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Tools: sim_vehicle.py: flake8 compliance

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This commit is contained in:
Peter Barker 2017-09-18 12:50:38 +10:00
parent 163b354448
commit 89fa44a224
1 changed files with 267 additions and 88 deletions
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355
Tools/autotest/sim_vehicle.py
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@ -10,7 +10,6 @@ from __future__ import print_function
import atexit import atexit
import errno import errno
import getpass
import optparse import optparse
import os import os
import os.path import os.path
@ -23,12 +22,15 @@ import textwrap
import time import time
import shlex import shlex
from pysim import vehicleinfo
# List of open terminal windows for macosx # List of open terminal windows for macosx
windowID = [] windowID = []
class CompatError(Exception): 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): def __init__(self, error, opts, rargs):
Exception.__init__(self, error) Exception.__init__(self, error)
self.opts = opts self.opts = opts
@ -36,11 +38,14 @@ class CompatError(Exception):
class CompatOptionParser(optparse.OptionParser): 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): class CustomFormatter(optparse.IndentedHelpFormatter):
def __init__(self, *args, **kwargs): 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 # taken and modified from from optparse.py's format_option
def format_option_preserve_nl(self, 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 opt_width = self.help_position - self.current_indent - 2
if len(opts) > opt_width: if len(opts) > opt_width:
opts = "%*s%s\n" % (self.current_indent, "", opts) opts = "%*s%s\n" % (self.current_indent, "", opts)
indent_first = self.help_position
else: # start help on same line as opts else: # start help on same line as opts
opts = "%*s%-*s " % (self.current_indent, "", opt_width, opts) opts = "%*s%-*s " % (self.current_indent, "", opt_width, opts)
indent_first = 0
result.append(opts) result.append(opts)
if option.help: if option.help:
help_text = self.expand_default(option) 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"): for line in help_text.split("\n"):
help_lines = tw.wrap(line) help_lines = tw.wrap(line)
for line in help_lines: 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": elif opts[-1] != "\n":
result.append("\n") result.append("\n")
return "".join(result) return "".join(result)
@ -87,17 +95,26 @@ class CompatOptionParser(optparse.OptionParser):
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
formatter = CompatOptionParser.CustomFormatter() formatter = CompatOptionParser.CustomFormatter()
optparse.OptionParser.__init__(self, *args, formatter=formatter, **kwargs) optparse.OptionParser.__init__(self,
*args,
formatter=formatter,
**kwargs)
def error(self, error): 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: if error.find("no such option") != -1:
raise CompatError(error, self.values, self.rargs) raise CompatError(error, self.values, self.rargs)
optparse.OptionParser.error(self, error) optparse.OptionParser.error(self, error)
def parse_args(self, args=None, values=None): 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: try:
opts, args = optparse.OptionParser.parse_args(self) opts, args = optparse.OptionParser.parse_args(self)
except CompatError as e: except CompatError as e:
@ -122,7 +139,9 @@ def cygwin_pidof(proc_name):
""" Thanks to kata198 for this: """ Thanks to kata198 for this:
https://github.com/kata198/cygwin-ps-misc/blob/master/pidof 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") output_lines = pipe.stdout.read().replace("\r", "").split("\n")
ret = pipe.wait() ret = pipe.wait()
pids = [] pids = []
@ -157,19 +176,23 @@ def kill_tasks_cygwin(victims):
"""Shell out to ps -ea to find processes to kill""" """Shell out to ps -ea to find processes to kill"""
for victim in list(victims): for victim in list(victims):
pids = cygwin_pidof(victim) 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: for apid in pids:
os.kill(apid, signal.SIGKILL) os.kill(apid, signal.SIGKILL)
def kill_tasks_macos(): def kill_tasks_macos():
for window in windowID: 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) os.system(cmd)
def kill_tasks_psutil(victims): 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 import psutil
for proc in psutil.process_iter(): for proc in psutil.process_iter():
if proc.status == psutil.STATUS_ZOMBIE: if proc.status == psutil.STATUS_ZOMBIE:
@ -191,7 +214,7 @@ class BobException(Exception):
def kill_tasks(): 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") progress("Killing tasks")
try: try:
victim_names = { victim_names = {
