mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.5 KiB
Bash
Executable File
129 lines
3.5 KiB
Bash
Executable File
#!/bin/bash
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# home location lat, lon, alt, heading
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SIMHOME="-35.363261,149.165230,584,353"
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TRACKER_HOME="-35.362734,149.165300,586,270"
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# check the instance number to allow for multiple copies of the sim running at once
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INSTANCE=0
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USE_VALGRIND=0
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USE_GDB=0
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CLEAN_BUILD=0
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START_ANTENNA_TRACKER=0
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# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
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while getopts ":I:VGcT" opt; do
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case $opt in
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I)
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INSTANCE=$OPTARG
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;;
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V)
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USE_VALGRIND=1
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;;
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T)
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START_ANTENNA_TRACKER=1
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;;
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G)
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USE_GDB=1
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;;
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c)
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CLEAN_BUILD=1
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;;
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\?)
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# allow other args to pass on to mavproxy
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break
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;;
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:)
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echo "Option -$OPTARG requires an argument." >&2
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exit 1
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esac
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done
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shift $((OPTIND-1))
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# kill existing copy if this is the '0' instance only
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kill_tasks()
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{
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[ "$INSTANCE" -eq "0" ] && {
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killall -q JSBSim lt-JSBSim ArduPlane.elf AntennaTracker.elf
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pkill -f runsim.py
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pkill -f sim_tracker.py
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}
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}
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kill_tasks
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trap kill_tasks SIGINT
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# setup ports for this instance
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MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
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SIMIN_PORT="127.0.0.1:"$((5502+10*$INSTANCE))
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SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE))
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FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE))
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set -e
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set -x
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autotest=$(dirname $(readlink -e $0))
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pushd $autotest/../../ArduPlane
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if [ $CLEAN_BUILD == 1 ]; then
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make clean
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fi
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make sitl -j4 || {
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make clean
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make sitl -j4
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}
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popd
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if [ $START_ANTENNA_TRACKER == 1 ]; then
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pushd $autotest/../AntennaTracker
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if [ $CLEAN_BUILD == 1 ]; then
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make clean
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fi
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make sitl -j4 || {
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make clean
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make sitl -j4
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}
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TRACKER_INSTANCE=1
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TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE))
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TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE))
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TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
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cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1"
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$autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
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$autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT || exit 1
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popd
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fi
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cmd="/tmp/ArduPlane.build/ArduPlane.elf -I$INSTANCE"
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if [ $USE_VALGRIND == 1 ]; then
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echo "Using valgrind"
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$autotest/run_in_terminal_window.sh "ardupilot (valgrind)" valgrind $cmd || exit 1
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elif [ $USE_GDB == 1 ]; then
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echo "Using gdb"
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tfile=$(mktemp)
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echo r > $tfile
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$autotest/run_in_terminal_window.sh "ardupilot (gdb)" gdb -x $tfile --args $cmd || exit 1
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else
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$autotest/run_in_terminal_window.sh "ardupilot" $cmd || exit 1
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fi
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sleep 2
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rm -f $tfile
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$autotest/run_in_terminal_window.sh "JSBSim" $autotest/jsbsim/runsim.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT || exit 1
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sleep 2
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# if you wanted to forward packets out a serial link for testing
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# andropilot, then add --out /dev/serial/by-id/usb-FTDI* to your
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# command line along with a baudrate. You might also like to add --map
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# and --console
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# for example:
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# sim_arduplane.sh --out /dev/serial/by-id/usb-FTDI* --baudrate 57600 --map --console
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# 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
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options="--master $MAVLINK_PORT --sitl $SIMOUT_PORT --out 127.0.0.1:14550 --out 127.0.0.1:14551"
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if [ $START_ANTENNA_TRACKER == 1 ]; then
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mavproxy.py $options --load-module=tracker --cmd="set moddebug 1; tracker set port $TRACKER_UARTA" $*
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else
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mavproxy.py $options $*
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fi
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