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ardupilot/Tools/autotest/sim_vehicle.sh

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#!/bin/bash
# home location lat, lon, alt, heading
LOCATION="CMAC"
TRACKER_LOCATION="CMAC_PILOTSBOX"
VEHICLE=""
BUILD_TARGET="sitl"
FRAME=""
NUM_PROCS=1
SPEEDUP="1"
# check the instance number to allow for multiple copies of the sim running at once
INSTANCE=0
USE_VALGRIND=0
USE_GDB=0
USE_GDB_STOPPED=0
USE_MAVLINK_GIMBAL=0
CLEAN_BUILD=0
START_ANTENNA_TRACKER=0
WIPE_EEPROM=0
REVERSE_THROTTLE=0
NO_REBUILD=0
START_HIL=0
TRACKER_ARGS=""
EXTERNAL_SIM=0
usage()
{
cat <<EOF
Usage: sim_vehicle.sh [options] [mavproxy_options]
Options:
-v VEHICLE vehicle type (ArduPlane, ArduCopter or APMrover2)
vehicle type defaults to working directory
-I INSTANCE instance of simulator (default 0)
-V enable valgrind for memory access checking (very slow!)
-G use gdb for debugging ardupilot
-g use gdb for debugging ardupilot, but don't auto-start
-T start an antenna tracker instance
-A pass arguments to antenna tracker
-t set antenna tracker start location
-L select start location from Tools/autotest/locations.txt
-c do a make clean before building
-N don't rebuild before starting ardupilot
-w wipe EEPROM and reload parameters
-R reverse throttle in plane
-f FRAME set aircraft frame type
for copters can choose +, X, quad or octa
for planes can choose elevon or vtail
-j NUM_PROC number of processors to use during build (default 1)
-H start HIL
-e use external simulator
-S SPEEDUP set simulation speedup (1 for wall clock time)
mavproxy_options:
--map start with a map
--console start with a status console
--out DEST start MAVLink output to DEST
Note:
eeprom.bin in the starting directory contains the parameters for your
simulated vehicle. Always start from the same directory. It is recommended that
you start in the main vehicle directory for the vehicle you are simulating,
for example, start in the ArduPlane directory to simulate ArduPlane
EOF
}
# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
while getopts ":I:VgGcj:TA:t:L:v:hwf:RNHeMS:" opt; do
case $opt in
v)
VEHICLE=$OPTARG
;;
I)
INSTANCE=$OPTARG
;;
V)
USE_VALGRIND=1
;;
N)
NO_REBUILD=1
;;
H)
START_HIL=1
NO_REBUILD=1
;;
T)
START_ANTENNA_TRACKER=1
;;
A)
TRACKER_ARGS="$OPTARG"
;;
R)
REVERSE_THROTTLE=1
;;
G)
USE_GDB=1
;;
M)
USE_MAVLINK_GIMBAL=1
;;
g)
USE_GDB=1
USE_GDB_STOPPED=1
;;
L)
LOCATION="$OPTARG"
;;
f)
FRAME="$OPTARG"
;;
S)
SPEEDUP="$OPTARG"
;;
t)
TRACKER_LOCATION="$OPTARG"
;;
c)
CLEAN_BUILD=1
;;
j)
NUM_PROCS=$OPTARG
;;
w)
WIPE_EEPROM=1
;;
e)
EXTERNAL_SIM=1
;;
h)
usage
exit 0
;;
\?)
