mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-21 15:23:57 -04:00
Tools: sim_vehicle.py: flake8 compliance
This commit is contained in:
Peter Barker
parent
163b354448
commit
89fa44a224
@ -10,7 +10,6 @@ from __future__ import print_function
|
||||
|
||||
import atexit
|
||||
import errno
|
||||
import getpass
|
||||
import optparse
|
||||
import os
|
||||
import os.path
|
||||
@ -23,12 +22,15 @@ import textwrap
|
||||
import time
|
||||
import shlex
|
||||
|
||||
from pysim import vehicleinfo
|
||||
|
||||
# List of open terminal windows for macosx
|
||||
windowID = []
|
||||
|
||||
|
||||
class CompatError(Exception):
|
||||
"""A custom exception class to hold state if we encounter the parse error we are looking for"""
|
||||
"""A custom exception class to hold state if we encounter the parse
|
||||
error we are looking for"""
|
||||
def __init__(self, error, opts, rargs):
|
||||
Exception.__init__(self, error)
|
||||
self.opts = opts
|
||||
@ -36,11 +38,14 @@ class CompatError(Exception):
|
||||
|
||||
|
||||
class CompatOptionParser(optparse.OptionParser):
|
||||
"""An option parser which emulates the behaviour of the old sim_vehicle.sh; if passed -C, the first argument not understood starts a list of arguments that are passed straight to mavproxy"""
|
||||
"""An option parser which emulates the behaviour of the old
|
||||
sim_vehicle.sh; if passed -C, the first argument not understood starts
|
||||
a list of arguments that are passed straight to mavproxy
|
||||
"""
|
||||
|
||||
class CustomFormatter(optparse.IndentedHelpFormatter):
|
||||
def __init__(self, *args, **kwargs):
|
||||
optparse.IndentedHelpFormatter.__init__(self,*args, **kwargs)
|
||||
optparse.IndentedHelpFormatter.__init__(self, *args, **kwargs)
|
||||
|
||||
# taken and modified from from optparse.py's format_option
|
||||
def format_option_preserve_nl(self, option):
|
||||
@ -63,19 +68,22 @@ class CompatOptionParser(optparse.OptionParser):
|
||||
opt_width = self.help_position - self.current_indent - 2
|
||||
if len(opts) > opt_width:
|
||||
opts = "%*s%s\n" % (self.current_indent, "", opts)
|
||||
indent_first = self.help_position
|
||||
else: # start help on same line as opts
|
||||
opts = "%*s%-*s " % (self.current_indent, "", opt_width, opts)
|
||||
indent_first = 0
|
||||
result.append(opts)
|
||||
if option.help:
|
||||
help_text = self.expand_default(option)
|
||||
tw = textwrap.TextWrapper(replace_whitespace=False, initial_indent="", subsequent_indent=" ", width=self.help_width)
|
||||
tw = textwrap.TextWrapper(replace_whitespace=False,
|
||||
initial_indent="",
|
||||
subsequent_indent=" ",
|
||||
width=self.help_width)
|
||||
|
||||
for line in help_text.split("\n"):
|
||||
help_lines = tw.wrap(line)
|
||||
for line in help_lines:
|
||||
result.extend(["%*s%s\n" % (self.help_position, "", line)])
|
||||
result.extend(["%*s%s\n" % (self.help_position,
|
||||
"",
|
||||
line)])
|
||||
elif opts[-1] != "\n":
|
||||
result.append("\n")
|
||||
return "".join(result)
|
||||
@ -87,17 +95,26 @@ class CompatOptionParser(optparse.OptionParser):
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
formatter = CompatOptionParser.CustomFormatter()
|
||||
optparse.OptionParser.__init__(self, *args, formatter=formatter, **kwargs)
|
||||
optparse.OptionParser.__init__(self,
|
||||
*args,
|
||||
formatter=formatter,
|
||||
**kwargs)
|
||||
|
||||
def error(self, error):
|
||||
"""Override default error handler called by optparse.OptionParser.parse_args when a parse error occurs; raise a detailed exception which can be caught"""
