t base_port(void) const { return _base_port; }
// simulated airspeed // simulated airspeed
static uint16_t airspeed_pin_value; static uint16_t airspeed_pin_value;
@ -100,6 +101,7 @@ private:
// internal state // internal state
static enum vehicle_type _vehicle; static enum vehicle_type _vehicle;
static uint16_t _framerate; static uint16_t _framerate;
static uint16_t _base_port;
float _initial_height; float _initial_height;
static struct sockaddr_in _rcout_addr; static struct sockaddr_in _rcout_addr;
static pid_t _parent_pid; static pid_t _parent_pid;
@ -113,8 +115,8 @@ private:
static int _sitl_fd; static int _sitl_fd;
static SITL *_sitl; static SITL *_sitl;
static const uint16_t _rcout_port = 5502; static uint16_t _rcout_port;
static const uint16_t _simin_port = 5501; static uint16_t _simin_port;
}; };
#endif // CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL #endif // CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL

7
libraries/AP_HAL_AVR_SITL/UARTDriver.cpp
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@ -31,8 +31,6 @@
using namespace AVR_SITL; using namespace AVR_SITL;
#define LISTEN_BASE_PORT 5760
// On OSX, MSG_NOSIGNAL doesn't exist. The equivalent is to set SO_NOSIGPIPE // On OSX, MSG_NOSIGNAL doesn't exist. The equivalent is to set SO_NOSIGPIPE
// in setsockopt for the socket. However, if we just skip that, and don't use // in setsockopt for the socket. However, if we just skip that, and don't use
// MSG_NOSIGNAL, everything seems to work fine and SIGPIPE doesn't seem to be // MSG_NOSIGNAL, everything seems to work fine and SIGPIPE doesn't seem to be
@ -236,7 +234,7 @@ void SITLUARTDriver::_tcp_start_connection(bool wait_for_connection)
#ifdef HAVE_SOCK_SIN_LEN #ifdef HAVE_SOCK_SIN_LEN
sockaddr.sin_len = sizeof(sockaddr); sockaddr.sin_len = sizeof(sockaddr);
#endif #endif
sockaddr.sin_port = htons(LISTEN_BASE_PORT + _portNumber); sockaddr.sin_port = htons(_sitlState->base_port() + _portNumber);
sockaddr.sin_family = AF_INET; sockaddr.sin_family = AF_INET;
_listen_fd = socket(AF_INET, SOCK_STREAM, 0); _listen_fd = socket(AF_INET, SOCK_STREAM, 0);
@ -266,7 +264,8 @@ void SITLUARTDriver::_tcp_start_connection(bool wait_for_connection)
exit(1); exit(1);
} }
fprintf(stderr, "Serial port %u on TCP port %u\n", _portNumber, LISTEN_BASE_PORT + _portNumber); fprintf(stderr, "Serial port %u on TCP port %u\n", _portNumber,
_sitlState->base_port() + _portNumber);
fflush(stdout); fflush(stdout);
} }