mirror of https://github.com/ArduPilot/ardupilot
Tools: Implement better Scrimmage support
This commit is contained in:
Arash Negahdar
Andrew Tridgell
parent
98dfc69887
commit
908b63573e
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@ -1239,6 +1239,41 @@ else:
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frame_infos,
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frame_infos,
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spawns=spawns)
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spawns=spawns)
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if cmd_opts.delay_start:
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progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
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time.sleep(float(cmd_opts.delay_start))
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tmp = None
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if cmd_opts.frame in ['scrimmage-plane', 'scrimmage-copter']:
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# import only here so as to avoid jinja dependency in whole script
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from jinja2 import Environment, FileSystemLoader
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from tempfile import mkstemp
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entities = []
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config = {}
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config['plane'] = cmd_opts.vehicle == 'ArduPlane'
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config['terrain'] = 'mcmillan'
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if location is not None:
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config['lat'] = location[0]
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config['lon'] = location[1]
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config['alt'] = location[2]
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config['entities'] = []
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for k in offsets:
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(x, y, z, heading) = offsets[k]
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config['entities'].append({'x': x, 'y': y, 'z': z, 'heading': heading,
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'to_ardupilot_port': 9003 + k * 10,
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'from_ardupilot_port': 9002 + k * 10,
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'to_ardupilot_ip': '127.0.0.1'})
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env = Environment(loader=FileSystemLoader(os.path.join(autotest_dir, 'template')))
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mission = env.get_template('scrimmage.xml').render(**config)
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tmp = mkstemp()
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atexit.register(os.remove, tmp[1])
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with os.fdopen(tmp[0], 'w') as fd:
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fd.write(mission)
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run_in_terminal_window('SCRIMMAGE', ['scrimmage', tmp[1]])
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if cmd_opts.delay_start:
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if cmd_opts.delay_start:
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progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
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progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
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time.sleep(float(cmd_opts.delay_start))
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time.sleep(float(cmd_opts.delay_start))
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@ -0,0 +1,101 @@
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<?xml version="1.0"?>
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<?xml-stylesheet type="text/xsl" href="http://gtri.gatech.edu"?>
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<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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name="Straight flying">
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<!-- <run start="0.0" end="100" dt="0.00833333" -->
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<run start="0.0" end="10000000" dt="0.001"
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{% if plane %}
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motion_multiplier="1"
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{% endif %}
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time_warp="1"
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enable_gui="true"
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network_gui="false"
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start_paused="false"/>
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<stream_port>50051</stream_port>
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<stream_ip>localhost</stream_ip>
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<end_condition>all_dead</end_condition> <!-- time, one_team, none-->
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<grid_spacing>10</grid_spacing>
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<grid_size>1000</grid_size>
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<terrain>{% if terrain %}{{ terrain }}{% else %}mcmillan{% endif %}</terrain>
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<background_color>191 191 191</background_color> <!-- Red Green Blue -->
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<gui_update_period>10</gui_update_period> <!-- milliseconds -->
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<plot_tracks>false</plot_tracks>
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<output_type>all</output_type>
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<show_plugins>false</show_plugins>
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<metrics>SimpleCollisionMetrics</metrics>
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<log_dir>~/.scrimmage/logs</log_dir>
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{% if plane %}
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<latitude_origin>{% if lat %}{{ lat }}{% else %}32.42553{% endif %}</latitude_origin>
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<longitude_origin>{% if lon %}{{ lon }}{% else %}-84.79109{% endif %}</longitude_origin>
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<altitude_origin>{% if alt %}{{ alt }}{% else %}75{% endif %}</altitude_origin>
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{% else %}
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<latitude_origin>{% if lat %}{{ lat }}{% else %}34.458281{% endif %}</latitude_origin>
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<longitude_origin>{% if lon %}{{ lon }}{% else %}-84.180209{% endif %}</longitude_origin>
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<altitude_origin>{% if alt %}{{ alt }}{% else %}450{% endif %}</altitude_origin>
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{% endif %}
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<show_origin>true</show_origin>
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<origin_length>10</origin_length>
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<network>LocalNetwork</network>
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<network>GlobalNetwork</network>
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<entity_interaction>SimpleCollision</entity_interaction>
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<entity_interaction enable_startup_collisions="false"
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remove_on_collision="false">GroundCollision</entity_interaction>
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<!-- uncomment "seed" and use integer for deterministic results -->
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<!--<seed>2147483648</seed>-->
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<!-- ========================== TEAM 1 ========================= -->
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{% for e in entities %}
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<entity>
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<team_id>1</team_id>
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<color>77 77 255</color>
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<count>1</count>
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<health>1</health>
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<radius>1</radius>
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<x>{% if e.x %}{{ e.x }}{% else %}0{% endif %}</x>
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<y>{% if e.y %}{{ e.y }}{% else %}0{% endif %}</y>
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<z>{% if e.z %}{{ e.z }}{% else %}0{% endif %}</z>
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{% if plane %}<pitch>-20</pitch>{% endif %}
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<heading>{% if e.heading %}{{ e.heading }}{% else %}0{% endif %}</heading>
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<sensor>RigidBody6DOFStateSensor</sensor>
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<controller>DirectController</controller>
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<!-- Use this settings in SITL -->
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<autonomy to_ardupilot_port="{% if e.to_ardupilot_port %}{{ e.to_ardupilot_port }}{% else %}9003{% endif %}"
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from_ardupilot_port="{% if e.from_ardupilot_port %}{{ e.from_ardupilot_port }}{% else %}9002{% endif %}"
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to_ardupilot_ip="{% if e.to_ardupilot_ip %}{{ e.to_ardupilot_ip }}{% else %}127.0.0.1{% endif %}"
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{% if plane %}
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>ArduPilot</autonomy>
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<!-- Use this settings in HIL through mavproxy -->
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<!-- <autonomy to_ardupilot_port="5501" from_ardupilot_port="5502" mavproxy_mode="true">ArduPilot</autonomy> -->
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<!-- <motion_model drawVel="0" drawAngVel="0" drawAcc="0" use_launcher="1" launch_time="60" launch_accel="200">${motion_model=JSBSimControl}</motion_model> -->
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<motion_model drawVel="0" drawAngVel="0" drawAcc="0">{% if e.motion_model %}{{ e.motion_model }}{% else %}JSBSimControl{% endif %}</motion_model>
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<script_name>rascal_no_autopilot.xml</script_name>
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<visual_model>{% if e.visual_model %}{{ e.visual_model }}{% else %}zephyr-blue{% endif %}</visual_model>
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{% else %}
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servo_map="[ motor_0 0 1000 +2000 346.41 1200.0 +1 ]
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[ motor_1 1 1000 +2000 346.41 1200.0 +1 ]
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[ motor_2 2 1000 +2000 346.41 1200.0 +1 ]
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[ motor_3 3 1000 +2000 346.41 1200.0 +1 ]"
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>ArduPilot</autonomy>
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<motion_model write_csv="true">{% if e.motion_model %}{{ e.motion_model }}{% else %}Multirotor{% endif %}</motion_model>
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<visual_model>{% if e.visual_model %}{{ e.visual_model }}{% else %}iris{% endif %}</visual_model>
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{% endif %}
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</entity>
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{% endfor %}
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</runscript>
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