|
||||
'''Override default error handler called by
|
||||
optparse.OptionParser.parse_args when a parse error occurs;
|
||||
raise a detailed exception which can be caught
|
||||
'''
|
||||
if error.find("no such option") != -1:
|
||||
raise CompatError(error, self.values, self.rargs)
|
||||
|
||||
optparse.OptionParser.error(self, error)
|
||||
|
||||
def parse_args(self, args=None, values=None):
|
||||
"""Wrap parse_args so we can catch the exception raised upon discovering the known parameter parsing error"""
|
||||
'''Wrap parse_args so we can catch the exception raised upon
|
||||
discovering the known parameter parsing error
|
||||
'''
|
||||
|
||||
try:
|
||||
opts, args = optparse.OptionParser.parse_args(self)
|
||||
except CompatError as e:
|
||||
@ -122,7 +139,9 @@ def cygwin_pidof(proc_name):
|
||||
""" Thanks to kata198 for this:
|
||||
https://github.com/kata198/cygwin-ps-misc/blob/master/pidof
|
||||
"""
|
||||
pipe = subprocess.Popen("ps -ea | grep " + proc_name, shell=True, stdout=subprocess.PIPE)
|
||||
pipe = subprocess.Popen("ps -ea | grep " + proc_name,
|
||||
shell=True,
|
||||
stdout=subprocess.PIPE)
|
||||
output_lines = pipe.stdout.read().replace("\r", "").split("\n")
|
||||
ret = pipe.wait()
|
||||
pids = []
|
||||
@ -157,19 +176,23 @@ def kill_tasks_cygwin(victims):
|
||||
"""Shell out to ps -ea to find processes to kill"""
|
||||
for victim in list(victims):
|
||||
pids = cygwin_pidof(victim)
|
||||
# progress("pids for (%s): %s" % (victim,",".join([ str(p) for p in pids])))
|
||||
# progress("pids for (%s): %s" %
|
||||
# (victim,",".join([ str(p) for p in pids])))
|
||||
for apid in pids:
|
||||
os.kill(apid, signal.SIGKILL)
|
||||
|
||||
|
||||
def kill_tasks_macos():
|
||||
for window in windowID:
|
||||
cmd = "osascript -e \'tell application \"Terminal\" to close (window(get index of window id %s))\'" % window
|
||||
cmd = ("osascript -e \'tell application \"Terminal\" to close "
|
||||
"(window(get index of window id %s))\'" % window)
|
||||
os.system(cmd)
|
||||
|
||||
|
||||
def kill_tasks_psutil(victims):
|
||||
"""Use the psutil module to kill tasks by name. Sadly, this module is not available on Windows, but when it is we should be able to *just* use this routine"""
|
||||
"""Use the psutil module to kill tasks by name. Sadly, this module is
|
||||
not available on Windows, but when it is we should be able to *just*
|
||||
use this routine"""
|
||||
import psutil
|
||||
for proc in psutil.process_iter():
|
||||
if proc.status == psutil.STATUS_ZOMBIE:
|
||||
@ -191,7 +214,7 @@ class BobException(Exception):
|
||||
|
||||
|
||||
def kill_tasks():
|
||||
"""Clean up stray processes by name. This is a somewhat shotgun approach"""
|
||||
"""Clean up stray processes by name. This is a shotgun approach"""
|
||||
progress("Killing tasks")
|
||||
try:
|
||||
victim_names = {
|
||||
@ -233,11 +256,12 @@ def check_jsbsim_version():
|
||||
jsbsim_cmd = ["JSBSim", "--version"]
|
||||
progress_cmd("Get JSBSim version", jsbsim_cmd)
|
||||
try:
|
||||
jsbsim_version = subprocess.Popen(jsbsim_cmd, stdout=subprocess.PIPE).communicate()[0]
|
||||
jsbsim = subprocess.Popen(jsbsim_cmd, stdout=subprocess.PIPE)
|
||||
jsbsim_version = jsbsim.communicate()[0]
|
||||
except OSError:
|
||||
jsbsim_version = '' # this value will trigger the ".index"
|
||||
# check below and produce a reasonable
|
||||
# error message
|
||||
# this value will trigger the ".index" check below and produce
|
||||
# a reasonable error message:
|
||||