# allow other args to pass on to mavproxy
break
;;
:)
echo "Option -$OPTARG requires an argument." >&2
usage
exit 1
esac
done
shift $((OPTIND-1))
# kill existing copy if this is the '0' instance only
kill_tasks()
{
[ "$INSTANCE" -eq "0" ] && {
killall -q JSBSim lt-JSBSim ArduPlane.elf ArduCopter.elf APMrover2.elf AntennaTracker.elf
pkill -f runsim.py
pkill -f sim_tracker.py
pkill -f sim_rover.py
pkill -f sim_wrapper.py
}
}
if [ $START_HIL == 0 ]; then
kill_tasks
fi
trap kill_tasks SIGINT
# setup ports for this instance
MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
SIMIN_PORT="127.0.0.1:"$((5502+10*$INSTANCE))
SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE))
FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE))
set -x
[ -z "$VEHICLE" ] && {
VEHICLE=$(basename $PWD)
}
EXTRA_PARM=""
EXTRA_SIM=""
[ "$SPEEDUP" != "1" ] && {
EXTRA_SIM="$EXTRA_SIM --speedup=$SPEEDUP"
}
# modify build target based on copter frame type
case $FRAME in
+|quad)
BUILD_TARGET="sitl"
EXTRA_SIM="$EXTRA_SIM --frame=quad"
;;
X)
BUILD_TARGET="sitl"
EXTRA_PARM="param set FRAME 1;"
EXTRA_SIM="$EXTRA_SIM --frame=X"
;;
octa)
BUILD_TARGET="sitl-octa"
EXTRA_SIM="$EXTRA_SIM --frame=octa"
;;
octa-quad)
BUILD_TARGET="sitl-octa-quad"
EXTRA_SIM="$EXTRA_SIM --frame=octa-quad"
;;
heli)
BUILD_TARGET="sitl-heli"
EXTRA_SIM="$EXTRA_SIM --frame=heli"
;;
IrisRos)
BUILD_TARGET="sitl"
EXTRA_SIM="$EXTRA_SIM --frame=IrisRos"
;;
elevon*)
EXTRA_PARM="param set ELEVON_OUTPUT 4;"
EXTRA_SIM="$EXTRA_SIM --elevon"
;;
vtail)
EXTRA_PARM="param set VTAIL_OUTPUT 4;"
EXTRA_SIM="$EXTRA_SIM --vtail"
;;
skid)
EXTRA_SIM="$EXTRA_SIM --skid-steering"
;;
obc)
BUILD_TARGET="sitl-obc"
;;
"")
;;
*)
echo "Unknown frame type $FRAME"
usage
exit 1
;;
esac
if [ $USE_MAVLINK_GIMBAL == 1 ]; then
echo "Using MAVLink gimbal"
EXTRA_SIM="$EXTRA_SIM --gimbal"
fi
autotest=$(dirname $(readlink -e $0))
if [ $NO_REBUILD == 0 ]; then
pushd $autotest/../../$VEHICLE || {
echo "Failed to change to vehicle directory for $VEHICLE"
usage
exit 1
}
if [ ! -f $autotest/../../config.mk ]; then
echo Generating a default configuration
make configure
fi
if [ $CLEAN_BUILD == 1 ]; then
make clean
fi
make $BUILD_TARGET -j$NUM_PROCS || {
make clean
make $BUILD_TARGET -j$NUM_PROCS
}
popd
fi
# get the location information
SIMHOME=$(cat $autotest/locations.txt | grep -i "^$LOCATION=" | cut -d= -f2)
[ -z "$SIMHOME" ] && {
echo "Unknown location $LOCATION"
usage
exit 1
}
echo "Starting up at $LOCATION : $SIMHOME"
TRACKER_HOME=$(cat $autotest/locations.txt | grep -i "^$TRACKER_LOCATION=" | cut -d= -f2)
[ -z "$TRACKER_HOME" ] && {
echo "Unknown tracker location $TRACKER_LOCATION"
usage
exit 1
}
if [ $START_ANTENNA_TRACKER == 1 ]; then
pushd $autotest/../../AntennaTracker
if [ $CLEAN_BUILD == 1 ]; then
make clean
fi
make sitl -j$NUM_PROCS || {
make clean
make sitl -j$NUM_PROCS
}
TRACKER_INSTANCE=1
TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE))
TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE))
TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1"
$autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
$autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT $TRACKER_ARGS || exit 1
