Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tools: Expose more options to SCRIMMAGE

This commit is contained in:
Arash Negahdar 2020-05-13 10:51:02 -04:00 committed by Peter Barker
parent 1f1383ab64
commit a7768aabae
1 changed files with 39 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

47
Tools/autotest/sim_vehicle.py
View File

@ -954,6 +954,12 @@ group_sim.add_option("-m", "--mavproxy-args",
default=None,
type='string',
help="additional arguments to pass to mavproxy.py")
group_sim.add_option("", "--scrimmage-args",
default=None,
type='string',
help="arguments used to populate SCRIMMAGE mission (comma-separated). "
"Currently visual_model, motion_model, and terrain are supported. "
"Usage: [instance=]argument=value...")
group_sim.add_option("", "--strace",
action='store_true',
default=False,
@ -1264,18 +1270,43 @@ if cmd_opts.frame in ['scrimmage-plane', 'scrimmage-copter']:
entities = []
config = {}
config['plane'] = cmd_opts.vehicle == 'ArduPlane'
config['terrain'] = 'mcmillan'
if location is not None:
config['lat'] = location[0]
config['lon'] = location[1]
config['alt'] = location[2]
config['entities'] = []
for k in offsets:
(x, y, z, heading) = offsets[k]
config['entities'].append({'x': x, 'y': y, 'z': z, 'heading': heading,
'to_ardupilot_port': 9003 + k * 10,
'from_ardupilot_port': 9002 + k * 10,
'to_ardupilot_ip': '127.0.0.1'})
entities = {}
for i in instances:
(x, y, z, heading) = offsets[i]
entities[i] = {
'x': x, 'y': y, 'z': z, 'heading': heading,
'to_ardupilot_port': 9003 + i * 10,
'from_ardupilot_port': 9002 + i * 10,
'to_ardupilot_ip': '127.0.0.1'
}
if cmd_opts.scrimmage_args is not None:
scrimmage_args = cmd_opts.scrimmage_args.split(',')
global_opts = ['terrain']
instance_opts = ['motion_model', 'visual_model']
for arg in scrimmage_args:
arg = arg.split('=', 2)
if len(arg) == 2:
k, v = arg
if k in global_opts:
config[k] = v
elif k in instance_opts:
for i in entities:
# explicit instance args take precedence; don't overwrite
if k not in entities[i]:
entities[i][k] = v
elif len(arg) == 3:
i, k, v = arg
try:
i = int(i)
except ValueError:
continue
if i in entities and k in instance_opts:
entities[i][k] = v
config['entities'] = list(entities.values())
env = Environment(loader=FileSystemLoader(os.path.join(autotest_dir, 'template')))
mission = env.get_template('scrimmage.xml').render(**config)
tmp = mkstemp()