mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
Tools: rearrange sim_vehicle.py to put all functions first
This commit is contained in:
Peter Barker
parent
c9435963c8
commit
909f7779c7
@ -214,134 +214,6 @@ def find_root_dir():
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"""Return path to root directory"""
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return os.path.realpath(os.path.join(find_autotest_dir(), '../..'))
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# define and run parser
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parser = CompatOptionParser("sim_vehicle.py",
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epilog="eeprom.bin in the starting directory contains the parameters for your " \
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"simulated vehicle. Always start from the same directory. It is "\
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"recommended that you start in the main vehicle directory for the vehicle" \
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"you are simulating, for example, start in the ArduPlane directory to " \
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"simulate ArduPlane")
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parser.add_option("-v", "--vehicle", type='string', default=None, help="vehicle type (ArduPlane, ArduCopter or APMrover2)")
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parser.add_option("-f", "--frame", type='string', default=None, help="""set aircraft frame type
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for copters can choose +, X, quad or octa
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for planes can choose elevon or vtail""")
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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")
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parser.add_option("-H", "--hil", action='store_true', default=False, help="start HIL")
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group_build = optparse.OptionGroup(parser, "Build options")
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group_build.add_option("-N", "--no-rebuild", action='store_true', default=False, help="don't rebuild before starting ardupilot")
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group_build.add_option("-D", "--debug", action='store_true', default=False, help="build with debugging")
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group_build.add_option("-c", "--clean", action='store_true', default=False, help="do a make clean before building")
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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)")
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group_build.add_option("-b", "--build-target", default=None, type='string', help="override SITL build target")
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group_build.add_option("-s", "--build-system", default="waf", type='choice', choices=["make", "waf"], help="build system to use")
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group_build.add_option("", "--no-rebuild-on-failure", dest="rebuild_on_failure", action='store_false', default=True, help="if build fails, do not clean and rebuild")
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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")
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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")
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parser.add_option_group(group_build)
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group_sim = optparse.OptionGroup(parser, "Simulation options")
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group_sim.add_option("-I", "--instance", default=0, type='int', help="instance of simulator")
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group_sim.add_option("-V", "--valgrind", action='store_true', default=False, help="enable valgrind for memory access checking (very slow!)")
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group_sim.add_option("-T", "--tracker", action='store_true', default=False, help="start an antenna tracker instance")
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group_sim.add_option("-A", "--sitl-instance-args", type='string', default=None, help="pass arguments to SITL instance")
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# group_sim.add_option("-R", "--reverse-throttle", action='store_true', default=False, help="reverse throttle in plane")
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group_sim.add_option("-G", "--gdb", action='store_true', default=False, help="use gdb for debugging ardupilot")
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group_sim.add_option("-g", "--gdb-stopped", action='store_true', default=False, help="use gdb for debugging ardupilot (no auto-start)")
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group_sim.add_option("-d", "--delay-start", default=0, type='float', help="delays the start of mavproxy by the number of seconds")
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group_sim.add_option("-B", "--breakpoint", type='string', action="append", default=[], help="add a breakpoint at given location in debugger")
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group_sim.add_option("-M", "--mavlink-gimbal", action='store_true', default=False, help="enable MAVLink gimbal")
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group_sim.add_option("-L", "--location", type='string', default='CMAC', help="select start location from Tools/autotest/locations.txt")
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group_sim.add_option("-l", "--custom-location", type='string', default=None, help="set custom start location")
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group_sim.add_option("-S", "--speedup", default=1, type='int', help="set simulation speedup (1 for wall clock time)")
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group_sim.add_option("-t", "--tracker-location", default='CMAC_PILOTSBOX', type='string', help="set antenna tracker start location")
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group_sim.add_option("-w", "--wipe-eeprom", action='store_true', default=False, help="wipe EEPROM and reload parameters")
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group_sim.add_option("-m", "--mavproxy-args", default=None, type='string', help="additional arguments to pass to mavproxy.py")
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group_sim.add_option("", "--strace", action='store_true', default=False, help="strace the ArduPilot binary")
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group_sim.add_option("", "--model", type='string', default=None, help="Override simulation model to use")
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parser.add_option_group(group_sim)
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# special-cased parameters for mavproxy, because some people's fingers
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# have long memories, and they don't want to use -C :-)
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group = optparse.OptionGroup(parser, "Compatibility MAVProxy options (consider using --mavproxy-args instead)")
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group.add_option("", "--out", default=[], type='string', action="append", help="create an additional mavlink output")
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group.add_option("", "--map", default=False, action='store_true', help="load map module on startup")
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group.add_option("", "--console", default=False, action='store_true', help="load console module on startup")
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group.add_option("", "--aircraft", default=None, help="store state and logs in named directory")
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parser.add_option_group(group)
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cmd_opts, cmd_args = parser.parse_args()
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# clean up processes at exit:
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atexit.register(kill_tasks)
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progress("Start")
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if cmd_opts.sim_vehicle_sh_compatible and cmd_opts.jobs is None:
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cmd_opts.jobs = 1
