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Tools: sim_vehicle add option to disable mavproxy launch && better exit handling

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This commit is contained in:
Pierre Kancir 2016-12-19 15:29:37 +01:00 committed by Pierre Kancir
parent b7f982d7ce
commit 38b6ced640
1 changed files with 16 additions and 1 deletions
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17
Tools/autotest/sim_vehicle.py
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@ -217,6 +217,12 @@ def find_root_dir():
"""Return path to root directory""" """Return path to root directory"""
return os.path.realpath(os.path.join(find_autotest_dir(), '../..')) return os.path.realpath(os.path.join(find_autotest_dir(), '../..'))
def wait_unlimited():
"""Wait until signal received"""
time.sleep(987654321987654321)
""" """
make_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py make_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py
default_params_filename: filename of default parameters file. Taken to be relative to autotest dir. default_params_filename: filename of default parameters file. Taken to be relative to autotest dir.
@ -752,6 +758,7 @@ group_sim.add_option("-m", "--mavproxy-args", default=None, type='string', help=
group_sim.add_option("", "--strace", action='store_true', default=False, help="strace the ArduPilot binary") group_sim.add_option("", "--strace", action='store_true', default=False, help="strace the ArduPilot binary")
group_sim.add_option("", "--model", type='string', default=None, help="Override simulation model to use") group_sim.add_option("", "--model", type='string', default=None, help="Override simulation model to use")
group_sim.add_option("", "--use-dir", type='string', default=None, help="Store SITL state and output in named directory") group_sim.add_option("", "--use-dir", type='string', default=None, help="Store SITL state and output in named directory")
group_sim.add_option("", "--no-mavproxy", action='store_true', default=False, help="Don't launch MAVProxy")
parser.add_option_group(group_sim) parser.add_option_group(group_sim)
@ -893,6 +900,14 @@ if cmd_opts.delay_start:
progress("Sleeping for %f seconds" % (cmd_opts.delay_start,)) progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
time.sleep(float(cmd_opts.delay_start)) time.sleep(float(cmd_opts.delay_start))
start_mavproxy(cmd_opts, frame_infos) try:
if cmd_opts.no_mavproxy:
time.sleep(3) # Just wait to output the last command after run_in_terminal_window.sh
progress("Waiting for SITL to exit")
wait_unlimited()
else:
start_mavproxy(cmd_opts, frame_infos)
except KeyboardInterrupt:
progress("Keyboard Interrupt received ...")
sys.exit(0) sys.exit(0)