@ -233,11 +256,12 @@ def check_jsbsim_version():
jsbsim_cmd = ["JSBSim", "--version"] jsbsim_cmd = ["JSBSim", "--version"]
progress_cmd("Get JSBSim version", jsbsim_cmd) progress_cmd("Get JSBSim version", jsbsim_cmd)
try: 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: except OSError:
jsbsim_version = '' # this value will trigger the ".index" # this value will trigger the ".index" check below and produce
# check below and produce a reasonable # a reasonable error message:
# error message jsbsim_version = ''
try: try:
jsbsim_version.index(b"ArduPilot") jsbsim_version.index(b"ArduPilot")
except ValueError: except ValueError:
@ -274,9 +298,10 @@ def wait_unlimited():
"""Wait until signal received""" """Wait until signal received"""
time.sleep(987654321987654321) time.sleep(987654321987654321)
from pysim import vehicleinfo
vinfo = vehicleinfo.VehicleInfo() vinfo = vehicleinfo.VehicleInfo()
def do_build_waf(opts, frame_options): def do_build_waf(opts, frame_options):
"""Build sitl using waf""" """Build sitl using waf"""
progress("WAF build") progress("WAF build")
@ -290,7 +315,7 @@ def do_build_waf(opts, frame_options):
cmd_configure = [waf_light, "configure", "--board", "sitl"] cmd_configure = [waf_light, "configure", "--board", "sitl"]
if opts.debug: if opts.debug:
cmd_configure.append("--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: for piece in pieces:
cmd_configure.extend(piece) 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"]] cmd_build = [waf_light, "build", "--target", frame_options["waf_target"]]
if opts.jobs is not None: if opts.jobs is not None:
cmd_build += ['-j', str(opts.jobs)] 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: for piece in pieces:
cmd_build.extend(piece) 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) ret = os.waitpid(p.pid, 0)
_, sts = ret _, sts = ret
if check and sts != 0: if check and sts != 0:
progress("(%s) exited with code %d" % (what,sts,)) progress("(%s) exited with code %d" % (what, sts,))
sys.exit(1) sys.exit(1)
return ret return ret
@ -433,6 +458,7 @@ def run_in_terminal_window(autotest, name, cmd):
else: else:
p = subprocess.Popen(runme) p = subprocess.Popen(runme)
tracker_uarta = None # blemish tracker_uarta = None # blemish
@ -440,17 +466,25 @@ def start_antenna_tracker(autotest, opts):
"""Compile and run the AntennaTracker, add tracker to mavproxy""" """Compile and run the AntennaTracker, add tracker to mavproxy"""
global tracker_uarta global tracker_uarta
progress("Preparing antenna tracker") 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") vehicledir = os.path.join(autotest, "../../" + "AntennaTracker")
tracker_default_frame = vinfo.options["AntennaTracker"]["default_frame"] opts = vinfo.options["AntennaTracker"]
tracker_frame_options = vinfo.options["AntennaTracker"]["frames"][tracker_default_frame] tracker_default_frame = opts["default_frame"]
tracker_frame_options = opts["frames"][tracker_default_frame]
do_build(vehicledir, opts, tracker_frame_options) do_build(vehicledir, opts, tracker_frame_options)
tracker_instance = 1 tracker_instance = 1
oldpwd = os.getcwd() oldpwd = os.getcwd()
os.chdir(vehicledir) os.chdir(vehicledir)
tracker_uarta = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance) tracker_uarta = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
exe = os.path.join(vehicledir, "AntennaTracker.elf") 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) os.chdir(oldpwd)
@ -493,14 +527,15 @@ def start_vehicle(binary, autotest, opts, stuff, loc):
cmd.extend(["--model", stuff["model"]]) cmd.extend(["--model", stuff["model"]])
cmd.extend(["--speedup", str(opts.speedup)]) cmd.extend(["--speedup", str(opts.speedup)])
if opts.sitl_instance_args: 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: if opts.mavlink_gimbal:
cmd.append("--gimbal") cmd.append("--gimbal")
if "default_params_filename" in stuff: if "default_params_filename" in stuff:
paths = stuff["default_params_filename"] paths = stuff["default_params_filename"]
if not isinstance(paths,list): if not isinstance(paths, list):
paths = [paths] 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) path = ",".join(paths)
progress("Using defaults from (%s)" % (path,)) progress("Using defaults from (%s)" % (path,))
cmd.extend(["--defaults", path]) cmd.extend(["--defaults", path])
@ -510,7 +545,8 @@ def start_vehicle(binary, autotest, opts, stuff, loc):
def start_mavproxy(opts, stuff): def start_mavproxy(opts, stuff):
"""Run mavproxy""" """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 = "" extra_cmd = ""
cmd = [] cmd = []
@ -528,8 +564,9 @@ def start_mavproxy(opts, stuff):
if stuff["sitl-port"]: if stuff["sitl-port"]:
