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SITL: Don't start scrimmage from ArduPilot

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This commit is contained in:
Arash Negahdar 2020-02-05 18:03:18 -05:00 committed by Andrew Tridgell
parent e75ac4ae57
commit 98dfc69887
2 changed files with 0 additions and 84 deletions
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75
libraries/SITL/SIM_Scrimmage.cpp
View File

@ -36,44 +36,6 @@ Scrimmage::Scrimmage(const char *_frame_str) :
send_sock(true),
frame_str(_frame_str)
{
// Set defaults for scrimmage-copter
if (strcmp(frame_str, "scrimmage-copter")== 0) {
mission_name = "arducopter.xml";
motion_model = "Multirotor";
visual_model = "iris";
}
}
void Scrimmage::set_config(const char *config)
{
// The configuration string is a comma-separated sequence of key:value
// pairs
// Iterate over comma-separated strings and store parameters
char *end_str;
char* copy_config = strdup(config);
char *token = strtok_r(copy_config, ",", &end_str);
while (token != NULL)
{
char *end_token;
char *token2 = strtok_r(token, "=", &end_token);
if (strcmp(token2, "mission")==0) {
mission_name = strtok_r(NULL, "=", &end_token);
} else if (strcmp(token2, "motion_model")==0) {
motion_model = strtok_r(NULL, "=", &end_token);
} else if (strcmp(token2, "visual_model")==0) {
visual_model = strtok_r(NULL, "=", &end_token);
} else if (strcmp(token2, "terrain")==0) {
terrain = strtok_r(NULL, "=", &end_token);
} else {
printf("Invalid scrimmage param: %s", token2);
}
token = strtok_r(NULL, ",", &end_str);
}
free(copy_config);
// start scrimmage after parsing simulation configuration
start_scrimmage();
}
void Scrimmage::set_interface_ports(const char* address, const int port_in, const int port_out)
@ -93,43 +55,6 @@ void Scrimmage::set_interface_ports(const char* address, const int port_in, cons
send_sock.set_blocking(false);
}
// Start Scrimmage child
void Scrimmage::start_scrimmage(void)
{
pid_t child_pid = fork();
if (child_pid == 0) {
// In child
// Construct the scrimmage command string with overrides for initial
// position and heading.
char* full_exec_str;
int len;
// Get required string length
len = snprintf(NULL, 0, "xterm +hold -T SCRIMMAGE -e 'scrimmage %s -o \"latitude_origin=%f,"
"longitude_origin=%f,altitude_origin=%f,heading=%f,motion_model=%s,visual_model=%s,terrain=%s,"
"to_ardupilot_port=%d,from_ardupilot_port=%d,to_ardupilot_ip=%s\"'", mission_name, home.lat*1.0e-7f,home.lng*1.0e-7f,
home.alt*1.0e-2f, home_yaw, motion_model, visual_model, terrain, fdm_port_in, fdm_port_out, fdm_address);
full_exec_str = (char *)malloc(len+1);
snprintf(full_exec_str, len+1, "xterm +hold -T SCRIMMAGE -e 'scrimmage %s -o \"latitude_origin=%f,"
"longitude_origin=%f,altitude_origin=%f,heading=%f,motion_model=%s,visual_model=%s,terrain=%s,"
"to_ardupilot_port=%d,from_ardupilot_port=%d,to_ardupilot_ip=%s\"'", mission_name, home.lat*1.0e-7f,home.lng*1.0e-7f,
home.alt*1.0e-2f, home_yaw, motion_model, visual_model, terrain, fdm_port_in, fdm_port_out, fdm_address);
printf("%s\n", full_exec_str);
// system call worked
int ret = system(full_exec_str);
if (ret != 0) {
::fprintf(stderr, "scrimmage didn't open.\n");
perror("scrimmage");
}
free(full_exec_str);
}
}
void Scrimmage::send_servos(const struct sitl_input &input)
{
servo_packet pkt;

9
libraries/SITL/SIM_Scrimmage.h
View File

@ -41,8 +41,6 @@ public:
return new Scrimmage(frame_str);
}
void set_config(const char *config) override;
/* Create and set in/out socket for extenal simulator */
void set_interface_ports(const char* address, const int port_in, const int port_out) override;
@ -76,19 +74,12 @@ private:
void recv_fdm(const struct sitl_input &input);
void send_servos(const struct sitl_input &input);
void start_scrimmage(void);
uint64_t prev_timestamp_us;
SocketAPM recv_sock;
SocketAPM send_sock;
const char *frame_str;
// Use ArduPlane by default
const char *mission_name = "arduplane.xml";
const char *motion_model = "JSBSimControl";
const char *visual_model = "zephyr-blue";
const char *terrain = "mcmillan";
};
} // namespace SITL