mirror of https://github.com/ArduPilot/ardupilot
Tools: remove HIL support
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db9d41e782
commit
47a778d033
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@ -248,9 +248,6 @@ GPS_TYPE,1
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GPS_TYPE2,0
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GPS_TYPE2,0
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GROUND_STEER_ALT,0
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GROUND_STEER_ALT,0
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GROUND_STEER_DPS,90
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GROUND_STEER_DPS,90
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HIL_ERR_LIMIT,5
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HIL_MODE,0
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HIL_SERVOS,0
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ICE_ENABLE,0
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ICE_ENABLE,0
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INITIAL_MODE,0
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INITIAL_MODE,0
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INS_ACC_BODYFIX,2
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INS_ACC_BODYFIX,2
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@ -767,9 +767,7 @@ def start_mavproxy(opts, stuff):
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else:
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else:
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c.extend(["--out", "127.0.0.1:" + str(port)])
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c.extend(["--out", "127.0.0.1:" + str(port)])
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if opts.hil:
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if True:
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c.extend(["--load-module", "HIL"])
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else:
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if opts.mcast:
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if opts.mcast:
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c.extend(["--master", "mcast:"])
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c.extend(["--master", "mcast:"])
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else:
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else:
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@ -832,10 +830,6 @@ parser.add_option("-C", "--sim_vehicle_sh_compatible",
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default=False,
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default=False,
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help="be compatible with the way sim_vehicle.sh works; "
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help="be compatible with the way sim_vehicle.sh works; "
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"make this the first option")
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"make this the first option")
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parser.add_option("-H", "--hil",
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action='store_true',
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default=False,
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help="start HIL")
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group_build = optparse.OptionGroup(parser, "Build options")
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group_build = optparse.OptionGroup(parser, "Build options")
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group_build.add_option("-N", "--no-rebuild",
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group_build.add_option("-N", "--no-rebuild",
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@ -1118,20 +1112,6 @@ if cmd_opts.sim_vehicle_sh_compatible and cmd_opts.jobs is None:
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cmd_opts.jobs = 1
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cmd_opts.jobs = 1
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# validate parameters
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# validate parameters
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if cmd_opts.hil:
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if cmd_opts.valgrind:
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print("May not use valgrind with hil")
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sys.exit(1)
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if cmd_opts.callgrind:
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print("May not use callgrind with hil")
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sys.exit(1)
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if cmd_opts.gdb or cmd_opts.gdb_stopped or cmd_opts.lldb or cmd_opts.lldb_stopped:
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print("May not use gdb or lldb with hil")
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sys.exit(1)
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if cmd_opts.strace:
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print("May not use strace with hil")
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sys.exit(1)
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if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped or cmd_opts.lldb or cmd_opts.lldb_stopped):
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if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped or cmd_opts.lldb or cmd_opts.lldb_stopped):
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print("May not use valgrind with gdb or lldb")
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print("May not use valgrind with gdb or lldb")
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sys.exit(1)
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sys.exit(1)
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@ -1226,9 +1206,8 @@ if cmd_opts.instances is not None:
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else:
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else:
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instances = range(cmd_opts.instance, cmd_opts.instance + cmd_opts.count)
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instances = range(cmd_opts.instance, cmd_opts.instance + cmd_opts.count)
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if not cmd_opts.hil:
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if cmd_opts.instance == 0:
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if cmd_opts.instance == 0:
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kill_tasks()
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kill_tasks()
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if cmd_opts.tracker:
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if cmd_opts.tracker:
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start_antenna_tracker(cmd_opts)
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start_antenna_tracker(cmd_opts)
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@ -1275,20 +1254,7 @@ else:
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finally:
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finally:
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instance_dir.append(i_dir)
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instance_dir.append(i_dir)
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if cmd_opts.hil:
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if True:
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# (unlikely)
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jsbsim_opts = [
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os.path.join(autotest_dir,
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"jsb_sim/runsim.py"),
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"--speedup=" + str(cmd_opts.speedup)
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]
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for i in instances:
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c = []
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if spawns is not None:
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c = ["--home", spawns[i]]
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run_in_terminal_window("JSBSim", jsbsim_opts + c)
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else:
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if not cmd_opts.no_rebuild: # i.e. we should rebuild
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if not cmd_opts.no_rebuild: # i.e. we should rebuild
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do_build(cmd_opts, frame_infos)
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do_build(cmd_opts, frame_infos)
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@ -106,7 +106,6 @@ To choose a firmware to download you need to choose:
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<li>The type of board that you have</li>
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<li>The type of board that you have</li>
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<li>Whether you want the stable, beta or latest version of the
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<li>Whether you want the stable, beta or latest version of the
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firmware</li>
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firmware</li>
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<li>Whether you want a HIL (hardware in the loop) image</li>
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</ul>
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</ul>
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The meanings of the versions are
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The meanings of the versions are
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