popd
fi
cmd="/tmp/$VEHICLE.build/$VEHICLE.elf -I$INSTANCE"
if [ $WIPE_EEPROM == 1 ]; then
cmd="$cmd -w"
fi
case $VEHICLE in
ArduPlane)
[ "$REVERSE_THROTTLE" == 1 ] && {
EXTRA_SIM="$EXTRA_SIM --revthr"
}
jsbsim_version=$(JSBSim --version)
if [[ $jsbsim_version != *"ArduPilot"* ]]
then
cat <<EOF
=========================================================
You need the latest ArduPilot version of JSBSim installed
and in your \$PATH
Please get it from git://github.com/tridge/jsbsim.git
See
http://dev.ardupilot.com/wiki/simulation-2/sitl-simulator-software-in-the-loop/setting-up-sitl-on-linux/
for more details
=========================================================
EOF
exit 1
fi
RUNSIM="nice $autotest/jsb_sim/runsim.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
PARMS="ArduPlane.parm"
if [ $WIPE_EEPROM == 1 ]; then
cmd="$cmd -PFORMAT_VERSION=13 -PSKIP_GYRO_CAL=1 -PRC3_MIN=1000 -PRC3_TRIM=1000"
fi
;;
ArduCopter)
RUNSIM="nice $autotest/pysim/sim_wrapper.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
PARMS="copter_params.parm"
;;
APMrover2)
RUNSIM="nice $autotest/pysim/sim_rover.py --home=$SIMHOME --rate=400 $EXTRA_SIM"
PARMS="Rover.parm"
;;
*)
echo "Unknown vehicle simulation type $VEHICLE - please specify vehicle using -v VEHICLE_TYPE"
usage
exit 1
;;
esac
if [ $START_HIL == 0 ]; then
if [ $USE_VALGRIND == 1 ]; then
echo "Using valgrind"
$autotest/run_in_terminal_window.sh "ardupilot (valgrind)" valgrind $cmd || exit 1
elif [ $USE_GDB == 1 ]; then
echo "Using gdb"
tfile=$(mktemp)
[ $USE_GDB_STOPPED == 0 ] && {
echo r >> $tfile
}
$autotest/run_in_terminal_window.sh "ardupilot (gdb)" gdb -x $tfile --args $cmd || exit 1
else
$autotest/run_in_terminal_window.sh "ardupilot" $cmd || exit 1
fi
fi
trap kill_tasks SIGINT
sleep 2
rm -f $tfile
if [ $EXTERNAL_SIM == 0 ]; then
$autotest/run_in_terminal_window.sh "Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
sleep 2
else
echo "Using external ROS simulator"
RUNSIM="$autotest/ROS/runsim.py --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
$autotest/run_in_terminal_window.sh "ROS Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
sleep 2
fi
# mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
options=""
if [ $START_HIL == 0 ]; then
options="--master $MAVLINK_PORT --sitl $SIMOUT_PORT"
fi
# If running inside of a vagrant guest, then we probably want to forward our mavlink out to the containing host OS
if [ $USER == "vagrant" ]; then
options="$options --out 10.0.2.2:14550"
fi
options="$options --out 127.0.0.1:14550 --out 127.0.0.1:14551"
extra_cmd1=""
if [ $WIPE_EEPROM == 1 ]; then
extra_cmd="param forceload $autotest/$PARMS; $EXTRA_PARM; param fetch"
fi
if [ $START_ANTENNA_TRACKER == 1 ]; then
options="$options --load-module=tracker"
extra_cmd="$extra_cmd module load map; tracker set port $TRACKER_UARTA; tracker start;"
fi
if [ $START_HIL == 1 ]; then
options="$options --load-module=HIL"
fi
if [ $USE_MAVLINK_GIMBAL == 1 ]; then
options="$options --load-module=gimbal"
fi
mavproxy.py $options --cmd="$extra_cmd" $*
if [ $START_HIL == 0 ]; then
kill_tasks
fi
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