cmd.extend(["--sitl", simout_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 # If running inside of a vagrant guest, then we probably want to
ports = [p + 10 * cmd_opts.instance for p in [14550,14551]] # forward our mavlink out to the containing host OS
ports = [p + 10 * cmd_opts.instance for p in [14550, 14551]]
for port in ports: for port in ports:
if os.path.isfile("/ardupilot.vagrant"): if os.path.isfile("/ardupilot.vagrant"):
cmd.extend(["--out", "10.0.2.2:" + str(port)]) cmd.extend(["--out", "10.0.2.2:" + str(port)])
@ -540,7 +577,10 @@ def start_mavproxy(opts, stuff):
cmd.extend(["--load-module", "tracker"]) cmd.extend(["--load-module", "tracker"])
global tracker_uarta global tracker_uarta
# tracker_uarta is set when we start the tracker... # 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: if opts.mavlink_gimbal:
cmd.extend(["--load-module", "gimbal"]) cmd.extend(["--load-module", "gimbal"])
@ -549,7 +589,8 @@ def start_mavproxy(opts, stuff):
extra_cmd += " " + stuff["extra_mavlink_cmds"] extra_cmd += " " + stuff["extra_mavlink_cmds"]
if opts.mavproxy_args: 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 # compatibility pass-through parameters (for those that don't want
# to use -C :-) # to use -C :-)
@ -568,7 +609,9 @@ def start_mavproxy(opts, stuff):
local_mp_modules_dir = os.path.abspath( local_mp_modules_dir = os.path.abspath(
os.path.join(__file__, '..', '..', 'mavproxy_modules')) os.path.join(__file__, '..', '..', 'mavproxy_modules'))
env = dict(os.environ) 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) run_cmd_blocking("Run MavProxy", cmd, env=env)
progress("MAVProxy exited") progress("MAVProxy exited")
@ -576,72 +619,195 @@ def start_mavproxy(opts, stuff):
vehicle_options_string = '|'.join(vinfo.options.keys()) vehicle_options_string = '|'.join(vinfo.options.keys())
def generate_frame_help(): def generate_frame_help():
ret = "" ret = ""
for vehicle in vinfo.options: 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) ret += "%s: %s\n" % (vehicle, frame_options_string)
return ret 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 parser.add_option("-f", "--frame", type='string', default=None, help="""set vehicle frame type
%s""" % (generate_frame_help())) %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("-C", "--sim_vehicle_sh_compatible",
parser.add_option("-H", "--hil", action='store_true', default=False, help="start HIL") 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 = 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("-N", "--no-rebuild",
group_build.add_option("-D", "--debug", action='store_true', default=False, help="build with debugging") action='store_true',
group_build.add_option("-c", "--clean", action='store_true', default=False, help="do a make clean before building") default=False,
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)") help="don't rebuild before starting ardupilot")
group_build.add_option("-b", "--build-target", default=None, type='string', help="override SITL build target") group_build.add_option("-D", "--debug",
group_build.add_option("-s", "--build-system", default="waf", type='choice', choices=["make", "waf"], help="build system to use") action='store_true',
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") default=False,
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") help="build with debugging")
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("-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) parser.add_option_group(group_build)
group_sim = optparse.OptionGroup(parser, "Simulation options") 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("-I", "--instance",
group_sim.add_option("-V", "--valgrind", action='store_true', default=False, help="enable valgrind for memory access checking (very slow!)") default=0,
group_sim.add_option("", "--callgrind", action='store_true', default=False, help="enable valgrind for performance analysis (very very slow!)") type='int',
group_sim.add_option("-T", "--tracker", action='store_true', default=False, help="start an antenna tracker instance") help="instance of simulator")
group_sim.add_option("-A", "--sitl-instance-args", type='string', default=None, help="pass arguments to SITL instance") group_sim.add_option("-V", "--valgrind",
# group_sim.add_option("-R", "--reverse-throttle", action='store_true', default=False, help="reverse throttle in plane") action='store_true',
group_sim.add_option("-G", "--gdb", action='store_true', default=False, help="use gdb for debugging ardupilot") default=False,
group_sim.add_option("-g", "--gdb-stopped", action='store_true', default=False, help="use gdb for debugging ardupilot (no auto-start)") help="enable valgrind for memory access checking (slow!)")