jsbsim_version = ''
|
||||
try:
|
||||
jsbsim_version.index(b"ArduPilot")
|
||||
except ValueError:
|
||||
@ -274,9 +298,10 @@ def wait_unlimited():
|
||||
"""Wait until signal received"""
|
||||
time.sleep(987654321987654321)
|
||||
|
||||
from pysim import vehicleinfo
|
||||
|
||||
vinfo = vehicleinfo.VehicleInfo()
|
||||
|
||||
|
||||
def do_build_waf(opts, frame_options):
|
||||
"""Build sitl using waf"""
|
||||
progress("WAF build")
|
||||
@ -290,7 +315,7 @@ def do_build_waf(opts, frame_options):
|
||||
cmd_configure = [waf_light, "configure", "--board", "sitl"]
|
||||
if opts.debug:
|
||||
cmd_configure.append("--debug")
|
||||
pieces = [ shlex.split(x) for x in opts.waf_configure_args ]
|
||||
pieces = [shlex.split(x) for x in opts.waf_configure_args]
|
||||
for piece in pieces:
|
||||
cmd_configure.extend(piece)
|
||||
|
||||
@ -302,7 +327,7 @@ def do_build_waf(opts, frame_options):
|
||||
cmd_build = [waf_light, "build", "--target", frame_options["waf_target"]]
|
||||
if opts.jobs is not None:
|
||||
cmd_build += ['-j', str(opts.jobs)]
|
||||
pieces = [ shlex.split(x) for x in opts.waf_build_args ]
|
||||
pieces = [shlex.split(x) for x in opts.waf_build_args]
|
||||
for piece in pieces:
|
||||
cmd_build.extend(piece)
|
||||
|
||||
@ -411,7 +436,7 @@ def run_cmd_blocking(what, cmd, quiet=False, check=False, **kw):
|
||||
ret = os.waitpid(p.pid, 0)
|
||||
_, sts = ret
|
||||
if check and sts != 0:
|
||||
progress("(%s) exited with code %d" % (what,sts,))
|
||||
progress("(%s) exited with code %d" % (what, sts,))
|
||||
sys.exit(1)
|
||||
return ret
|
||||
|
||||
@ -433,6 +458,7 @@ def run_in_terminal_window(autotest, name, cmd):
|
||||
else:
|
||||
p = subprocess.Popen(runme)
|
||||
|
||||
|
||||
tracker_uarta = None # blemish
|
||||
|
||||
|
||||
@ -440,17 +466,25 @@ def start_antenna_tracker(autotest, opts):
|
||||
"""Compile and run the AntennaTracker, add tracker to mavproxy"""
|
||||
global tracker_uarta
|
||||
progress("Preparing antenna tracker")
|
||||
tracker_home = find_location_by_name(find_autotest_dir(), opts.tracker_location)
|
||||
tracker_home = find_location_by_name(find_autotest_dir(),
|
||||
opts.tracker_location)
|
||||
vehicledir = os.path.join(autotest, "../../" + "AntennaTracker")
|
||||
tracker_default_frame = vinfo.options["AntennaTracker"]["default_frame"]
|
||||
tracker_frame_options = vinfo.options["AntennaTracker"]["frames"][tracker_default_frame]
|
||||
opts = vinfo.options["AntennaTracker"]
|
||||
tracker_default_frame = opts["default_frame"]
|
||||
tracker_frame_options = opts["frames"][tracker_default_frame]
|
||||
do_build(vehicledir, opts, tracker_frame_options)
|
||||
tracker_instance = 1
|
||||
oldpwd = os.getcwd()
|
||||
os.chdir(vehicledir)
|
||||
tracker_uarta = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
|
||||
exe = os.path.join(vehicledir, "AntennaTracker.elf")
|
||||
run_in_terminal_window(autotest, "AntennaTracker", ["nice", exe, "-I" + str(tracker_instance), "--model=tracker", "--home=" + tracker_home])
|
||||
run_in_terminal_window(autotest,
|
||||
"AntennaTracker",
|
||||
["nice",
|
||||
exe,
|
||||
"-I" + str(tracker_instance),
|
||||
"--model=tracker",
|
||||
"--home=" + tracker_home])
|
||||
os.chdir(oldpwd)
|
||||
|
||||
|
||||
@ -493,14 +527,15 @@ def start_vehicle(binary, autotest, opts, stuff, loc):
|
||||
cmd.extend(["--model", stuff["model"]])
|
||||
cmd.extend(["--speedup", str(opts.speedup)])
|
||||
if opts.sitl_instance_args:
|
||||
cmd.extend(opts.sitl_instance_args.split(" ")) # this could be a lot better..
