/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #include #if CONFIG_HAL_BOARD == HAL_BOARD_SITL #include "AP_HAL_SITL.h" #include "AP_HAL_SITL_Namespace.h" #include "HAL_SITL_Class.h" #include "UARTDriver.h" #include #include #include #include #include #include #include #include #include #include #include #include #include extern const AP_HAL::HAL& hal; using namespace HALSITL; using namespace SITL; // catch floating point exceptions static void _sig_fpe(int signum) { fprintf(stderr, "ERROR: Floating point exception - aborting\n"); abort(); } void SITL_State::_usage(void) { printf("Options:\n" "\t--home HOME set home location (lat,lng,alt,yaw)\n" "\t--model MODEL set simulation model\n" "\t--wipe wipe eeprom and dataflash\n" "\t--rate RATE set SITL framerate\n" "\t--console use console instead of TCP ports\n" "\t--instance N set instance of SITL (adds 10*instance to all port numbers)\n" "\t--speedup SPEEDUP set simulation speedup\n" "\t--gimbal enable simulated MAVLink gimbal\n" "\t--autotest-dir DIR set directory for additional files\n" "\t--uartA device set device string for UARTA\n" "\t--uartB device set device string for UARTB\n" "\t--uartC device set device string for UARTC\n" "\t--uartD device set device string for UARTD\n" "\t--uartE device set device string for UARTE\n" ); } static const struct { const char *name; Aircraft *(*constructor)(const char *home_str, const char *frame_str); } model_constructors[] = { { "+", MultiCopter::create }, { "quad", MultiCopter::create }, { "copter", MultiCopter::create }, { "x", MultiCopter::create }, { "hexa", MultiCopter::create }, { "octa", MultiCopter::create }, { "heli", Helicopter::create }, { "heli-dual", Helicopter::create }, { "heli-compound", Helicopter::create }, { "rover", SimRover::create }, { "crrcsim", CRRCSim::create }, { "jsbsim", JSBSim::create }, { "gazebo", Gazebo::create }, { "last_letter", last_letter::create }, { "tracker", Tracker::create }, { "balloon", Balloon::create } }; void SITL_State::_parse_command_line(int argc, char * const argv[]) { int opt; const char *home_str = NULL; const char *model_str = NULL; char *autotest_dir = NULL; float speedup = 1.0f; if (asprintf(&autotest_dir, SKETCHBOOK "/Tools/autotest") <= 0) { hal.scheduler->panic("out of memory"); } signal(SIGFPE, _sig_fpe); // No-op SIGPIPE handler signal(SIGPIPE, SIG_IGN); setvbuf(stdout, (char *)0, _IONBF, 0); setvbuf(stderr, (char *)0, _IONBF, 0); _synthetic_clock_mode = false; _base_port = 5760; _rcout_port = 5502; _simin_port = 5501; _fdm_address = "127.0.0.1"; _client_address = NULL; _instance = 0; enum long_options { CMDLINE_CLIENT=0, CMDLINE_GIMBAL, CMDLINE_AUTOTESTDIR, CMDLINE_UARTA, CMDLINE_UARTB, CMDLINE_UARTC, CMDLINE_UARTD, CMDLINE_UARTE }; const struct GetOptLong::option options[] = { {"help", false, 0, 'h'}, {"wipe", false, 0, 'w'}, {"speedup", true, 0, 's'}, {"rate", true, 0, 'r'}, {"console", false, 0, 'C'}, {"instance", true, 0, 'I'}, {"param", true, 0, 'P'}, {"synthetic-clock", false, 0, 'S'}, {"home", true, 0, 'O'}, {"model", true, 0, 'M'}, {"uartA", true, 0, CMDLINE_UARTA}, {"uartB", true, 0, CMDLINE_UARTB}, {"uartC", true, 0, CMDLINE_UARTC}, {"uartD", true, 0, CMDLINE_UARTD}, {"uartE", true, 0, CMDLINE_UARTE}, {"client", true, 0, CMDLINE_CLIENT}, {"gimbal", false, 0, CMDLINE_GIMBAL}, {"autotest-dir", true, 0, CMDLINE_AUTOTESTDIR}, {0, false, 0, 0} }; GetOptLong gopt(argc, argv, "hws:r:CI:P:SO:M:F:", options); while ((opt = gopt.getoption()) != -1) { switch (opt) { case 'w': AP_Param::erase_all(); unlink("dataflash.bin"); break; case 'r': _framerate = (unsigned)atoi(gopt.optarg); break; case 'C': HALSITL::SITLUARTDriver::_console = true; break; case 'I': { _instance = atoi(gopt.optarg); _base_port += _instance * 10; _rcout_port += _instance * 10; _simin_port += _instance * 10; } break; case 'P': _set_param_default(gopt.optarg); break; case 'S': _synthetic_clock_mode = true; break; case 'O': home_str = gopt.optarg; break; case 'M': model_str = gopt.optarg; break; case 's': speedup = atof(gopt.optarg); break; case 'F': _fdm_address = gopt.optarg; break; case CMDLINE_CLIENT: _client_address = gopt.optarg; break; case CMDLINE_GIMBAL: enable_gimbal = true; break; case CMDLINE_AUTOTESTDIR: autotest_dir = strdup(gopt.optarg); break; case CMDLINE_UARTA: case CMDLINE_UARTB: case CMDLINE_UARTC: case CMDLINE_UARTD: case CMDLINE_UARTE: _uart_path[opt - CMDLINE_UARTA] = gopt.optarg; break; default: _usage(); exit(1); } } if (model_str && home_str) { for (uint8_t i=0; i < ARRAY_SIZE(model_constructors); i++) { if (strncasecmp(model_constructors[i].name, model_str, strlen(model_constructors[i].name)) == 0) { sitl_model = model_constructors[i].constructor(home_str, model_str); sitl_model->set_speedup(speedup); sitl_model->set_instance(_instance); sitl_model->set_autotest_dir(autotest_dir); _synthetic_clock_mode = true; printf("Started model %s at %s at speed %.1f\n", model_str, home_str, speedup); break; } } } fprintf(stdout, "Starting sketch '%s'\n", SKETCH); if (strcmp(SKETCH, "ArduCopter") == 0) { _vehicle = ArduCopter; if (_framerate == 0) { _framerate = 200; } } else if (strcmp(SKETCH, "APMrover2") == 0) { _vehicle = APMrover2; if (_framerate == 0) { _framerate = 50; } // set right default throttle for rover (allowing for reverse) pwm_input[2] = 1500; } else { _vehicle = ArduPlane; if (_framerate == 0) { _framerate = 50; } } _sitl_setup(); } #endif