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# validate parameters
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if cmd_opts.hil:
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if cmd_opts.valgrind:
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print("May not use valgrind with hil")
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sys.exit(1)
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if cmd_opts.gdb or cmd_opts.gdb_stopped:
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print("May not use gdb with hil")
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sys.exit(1)
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if cmd_opts.strace:
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print("May not use strace with hil")
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sys.exit(1)
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if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped):
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print("May not use valgrind with gdb")
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sys.exit(1)
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if cmd_opts.strace and (cmd_opts.gdb or cmd_opts.gdb_stopped):
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print("May not use strace with gdb")
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sys.exit(1)
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if cmd_opts.strace and cmd_opts.valgrind:
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print("valgrind and strace almost certainly not a good idea")
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# magically determine vehicle type (if required):
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if cmd_opts.vehicle is None:
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cwd = os.getcwd()
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cmd_opts.vehicle = os.path.basename(cwd)
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# determine a frame type if not specified:
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default_frame_for_vehicle = {
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"APMrover2": "rover",
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"ArduPlane": "jsbsim",
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"ArduCopter": "quad",
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"AntennaTracker": "tracker",
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}
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if cmd_opts.vehicle not in default_frame_for_vehicle:
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# try in parent directories, useful for having config in subdirectories
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cwd = os.getcwd()
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while cwd:
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bname = os.path.basename(cwd)
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if not bname:
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break
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if bname in default_frame_for_vehicle:
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cmd_opts.vehicle = bname
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break
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cwd = os.path.dirname(cwd)
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# try to validate vehicle
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if cmd_opts.vehicle not in default_frame_for_vehicle:
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progress("** Is (%s) really your vehicle type? Try -v VEHICLETYPE if not, or be in the e.g. ArduCopter subdirectory" % (cmd_opts.vehicle,))
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# determine frame options (e.g. build type might be "sitl")
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if cmd_opts.frame is None:
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cmd_opts.frame = default_frame_for_vehicle[cmd_opts.vehicle]
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# setup ports for this instance
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mavlink_port = "tcp:127.0.0.1:" + str(5760 + 10 * cmd_opts.instance)
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simout_port = "127.0.0.1:" + str(5501 + 10 * cmd_opts.instance)
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"""
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make_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py
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default_params_filename: filename of default parameters file. Taken to be relative to autotest dir.
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@ -785,6 +657,135 @@ def start_mavproxy(opts, stuff):
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run_cmd_blocking("Run MavProxy", cmd, env=env)
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progress("MAVProxy exitted")
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# define and run parser
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parser = CompatOptionParser("sim_vehicle.py",
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epilog="eeprom.bin in the starting directory contains the parameters for your " \
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"simulated vehicle. Always start from the same directory. It is "\
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"recommended that you start in the main vehicle directory for the vehicle" \
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"you are simulating, for example, start in the ArduPlane directory to " \
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"simulate ArduPlane")
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parser.add_option("-v", "--vehicle", type='string', default=None, help="vehicle type (ArduPlane, ArduCopter or APMrover2)")
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parser.add_option("-f", "--frame", type='string', default=None, help="""set aircraft frame type
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for copters can choose +, X, quad or octa
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for planes can choose elevon or vtail""")
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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")
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parser.add_option("-H", "--hil", action='store_true', default=False, help="start HIL")
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group_build = optparse.OptionGroup(parser, "Build options")
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group_build.add_option("-N", "--no-rebuild", action='store_true', default=False, help="don't rebuild before starting ardupilot")
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group_build.add_option("-D", "--debug", action='store_true', default=False, help="build with debugging")
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group_build.add_option("-c", "--clean", action='store_true', default=False, help="do a make clean before building")
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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)")
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group_build.add_option("-b", "--build-target", default=None, type='string', help="override SITL build target")
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group_build.add_option("-s", "--build-system", default="waf", type='choice', choices=["make", "waf"], help="build system to use")
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group_build.add_option("", "--no-rebuild-on-failure", dest="rebuild_on_failure", action='store_false', default=True, help="if build fails, do not clean and rebuild")
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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")
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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")
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parser.add_option_group(group_build)
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group_sim = optparse.OptionGroup(parser, "Simulation options")
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group_sim.add_option("-I", "--instance", default=0, type='int', help="instance of simulator")
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group_sim.add_option("-V", "--valgrind", action='store_true', default=False, help="enable valgrind for memory access checking (very slow!)")
