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autotest: added -T option to sim_arduplane.sh

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starts an antenna tracker
This commit is contained in:
Andrew Tridgell 2014-03-12 14:35:39 +11:00
parent 83269bbea7
commit 4f44351d4e
1 changed files with 33 additions and 4 deletions
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37
Tools/autotest/sim_arduplane.sh
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@ -2,15 +2,17 @@
# home location lat, lon, alt, heading # home location lat, lon, alt, heading
SIMHOME="-35.363261,149.165230,584,353" 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 # check the instance number to allow for multiple copies of the sim running at once
INSTANCE=0 INSTANCE=0
USE_VALGRIND=0 USE_VALGRIND=0
USE_GDB=0 USE_GDB=0
CLEAN_BUILD=0 CLEAN_BUILD=0
START_ANTENNA_TRACKER=0
# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial # 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 case $opt in
I) I)
INSTANCE=$OPTARG INSTANCE=$OPTARG
@ -18,6 +20,9 @@ while getopts ":I:VGc" opt; do
V) V)
USE_VALGRIND=1 USE_VALGRIND=1
;; ;;
T)
START_ANTENNA_TRACKER=1
;;
G) G)
USE_GDB=1 USE_GDB=1
;; ;;
@ -37,8 +42,8 @@ shift $((OPTIND-1))
# kill existing copy if this is the '0' instance only # kill existing copy if this is the '0' instance only
[ "$INSTANCE" -eq "0" ] && { [ "$INSTANCE" -eq "0" ] && {
killall -q JSBSim lt-JSBSim ArduPlane.elf killall -q JSBSim lt-JSBSim ArduPlane.elf AntennaTracker.elf
pkill -f runsim.py pkill -f runsim.py sim_tracker.py
} }
@ -62,6 +67,25 @@ make sitl -j4 || {
} }
popd 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$INSTANCE" cmd="/tmp/ArduPlane.build/ArduPlane.elf -I$INSTANCE"
if [ $USE_VALGRIND == 1 ]; then 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 # 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 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