|
||||
# this could be a lot better:
|
||||
cmd.extend(opts.sitl_instance_args.split(" "))
|
||||
if opts.mavlink_gimbal:
|
||||
cmd.append("--gimbal")
|
||||
if "default_params_filename" in stuff:
|
||||
paths = stuff["default_params_filename"]
|
||||
if not isinstance(paths,list):
|
||||
if not isinstance(paths, list):
|
||||
paths = [paths]
|
||||
paths = [ os.path.join(autotest, x) for x in paths ]
|
||||
paths = [os.path.join(autotest, x) for x in paths]
|
||||
path = ",".join(paths)
|
||||
progress("Using defaults from (%s)" % (path,))
|
||||
cmd.extend(["--defaults", path])
|
||||
@ -510,7 +545,8 @@ def start_vehicle(binary, autotest, opts, stuff, loc):
|
||||
|
||||
def start_mavproxy(opts, stuff):
|
||||
"""Run mavproxy"""
|
||||
# FIXME: would be nice to e.g. "mavproxy.mavproxy(....).run" rather than shelling out
|
||||
# FIXME: would be nice to e.g. "mavproxy.mavproxy(....).run"
|
||||
# rather than shelling out
|
||||
|
||||
extra_cmd = ""
|
||||
cmd = []
|
||||
@ -528,8 +564,9 @@ def start_mavproxy(opts, stuff):
|
||||
if stuff["sitl-port"]:
|
||||
cmd.extend(["--sitl", simout_port])
|
||||
|
||||
# If running inside of a vagrant guest, then we probably want to forward our mavlink out to the containing host OS
|
||||
ports = [p + 10 * cmd_opts.instance for p in [14550,14551]]
|
||||
# If running inside of a vagrant guest, then we probably want to
|
||||
# forward our mavlink out to the containing host OS
|
||||
ports = [p + 10 * cmd_opts.instance for p in [14550, 14551]]
|
||||
for port in ports:
|
||||
if os.path.isfile("/ardupilot.vagrant"):
|
||||
cmd.extend(["--out", "10.0.2.2:" + str(port)])
|
||||
@ -540,7 +577,10 @@ def start_mavproxy(opts, stuff):
|
||||
cmd.extend(["--load-module", "tracker"])
|
||||
global tracker_uarta
|
||||
# tracker_uarta is set when we start the tracker...
|
||||
extra_cmd += "module load map; tracker set port %s; tracker start; tracker arm;" % (tracker_uarta,)
|
||||
extra_cmd += ("module load map;"
|
||||
"tracker set port %s; "
|
||||
"tracker start; "
|
||||
"tracker arm;" % (tracker_uarta,))
|
||||
|
||||
if opts.mavlink_gimbal:
|
||||
cmd.extend(["--load-module", "gimbal"])
|
||||
@ -549,7 +589,8 @@ def start_mavproxy(opts, stuff):
|
||||
extra_cmd += " " + stuff["extra_mavlink_cmds"]
|
||||
|
||||
if opts.mavproxy_args:
|
||||
cmd.extend(opts.mavproxy_args.split(" ")) # this could be a lot better..
