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HAL_SITL: added --autotest-dir option

This commit is contained in:
Andrew Tridgell 2015-05-25 13:04:17 +10:00
parent 4f37926aea
commit 3daee9c8bc
1 changed files with 11 additions and 1 deletions
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12
libraries/AP_HAL_SITL/SITL_cmdline.cpp
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@ -42,6 +42,7 @@ void SITL_State::_usage(void)
"\t--instance N set instance of SITL (adds 10*instance to all port numbers)\n" "\t--instance N set instance of SITL (adds 10*instance to all port numbers)\n"
"\t--speedup SPEEDUP set simulation speedup\n" "\t--speedup SPEEDUP set simulation speedup\n"
"\t--gimbal enable simulated MAVLink gimbal\n" "\t--gimbal enable simulated MAVLink gimbal\n"
"\t--autotest-dir DIR set directory for additional files\n"
); );
} }
@ -67,8 +68,11 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
int opt; int opt;
const char *home_str = NULL; const char *home_str = NULL;
const char *model_str = NULL; const char *model_str = NULL;
char *autotest_dir = NULL;
float speedup = 1.0f; float speedup = 1.0f;
asprintf(&autotest_dir, SKETCHBOOK "/Tools/autotest");
signal(SIGFPE, _sig_fpe); signal(SIGFPE, _sig_fpe);
// No-op SIGPIPE handler // No-op SIGPIPE handler
signal(SIGPIPE, SIG_IGN); signal(SIGPIPE, SIG_IGN);
@ -86,7 +90,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
enum long_options { enum long_options {
CMDLINE_CLIENT=0, CMDLINE_CLIENT=0,
CMDLINE_GIMBAL CMDLINE_GIMBAL,
CMDLINE_AUTOTESTDIR
}; };
const struct GetOptLong::option options[] = { const struct GetOptLong::option options[] = {
@ -102,6 +107,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"model", true, 0, 'M'}, {"model", true, 0, 'M'},
{"client", true, 0, CMDLINE_CLIENT}, {"client", true, 0, CMDLINE_CLIENT},
{"gimbal", false, 0, CMDLINE_GIMBAL}, {"gimbal", false, 0, CMDLINE_GIMBAL},
{"autotest-dir", true, 0, CMDLINE_AUTOTESTDIR},
{0, false, 0, 0} {0, false, 0, 0}
}; };
@ -151,6 +157,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case CMDLINE_GIMBAL: case CMDLINE_GIMBAL:
enable_gimbal = true; enable_gimbal = true;
break; break;
case CMDLINE_AUTOTESTDIR:
autotest_dir = strdup(gopt.optarg);
break;
default: default:
_usage(); _usage();
exit(1); exit(1);
@ -163,6 +172,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
sitl_model = model_constructors[i].constructor(home_str, model_str); sitl_model = model_constructors[i].constructor(home_str, model_str);
sitl_model->set_speedup(speedup); sitl_model->set_speedup(speedup);
sitl_model->set_instance(_instance); sitl_model->set_instance(_instance);
sitl_model->set_autotest_dir(autotest_dir);
_synthetic_clock_mode = true; _synthetic_clock_mode = true;
printf("Started model %s at %s at speed %.1f\n", model_str, home_str, speedup); printf("Started model %s at %s at speed %.1f\n", model_str, home_str, speedup);
break; break;