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ardupilot/libraries/AP_HAL_SITL/SITL_cmdline.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "UARTDriver.h"
#include <AP_HAL/utility/getopt_cpp.h>
#include <AP_HAL_SITL/Storage.h>
#include <AP_Param/AP_Param.h>
#include <SITL/SIM_Multicopter.h>
#include <SITL/SIM_Helicopter.h>
#include <SITL/SIM_SingleCopter.h>
#include <SITL/SIM_Plane.h>
#include <SITL/SIM_QuadPlane.h>
#include <SITL/SIM_Rover.h>
#include <SITL/SIM_BalanceBot.h>
#include <SITL/SIM_Sailboat.h>
#include <SITL/SIM_MotorBoat.h>
#include <SITL/SIM_CRRCSim.h>
#include <SITL/SIM_Gazebo.h>
#include <SITL/SIM_last_letter.h>
#include <SITL/SIM_JSBSim.h>
#include <SITL/SIM_Tracker.h>
#include <SITL/SIM_Balloon.h>
#include <SITL/SIM_FlightAxis.h>
#include <SITL/SIM_Calibration.h>
#include <SITL/SIM_XPlane.h>
#include <SITL/SIM_Submarine.h>
#include <SITL/SIM_SilentWings.h>
#include <SITL/SIM_Morse.h>
#include <SITL/SIM_AirSim.h>
#include <SITL/SIM_Scrimmage.h>
#include <SITL/SIM_Webots.h>
#include <SITL/SIM_Webots_Python.h>
#include <SITL/SIM_JSON.h>
#include <SITL/SIM_Blimp.h>
#include <SITL/SIM_NoVehicle.h>
#include <SITL/SIM_StratoBlimp.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <signal.h>
#include <stdio.h>
#include <time.h>
#include <sys/time.h>
#define FORCE_VERSION_H_INCLUDE
#include "ap_version.h"
extern HAL_SITL& 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");
AP_HAL::dump_stack_trace();
AP_HAL::dump_core_file();
abort();
}
// catch segfault
static void _sig_segv(int signum)
{
fprintf(stderr, "ERROR: segmentation fault - aborting\n");
AP_HAL::dump_stack_trace();
AP_HAL::dump_core_file();
abort();
}
void SITL_State::_usage(void)
{
printf("Options:\n"
"\t--help|-h display this help information\n"
"\t--wipe|-w wipe eeprom\n"
"\t--unhide-groups|-u parameter enumeration ignores AP_PARAM_FLAG_ENABLE\n"
"\t--speedup|-s SPEEDUP set simulation speedup\n"
"\t--rate|-r RATE set SITL framerate\n"
"\t--console|-C use console instead of TCP ports\n"
"\t--instance|-I N set instance of SITL (adds 10*instance to all port numbers)\n"
// "\t--param|-P NAME=VALUE set some param\n" CURRENTLY BROKEN!
"\t--synthetic-clock|-S set synthetic clock mode\n"
"\t--home|-O HOME set start location (lat,lng,alt,yaw) or location name\n"
"\t--model|-M MODEL set simulation model\n"
"\t--config string set additional simulation config string\n"
"\t--fg|-F ADDRESS set Flight Gear view address, defaults to 127.0.0.1\n"
"\t--enable-fgview enable Flight Gear view\n"
"\t--gimbal enable simulated MAVLink gimbal\n"
"\t--autotest-dir DIR set directory for additional files\n"
"\t--defaults path set path to defaults file\n"
"\t--uartA device (deprecated) set device string for SERIAL0\n"
"\t--uartC device (deprecated) set device string for SERIAL1\n" // ordering captures the historical use of uartB as SERIAL3
"\t--uartD device (deprecated) set device string for SERIAL2\n"
"\t--uartB device (deprecated) set device string for SERIAL3\n"
"\t--uartE device (deprecated) set device string for SERIAL4\n"
"\t--uartF device (deprecated) set device string for SERIAL5\n"
"\t--uartG device (deprecated) set device string for SERIAL6\n"
"\t--uartH device (deprecated) set device string for SERIAL7\n"
"\t--uartI device (deprecated) set device string for SERIAL8\n"
"\t--uartJ device (deprecated) set device string for SERIAL9\n"
"\t--serial0 device set device string for SERIAL0\n"
"\t--serial1 device set device string for SERIAL1\n"
"\t--serial2 device set device string for SERIAL2\n"
"\t--serial3 device set device string for SERIAL3\n"
"\t--serial4 device set device string for SERIAL4\n"
"\t--serial5 device set device string for SERIAL5\n"
"\t--serial6 device set device string for SERIAL6\n"
"\t--serial7 device set device string for SERIAL7\n"
"\t--serial8 device set device string for SERIAL8\n"