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("", "--callgrind",
group_sim.add_option("-B", "--breakpoint", type='string', action="append", default=[], help="add a breakpoint at given location in debugger") action='store_true',
group_sim.add_option("-M", "--mavlink-gimbal", action='store_true', default=False, help="enable MAVLink gimbal") default=False,
group_sim.add_option("-L", "--location", type='string', default='CMAC', help="select start location from Tools/autotest/locations.txt") help="enable valgrind for performance analysis (slow!!)")
group_sim.add_option("-l", "--custom-location", type='string', default=None, help="set custom start location") group_sim.add_option("-T", "--tracker",
group_sim.add_option("-S", "--speedup", default=1, type='int', help="set simulation speedup (1 for wall clock time)") action='store_true',
group_sim.add_option("-t", "--tracker-location", default='CMAC_PILOTSBOX', type='string', help="set antenna tracker start location") default=False,
group_sim.add_option("-w", "--wipe-eeprom", action='store_true', default=False, help="wipe EEPROM and reload parameters") help="start an antenna tracker instance")
group_sim.add_option("-m", "--mavproxy-args", default=None, type='string', help="additional arguments to pass to mavproxy.py") group_sim.add_option("-A", "--sitl-instance-args",
group_sim.add_option("", "--strace", action='store_true', default=False, help="strace the ArduPilot binary") type='string',
group_sim.add_option("", "--model", type='string', default=None, help="Override simulation model to use") default=None,
group_sim.add_option("", "--use-dir", type='string', default=None, help="Store SITL state and output in named directory") help="pass arguments to SITL instance")
group_sim.add_option("", "--no-mavproxy", action='store_true', default=False, help="Don't launch MAVProxy") 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) parser.add_option_group(group_sim)
# special-cased parameters for mavproxy, because some people's fingers # special-cased parameters for mavproxy, because some people's fingers
# have long memories, and they don't want to use -C :-) # have long memories, and they don't want to use -C :-)
group = optparse.OptionGroup(parser, "Compatibility MAVProxy options (consider using --mavproxy-args instead)") group = optparse.OptionGroup(parser,
group.add_option("", "--out", default=[], type='string', action="append", help="create an additional mavlink output") "Compatibility MAVProxy options "
group.add_option("", "--map", default=False, action='store_true', help="load map module on startup") "(consider using --mavproxy-args instead)")
group.add_option("", "--console", default=False, action='store_true', help="load console module on startup") group.add_option("", "--out",
group.add_option("", "--aircraft", default=None, help="store state and logs in named directory") 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) parser.add_option_group(group)
cmd_opts, cmd_args = parser.parse_args() 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) 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) 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": if frame_infos["model"] == "jsbsim":
check_jsbsim_version() check_jsbsim_version()
@ -756,7 +924,12 @@ if cmd_opts.use_dir is not None:
if cmd_opts.hil: if cmd_opts.hil:
# (unlikely) # (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: else:
if not cmd_opts.no_rebuild: # i.e. we should rebuild if not cmd_opts.no_rebuild: # i.e. we should rebuild
do_build(vehicle_dir, cmd_opts, frame_infos) do_build(vehicle_dir, cmd_opts, frame_infos)
@ -766,7 +939,9 @@ else:
binary_basedir = "build/sitl-debug" binary_basedir = "build/sitl-debug"
else: else:
binary_basedir = "build/sitl" 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: else:
vehicle_binary = os.path.join(vehicle_dir, cmd_opts.vehicle + ".elf") 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,)) print("Vehicle binary (%s) does not exist" % (vehicle_binary,))
sys.exit(1) 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: if cmd_opts.delay_start:
progress("Sleeping for %f seconds" % (cmd_opts.delay_start,)) progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
@ -782,7 +961,7 @@ if cmd_opts.delay_start:
try: try:
if cmd_opts.no_mavproxy: 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") progress("Waiting for SITL to exit")
wait_unlimited() wait_unlimited()
else: else: