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AP_HAL_SITL: implement and use set_cmdline_parameters()

This commit is contained in:
Pierre Kancir 2020-08-23 08:24:22 +02:00 committed by Andrew Tridgell
parent 1c80b04544
commit 5b356953ff
4 changed files with 19 additions and 7 deletions
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2
libraries/AP_HAL_SITL/SITL_State.h
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@ -14,6 +14,7 @@
#include <netinet/in.h>
#include <netinet/udp.h>
#include <arpa/inet.h>
#include <vector>
#include <AP_Baro/AP_Baro.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
@ -105,6 +106,7 @@ public:
"tcp:5",
"tcp:6",
};
std::vector<struct AP_Param::defaults_table_struct> cmdline_param;
/* parse a home location string */
static bool parse_home(const char *home_str,

15
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -8,6 +8,7 @@
#include "UARTDriver.h"
#include <AP_HAL/utility/getopt_cpp.h>
#include <AP_Logger/AP_Logger_SITL.h>
#include <AP_Param/AP_Param.h>
#include <SITL/SIM_Multicopter.h>
#include <SITL/SIM_Helicopter.h>
@ -201,6 +202,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
uint16_t simulator_port_in = SIM_IN_PORT;
uint16_t simulator_port_out = SIM_OUT_PORT;
_irlock_port = IRLOCK_PORT;
struct AP_Param::defaults_table_struct temp_cmdline_param{};
// Set default start time to the real system time.
// This will be overwritten if argument provided.
@ -280,7 +282,6 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:",
options);
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'w':
@ -292,9 +293,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
break;
case 's':
speedup = strtof(gopt.optarg, nullptr);
char speedup_string[18];
snprintf(speedup_string, sizeof(speedup_string), "SIM_SPEEDUP=%s", gopt.optarg);
_set_param_default(speedup_string);
temp_cmdline_param = {"SIM_SPEEDUP", speedup};
cmdline_param.push_back(temp_cmdline_param);
printf("Setting SIM_SPEEDUP=%f\n", speedup);
break;
case 'r':
_framerate = (unsigned)atoi(gopt.optarg);
@ -394,9 +395,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
fprintf(stderr, "You must specify a SYSID greater than 0 and less than 256\n");
exit(1);
}
char sysid_string[18];
snprintf(sysid_string, sizeof(sysid_string), "SYSID_THISMAV=%s", gopt.optarg);
_set_param_default(sysid_string);
temp_cmdline_param = {"SYSID_THISMAV", static_cast<float>(sysid)};
cmdline_param.push_back(temp_cmdline_param);
printf("Setting SYSID_THISMAV=%d\n", sysid);
break;
}
default:

8
libraries/AP_HAL_SITL/Util.cpp
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@ -1,5 +1,6 @@
#include "Util.h"
#include <sys/time.h>
#include <AP_Param/AP_Param.h>
#ifdef WITH_SITL_TONEALARM
HALSITL::ToneAlarm_SF HALSITL::Util::_toneAlarm;
@ -138,3 +139,10 @@ enum AP_HAL::Util::safety_state HALSITL::Util::safety_switch_state(void)
}
return sitl->safety_switch_state();
}
void HALSITL::Util::set_cmdline_parameters()
{
for (auto param: sitlState->cmdline_param) {
AP_Param::set_default_by_name(param.name, param.value);
}
}

1
libraries/AP_HAL_SITL/Util.h
View File

@ -68,6 +68,7 @@ public:
#endif
}
void set_cmdline_parameters() override;
private:
SITL_State *sitlState;