|
||||
# this could be a lot better:
|
||||
cmd.extend(opts.mavproxy_args.split(" "))
|
||||
|
||||
# compatibility pass-through parameters (for those that don't want
|
||||
# to use -C :-)
|
||||
@ -568,7 +609,9 @@ def start_mavproxy(opts, stuff):
|
||||
local_mp_modules_dir = os.path.abspath(
|
||||
os.path.join(__file__, '..', '..', 'mavproxy_modules'))
|
||||
env = dict(os.environ)
|
||||
env['PYTHONPATH'] = local_mp_modules_dir + os.pathsep + env.get('PYTHONPATH', '')
|
||||
env['PYTHONPATH'] = (local_mp_modules_dir +
|
||||
os.pathsep +
|
||||
env.get('PYTHONPATH', ''))
|
||||
|
||||
run_cmd_blocking("Run MavProxy", cmd, env=env)
|
||||
progress("MAVProxy exited")
|
||||
@ -576,72 +619,195 @@ def start_mavproxy(opts, stuff):
|
||||
|
||||
vehicle_options_string = '|'.join(vinfo.options.keys())
|
||||
|
||||
|
||||
def generate_frame_help():
|
||||
ret = ""
|
||||
for vehicle in vinfo.options:
|
||||
frame_options_string = '|'.join(vinfo.options[vehicle]["frames"].keys())
|
||||
frame_options = vinfo.options[vehicle]["frames"].keys()
|
||||
frame_options_string = '|'.join(frame_options)
|
||||
ret += "%s: %s\n" % (vehicle, frame_options_string)
|
||||
return ret
|
||||
|
||||
# define and run parser
|
||||
parser = CompatOptionParser("sim_vehicle.py",
|
||||
epilog="eeprom.bin in the starting directory contains the parameters for your " \
|
||||
"simulated vehicle. Always start from the same directory. It is "\
|
||||
"recommended that you start in the main vehicle directory for the vehicle" \
|
||||
"you are simulating, for example, start in the ArduPlane directory to " \
|
||||
"simulate ArduPlane")
|
||||
|
||||
parser.add_option("-v", "--vehicle", type='choice', default=None, help="vehicle type (%s)" % vehicle_options_string, choices=list(vinfo.options.keys()))
|
||||
# define and run parser
|
||||
parser = CompatOptionParser(
|
||||
"sim_vehicle.py",
|
||||
epilog=""
|
||||
"eeprom.bin in the starting directory contains the parameters for your"
|
||||
"simulated vehicle. Always start from the same directory. It is "
|
||||
"recommended that you start in the main vehicle directory for the vehicle"
|
||||
"you are simulating, for example, start in the ArduPlane directory to "
|
||||
"simulate ArduPlane")
|
||||
|
||||
parser.add_option("-v", "--vehicle",
|
||||
type='choice',
|
||||
default=None,
|
||||
help="vehicle type (%s)" % vehicle_options_string,
|
||||
choices=list(vinfo.options.keys()))
|
||||
parser.add_option("-f", "--frame", type='string', default=None, help="""set vehicle frame type
|
||||
|
||||
%s""" % (generate_frame_help()))
|
||||
parser.add_option("-C", "--sim_vehicle_sh_compatible", action='store_true', default=False, help="be compatible with the way sim_vehicle.sh works; make this the first option")
|
||||
parser.add_option("-H", "--hil", action='store_true', default=False, help="start HIL")
|
||||
parser.add_option("-C", "--sim_vehicle_sh_compatible",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="be compatible with the way sim_vehicle.sh works; "
|
||||
"make this the first option")
|
||||
parser.add_option("-H", "--hil",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="start HIL")
|
||||
|
||||
group_build = optparse.OptionGroup(parser, "Build options")
|
||||
group_build.add_option("-N", "--no-rebuild", action='store_true', default=False, help="don't rebuild before starting ardupilot")
|
||||
group_build.add_option("-D", "--debug", action='store_true', default=False, help="build with debugging")
|
||||
group_build.add_option("-c", "--clean", action='store_true', default=False, help="do a make clean before building")
|
||||
group_build.add_option("-j", "--jobs", default=None, type='int', help="number of processors to use during build (default for waf : number of processor, for make : 1)")
|
||||
group_build.add_option("-b", "--build-target", default=None, type='string', help="override SITL build target")
|
||||
group_build.add_option("-s", "--build-system", default="waf", type='choice', choices=["make", "waf"], help="build system to use")
|
||||
group_build.add_option("", "--rebuild-on-failure", dest="rebuild_on_failure", action='store_true', default=False, help="if build fails, do not clean and rebuild")
|
||||
group_build.add_option("", "--waf-configure-arg", action="append", dest="waf_configure_args", type="string", default=[], help="extra arguments to pass to waf in its configure step")
|
||||
group_build.add_option("", "--waf-build-arg", action="append", dest="waf_build_args", type="string", default=[], help="extra arguments to pass to waf in its build step")
|
||||
group_build.add_option("-N", "--no-rebuild",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="don't rebuild before starting ardupilot")
|
||||
group_build.add_option("-D", "--debug",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="build with debugging")
|
||||
group_build.add_option("-c", "--clean",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="do a make clean before building")
|
||||
group_build.add_option("-j", "--jobs",
|
||||
default=None,
|
||||
type='int',
|
||||
help="number of processors to use during build "
|
||||
"(default for waf : number of processor, for make : 1)")
|
||||
group_build.add_option("-b", "--build-target",
|
||||
default=None,
|
||||
type='string',
|
||||
help="override SITL build target")
|
||||
group_build.add_option("-s", "--build-system",
|
||||
default="waf",
|
||||
type='choice',
|
||||
choices=["make", "waf"],
|
||||
help="build system to use")
|
||||
group_build.add_option("", "--rebuild-on-failure",
|
||||
dest="rebuild_on_failure",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="if build fails, do not clean and rebuild")
|
||||
group_build.add_option("", "--waf-configure-arg",
|
||||
action="append",
|
||||
dest="waf_configure_args",
|
||||
type="string",
|
||||
default=[],
|
||||
help="extra arguments to pass to waf in configure step")
|
||||
group_build.add_option("", "--waf-build-arg",
|
||||
action="append",
|
||||
dest="waf_build_args",
|
||||
type="string",
|
||||
default=[],
|
||||
help="extra arguments to pass to waf in its build step")
|
||||
parser.add_option_group(group_build)
|
||||
|
||||
group_sim = optparse.OptionGroup(parser, "Simulation options")
|
||||
group_sim.add_option("-I", "--instance", default=0, type='int', help="instance of simulator")
|
||||
group_sim.add_option("-V", "--valgrind", action='store_true', default=False, help="enable valgrind for memory access checking (very slow!)")
|
||||
group_sim.add_option("", "--callgrind", action='store_true', default=False, help="enable valgrind for performance analysis (very very slow!)")
|
||||
group_sim.add_option("-T", "--tracker", action='store_true', default=False, help="start an antenna tracker instance")
|
||||
group_sim.add_option("-A", "--sitl-instance-args", type='string', default=None, help="pass arguments to SITL instance")
|
||||
# group_sim.add_option("-R", "--reverse-throttle", action='store_true', default=False, help="reverse throttle in plane")
|
||||
group_sim.add_option("-G", "--gdb", action='store_true', default=False, help="use gdb for debugging ardupilot")
|
||||
group_sim.add_option("-g", "--gdb-stopped", action='store_true', default=False, help="use gdb for debugging ardupilot (no auto-start)")
|
||||
group_sim.add_option("-d", "--delay-start", default=0, type='float', help="delays the start of mavproxy by the number of seconds")
|
||||
group_sim.add_option("-B", "--breakpoint", type='string', action="append", default=[], help="add a breakpoint at given location in debugger")
|
||||
group_sim.add_option("-M", "--mavlink-gimbal", action='store_true', default=False, help="enable MAVLink gimbal")
|
||||
group_sim.add_option("-L", "--location", type='string', default='CMAC', help="select start location from Tools/autotest/locations.txt")
|
||||
group_sim.add_option("-l", "--custom-location", type='string', default=None, help="set custom start location")
|
||||
group_sim.add_option("-S", "--speedup", default=1, type='int', help="set simulation speedup (1 for wall clock time)")
|
||||
group_sim.add_option("-t", "--tracker-location", default='CMAC_PILOTSBOX', type='string', help="set antenna tracker start location")
|
||||
group_sim.add_option("-w", "--wipe-eeprom", action='store_true', default=False, help="wipe EEPROM and reload parameters")
|
||||
group_sim.add_option("-m", "--mavproxy-args", default=None, type='string', help="additional arguments to pass to mavproxy.py")
|
||||
group_sim.add_option("", "--strace", action='store_true', default=False, help="strace the ArduPilot binary")
|
||||
group_sim.add_option("", "--model", type='string', default=None, help="Override simulation model to use")
|
||||
group_sim.add_option("", "--use-dir", type='string', default=None, help="Store SITL state and output in named directory")
|
||||
group_sim.add_option("", "--no-mavproxy", action='store_true', default=False, help="Don't launch MAVProxy")
|
||||
group_sim.add_option("-I", "--instance",
|
||||
default=0,
|
||||
type='int',
|
||||
help="instance of simulator")
|
||||
group_sim.add_option("-V", "--valgrind",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="enable valgrind for memory access checking (slow!)")
