From 4f44351d4e4165f700ad1650161ff8692fc4d689 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 12 Mar 2014 14:35:39 +1100
Subject: [PATCH] autotest: added -T option to sim_arduplane.sh

starts an antenna tracker
---
 Tools/autotest/sim_arduplane.sh | 37 +++++++++++++++++++++++++++++----
 1 file changed, 33 insertions(+), 4 deletions(-)

diff --git a/Tools/autotest/sim_arduplane.sh b/Tools/autotest/sim_arduplane.sh
index 4dda5f5bc7..1add7f4cf3 100755
--- a/Tools/autotest/sim_arduplane.sh
+++ b/Tools/autotest/sim_arduplane.sh
@@ -2,15 +2,17 @@
 
 # home location lat, lon, alt, heading
 SIMHOME="-35.363261,149.165230,584,353"
+TRACKER_HOME="-35.362734,149.165300,586,270"
 
 # check the instance number to allow for multiple copies of the sim running at once
 INSTANCE=0
 USE_VALGRIND=0
 USE_GDB=0
 CLEAN_BUILD=0
+START_ANTENNA_TRACKER=0
 
 # parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
-while getopts ":I:VGc" opt; do
+while getopts ":I:VGcT" opt; do
   case $opt in
     I)
       INSTANCE=$OPTARG
@@ -18,6 +20,9 @@ while getopts ":I:VGc" opt; do
     V)
       USE_VALGRIND=1
       ;;
+    T)
+      START_ANTENNA_TRACKER=1
+      ;;
     G)
       USE_GDB=1
       ;;
@@ -37,8 +42,8 @@ shift $((OPTIND-1))
 
 # kill existing copy if this is the '0' instance only
 [ "$INSTANCE" -eq "0" ] && {
-    killall -q JSBSim lt-JSBSim ArduPlane.elf
-    pkill -f runsim.py
+    killall -q JSBSim lt-JSBSim ArduPlane.elf AntennaTracker.elf
+    pkill -f runsim.py sim_tracker.py
 }
 
 
@@ -62,6 +67,25 @@ make sitl -j4 || {
 }
 popd
 
+if [ $START_ANTENNA_TRACKER == 1 ]; then
+    pushd $autotest/../AntennaTracker
+    if [ $CLEAN_BUILD == 1 ]; then
+        make clean
+    fi
+    make sitl -j4 || {
+        make clean
+        make sitl -j4
+    }
+    TRACKER_INSTANCE=1
+    TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE))
+    TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE))
+    TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
+    cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1"
+    $autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
+    $autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT || exit 1
+    popd
+fi
+
 cmd="/tmp/ArduPlane.build/ArduPlane.elf -I$INSTANCE"
 
 if [ $USE_VALGRIND == 1 ]; then
@@ -89,4 +113,9 @@ sleep 2
 # sim_arduplane.sh --out /dev/serial/by-id/usb-FTDI* --baudrate 57600 --map --console
 
 # mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 
-mavproxy.py --master $MAVLINK_PORT --sitl $SIMOUT_PORT --out 127.0.0.1:14550 --out 127.0.0.1:14551 $*
+options="--master $MAVLINK_PORT --sitl $SIMOUT_PORT --out 127.0.0.1:14550 --out 127.0.0.1:14551"
+if [ $START_ANTENNA_TRACKER == 1 ]; then
+    mavproxy.py $options --load-module=tracker --cmd="set moddebug 1; tracker set port $TRACKER_UARTA" $*
+else
+    mavproxy.py $options $*
+fi