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group_sim.add_option("-T", "--tracker", action='store_true', default=False, help="start an antenna tracker instance")
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group_sim.add_option("-A", "--sitl-instance-args", type='string', default=None, help="pass arguments to SITL instance")
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# group_sim.add_option("-R", "--reverse-throttle", action='store_true', default=False, help="reverse throttle in plane")
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group_sim.add_option("-G", "--gdb", action='store_true', default=False, help="use gdb for debugging ardupilot")
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group_sim.add_option("-g", "--gdb-stopped", action='store_true', default=False, help="use gdb for debugging ardupilot (no auto-start)")
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group_sim.add_option("-d", "--delay-start", default=0, type='float', help="delays the start of mavproxy by the number of seconds")
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group_sim.add_option("-B", "--breakpoint", type='string', action="append", default=[], help="add a breakpoint at given location in debugger")
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group_sim.add_option("-M", "--mavlink-gimbal", action='store_true', default=False, help="enable MAVLink gimbal")
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group_sim.add_option("-L", "--location", type='string', default='CMAC', help="select start location from Tools/autotest/locations.txt")
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group_sim.add_option("-l", "--custom-location", type='string', default=None, help="set custom start location")
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group_sim.add_option("-S", "--speedup", default=1, type='int', help="set simulation speedup (1 for wall clock time)")
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group_sim.add_option("-t", "--tracker-location", default='CMAC_PILOTSBOX', type='string', help="set antenna tracker start location")
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group_sim.add_option("-w", "--wipe-eeprom", action='store_true', default=False, help="wipe EEPROM and reload parameters")
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group_sim.add_option("-m", "--mavproxy-args", default=None, type='string', help="additional arguments to pass to mavproxy.py")
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group_sim.add_option("", "--strace", action='store_true', default=False, help="strace the ArduPilot binary")
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group_sim.add_option("", "--model", type='string', default=None, help="Override simulation model to use")
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parser.add_option_group(group_sim)
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# special-cased parameters for mavproxy, because some people's fingers
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# have long memories, and they don't want to use -C :-)
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group = optparse.OptionGroup(parser, "Compatibility MAVProxy options (consider using --mavproxy-args instead)")
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group.add_option("", "--out", default=[], type='string', action="append", help="create an additional mavlink output")
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group.add_option("", "--map", default=False, action='store_true', help="load map module on startup")
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group.add_option("", "--console", default=False, action='store_true', help="load console module on startup")
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group.add_option("", "--aircraft", default=None, help="store state and logs in named directory")
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parser.add_option_group(group)
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cmd_opts, cmd_args = parser.parse_args()
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# clean up processes at exit:
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atexit.register(kill_tasks)
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progress("Start")
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if cmd_opts.sim_vehicle_sh_compatible and cmd_opts.jobs is None:
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cmd_opts.jobs = 1
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# validate parameters
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if cmd_opts.hil:
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if cmd_opts.valgrind:
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print("May not use valgrind with hil")
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sys.exit(1)
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if cmd_opts.gdb or cmd_opts.gdb_stopped:
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print("May not use gdb with hil")
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sys.exit(1)
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if cmd_opts.strace:
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print("May not use strace with hil")
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sys.exit(1)
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if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped):
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print("May not use valgrind with gdb")
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sys.exit(1)
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if cmd_opts.strace and (cmd_opts.gdb or cmd_opts.gdb_stopped):
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print("May not use strace with gdb")
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sys.exit(1)
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if cmd_opts.strace and cmd_opts.valgrind:
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print("valgrind and strace almost certainly not a good idea")
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# magically determine vehicle type (if required):
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if cmd_opts.vehicle is None:
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cwd = os.getcwd()
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cmd_opts.vehicle = os.path.basename(cwd)
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# determine a frame type if not specified:
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default_frame_for_vehicle = {
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"APMrover2": "rover",
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"ArduPlane": "jsbsim",
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"ArduCopter": "quad",
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"AntennaTracker": "tracker",
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}
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if cmd_opts.vehicle not in default_frame_for_vehicle:
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# try in parent directories, useful for having config in subdirectories
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cwd = os.getcwd()
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while cwd:
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bname = os.path.basename(cwd)
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if not bname:
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break
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if bname in default_frame_for_vehicle:
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cmd_opts.vehicle = bname
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break
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cwd = os.path.dirname(cwd)
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# try to validate vehicle
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if cmd_opts.vehicle not in default_frame_for_vehicle:
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progress("** Is (%s) really your vehicle type? Try -v VEHICLETYPE if not, or be in the e.g. ArduCopter subdirectory" % (cmd_opts.vehicle,))
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# determine frame options (e.g. build type might be "sitl")
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if cmd_opts.frame is None:
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cmd_opts.frame = default_frame_for_vehicle[cmd_opts.vehicle]
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# setup ports for this instance
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mavlink_port = "tcp:127.0.0.1:" + str(5760 + 10 * cmd_opts.instance)
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simout_port = "127.0.0.1:" + str(5501 + 10 * cmd_opts.instance)
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frame_infos = options_for_frame(cmd_opts.frame, cmd_opts.vehicle, cmd_opts)
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if frame_infos["model"] == "jsbsim":
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