|
||||
group_sim.add_option("", "--callgrind",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="enable valgrind for performance analysis (slow!!)")
|
||||
group_sim.add_option("-T", "--tracker",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="start an antenna tracker instance")
|
||||
group_sim.add_option("-A", "--sitl-instance-args",
|
||||
type='string',
|
||||
default=None,
|
||||
help="pass arguments to SITL instance")
|
||||
group_sim.add_option("-G", "--gdb",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="use gdb for debugging ardupilot")
|
||||
group_sim.add_option("-g", "--gdb-stopped",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="use gdb for debugging ardupilot (no auto-start)")
|
||||
group_sim.add_option("-d", "--delay-start",
|
||||
default=0,
|
||||
type='float',
|
||||
help="delay start of mavproxy by this number of seconds")
|
||||
group_sim.add_option("-B", "--breakpoint",
|
||||
type='string',
|
||||
action="append",
|
||||
default=[],
|
||||
help="add a breakpoint at given location in debugger")
|
||||
group_sim.add_option("-M", "--mavlink-gimbal",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="enable MAVLink gimbal")
|
||||
group_sim.add_option("-L", "--location", type='string',
|
||||
default='CMAC',
|
||||
help="use start location from "
|
||||
"Tools/autotest/locations.txt")
|
||||
group_sim.add_option("-l", "--custom-location",
|
||||
type='string',
|
||||
default=None,
|
||||
help="set custom start location")
|
||||
group_sim.add_option("-S", "--speedup",
|
||||
default=1,
|
||||
type='int',
|
||||
help="set simulation speedup (1 for wall clock time)")
|
||||
group_sim.add_option("-t", "--tracker-location",
|
||||
default='CMAC_PILOTSBOX',
|
||||
type='string',
|
||||
help="set antenna tracker start location")
|
||||
group_sim.add_option("-w", "--wipe-eeprom",
|
||||
action='store_true',
|
||||
default=False, help="wipe EEPROM and reload parameters")
|
||||
group_sim.add_option("-m", "--mavproxy-args",
|
||||
default=None,
|
||||
type='string',
|
||||
help="additional arguments to pass to mavproxy.py")
|
||||
group_sim.add_option("", "--strace",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="strace the ArduPilot binary")
|
||||
group_sim.add_option("", "--model",
|
||||
type='string',
|
||||
default=None,
|
||||
help="Override simulation model to use")
|
||||
group_sim.add_option("", "--use-dir",
|
||||
type='string',
|
||||
default=None,
|
||||
help="Store SITL state and output in named directory")
|
||||
group_sim.add_option("", "--no-mavproxy",
|
||||
action='store_true',
|
||||
default=False,
|
||||
help="Don't launch MAVProxy")
|
||||
parser.add_option_group(group_sim)
|
||||
|
||||
|
||||
# special-cased parameters for mavproxy, because some people's fingers
|
||||
# have long memories, and they don't want to use -C :-)
|
||||
group = optparse.OptionGroup(parser, "Compatibility MAVProxy options (consider using --mavproxy-args instead)")
|
||||
group.add_option("", "--out", default=[], type='string', action="append", help="create an additional mavlink output")
|
||||
group.add_option("", "--map", default=False, action='store_true', help="load map module on startup")
|
||||
group.add_option("", "--console", default=False, action='store_true', help="load console module on startup")
|
||||
group.add_option("", "--aircraft", default=None, help="store state and logs in named directory")
|
||||
group = optparse.OptionGroup(parser,
|
||||
"Compatibility MAVProxy options "
|
||||
"(consider using --mavproxy-args instead)")
|
||||
group.add_option("", "--out",
|
||||
default=[],
|
||||
type='string',
|
||||
action="append",
|
||||
help="create an additional mavlink output")
|
||||
group.add_option("", "--map",
|
||||
default=False,
|
||||
action='store_true',
|
||||
help="load map module on startup")
|
||||
group.add_option("", "--console",
|
||||
default=False,
|
||||
action='store_true',
|
||||
help="load console module on startup")
|
||||
group.add_option("", "--aircraft",
|
||||
default=None,
|
||||
help="store state and logs in named directory")
|
||||
parser.add_option_group(group)
|
||||
|
||||
cmd_opts, cmd_args = parser.parse_args()
|
||||
@ -721,7 +887,9 @@ if cmd_opts.frame is None:
|
||||
mavlink_port = "tcp:127.0.0.1:" + str(5760 + 10 * cmd_opts.instance)
|
||||
simout_port = "127.0.0.1:" + str(5501 + 10 * cmd_opts.instance)
|
||||
|
||||
frame_infos = vinfo.options_for_frame(cmd_opts.frame, cmd_opts.vehicle, cmd_opts)
|
||||
frame_infos = vinfo.options_for_frame(cmd_opts.frame,
|
||||
cmd_opts.vehicle,
|
||||
cmd_opts)
|
||||
|
||||
if frame_infos["model"] == "jsbsim":
|
||||
check_jsbsim_version()
|
||||
@ -756,7 +924,12 @@ if cmd_opts.use_dir is not None:
|
||||
|
||||
if cmd_opts.hil:
|
||||
# (unlikely)
|
||||
run_in_terminal_window(find_autotest_dir(), "JSBSim", [os.path.join(find_autotest_dir(), "jsb_sim/runsim.py"), "--home", location, "--speedup=" + str(cmd_opts.speedup)])
|
||||
run_in_terminal_window(find_autotest_dir(),
|
||||
"JSBSim",
|
||||
[os.path.join(find_autotest_dir(),
|
||||
"jsb_sim/runsim.py"),
|
||||
"--home", location,
|
||||
"--speedup=" + str(cmd_opts.speedup)])
|
||||
else:
|
||||
if not cmd_opts.no_rebuild: # i.e. we should rebuild
|
||||
do_build(vehicle_dir, cmd_opts, frame_infos)
|
||||
@ -766,7 +939,9 @@ else:
|
||||
binary_basedir = "build/sitl-debug"
|
||||
else:
|
||||
binary_basedir = "build/sitl"
|
||||
vehicle_binary = os.path.join(find_root_dir(), binary_basedir, frame_infos["waf_target"])
|
||||
vehicle_binary = os.path.join(find_root_dir(),
|
||||
binary_basedir,
|
||||
frame_infos["waf_target"])
|
||||
else:
|
||||
vehicle_binary = os.path.join(vehicle_dir, cmd_opts.vehicle + ".elf")
|
||||
|
||||
@ -774,7 +949,11 @@ else:
|
||||
print("Vehicle binary (%s) does not exist" % (vehicle_binary,))
|
||||
sys.exit(1)
|
||||
|
||||
start_vehicle(vehicle_binary, find_autotest_dir(), cmd_opts, frame_infos, location)
|
||||
start_vehicle(vehicle_binary,
|
||||
find_autotest_dir(),
|
||||
cmd_opts,
|
||||
frame_infos,
|
||||
location)
|
||||
|
||||
if cmd_opts.delay_start:
|
||||
progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
|
||||
@ -782,7 +961,7 @@ if cmd_opts.delay_start:
|
||||
|
||||
try:
|
||||
if cmd_opts.no_mavproxy:
|
||||
time.sleep(3) # Just wait to output the last command after run_in_terminal_window.sh
|
||||
time.sleep(3) # output our message after run_in_terminal_window.sh's
|
||||
progress("Waiting for SITL to exit")
|
||||
wait_unlimited()
|
||||
else:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user