"\t--serial9 device set device string for SERIAL9\n"
"\t--rtscts enable rtscts on serial ports (default false)\n"
"\t--base-port PORT set port num for base port(default 5670) must be before -I option\n"
"\t--rc-in-port PORT set port num for rc in\n"
"\t--sim-address ADDR set address string for simulator\n"
"\t--sim-port-in PORT set port num for simulator in\n"
"\t--sim-port-out PORT set port num for simulator out\n"
"\t--irlock-port PORT set port num for irlock\n"
"\t--start-time TIMESTR set simulation start time in UNIX timestamp\n"
"\t--sysid ID set SYSID_THISMAV\n"
"\t--slave number set the number of JSON slaves\n"
);
}
static const struct {
const char *name;
Aircraft *(*constructor)(const char *frame_str);
} model_constructors[] = {
{ "quadplane", QuadPlane::create },
{ "xplane", XPlane::create },
{ "firefly", QuadPlane::create },
{ "+", MultiCopter::create },
{ "quad", MultiCopter::create },
{ "copter", MultiCopter::create },
{ "x", MultiCopter::create },
{ "bfxrev", MultiCopter::create },
{ "bfx", MultiCopter::create },
{ "djix", MultiCopter::create },
{ "cwx", MultiCopter::create },
{ "hexa", MultiCopter::create },
{ "hexax", MultiCopter::create },
{ "hexa-cwx", MultiCopter::create },
{ "hexa-dji", MultiCopter::create },
{ "octa", MultiCopter::create },
{ "octa-cwx", MultiCopter::create },
{ "octa-dji", MultiCopter::create },
{ "octa-quad-cwx", MultiCopter::create },
{ "dodeca-hexa", MultiCopter::create },
{ "tri", MultiCopter::create },
{ "y6", MultiCopter::create },
{ "deca", MultiCopter::create },
{ "deca-cwx", MultiCopter::create },
{ "heli", Helicopter::create },
{ "heli-dual", Helicopter::create },
{ "heli-compound", Helicopter::create },
{ "heli-blade360", Helicopter::create },
{ "singlecopter", SingleCopter::create },
{ "coaxcopter", SingleCopter::create },
{ "rover", SimRover::create },
{ "balancebot", BalanceBot::create },
{ "sailboat", Sailboat::create },
{ "motorboat", MotorBoat::create },
{ "crrcsim", CRRCSim::create },
{ "jsbsim", JSBSim::create },
{ "flightaxis", FlightAxis::create },
{ "gazebo", Gazebo::create },
{ "last_letter", last_letter::create },
{ "tracker", Tracker::create },
{ "balloon", Balloon::create },
{ "plane", Plane::create },
{ "calibration", Calibration::create },
{ "vectored", Submarine::create },
{ "vectored_6dof", Submarine::create },
{ "silentwings", SilentWings::create },
{ "morse", Morse::create },
{ "airsim", AirSim::create},
{ "scrimmage", Scrimmage::create },
{ "webots-python", WebotsPython::create },
{ "webots", Webots::create },
{ "JSON", JSON::create },
{ "blimp", Blimp::create },
{ "novehicle", NoVehicle::create },
#if AP_SIM_STRATOBLIMP_ENABLED
{ "stratoblimp", StratoBlimp::create },
#endif
};
void SITL_State::_set_signal_handlers(void) const
{
struct sigaction sa_fpe = {};
sigemptyset(&sa_fpe.sa_mask);
sa_fpe.sa_handler = _sig_fpe;
sigaction(SIGFPE, &sa_fpe, nullptr);
struct sigaction sa_pipe = {};
sigemptyset(&sa_pipe.sa_mask);
sa_pipe.sa_handler = SIG_IGN; /* No-op SIGPIPE handler */
sigaction(SIGPIPE, &sa_pipe, nullptr);
struct sigaction sa_segv = {};
sigemptyset(&sa_segv.sa_mask);
sa_segv.sa_handler = _sig_segv;
sigaction(SIGSEGV, &sa_segv, nullptr);
}
void SITL_State::_parse_command_line(int argc, char * const argv[])
{
int opt;
float speedup = 1.0f;
float sim_rate_hz = 0;
_instance = 0;
_synthetic_clock_mode = false;
// default to CMAC
const char *home_str = nullptr;
const char *model_str = nullptr;
const char *vehicle_str = AP_BUILD_TARGET_NAME;
_use_fg_view = false;
char *autotest_dir = nullptr;
_fg_address = "127.0.0.1";
const char* config = "";
const int BASE_PORT = 5760;
const int RCIN_PORT = 5501;
const int FG_VIEW_PORT = 5503;
_base_port = BASE_PORT;
_rcin_port = RCIN_PORT;
_fg_view_port = FG_VIEW_PORT;
const int SIM_IN_PORT = 9003;
const int SIM_OUT_PORT = 9002;
const int IRLOCK_PORT = 9005;
const char * simulator_address = "127.0.0.1";
uint16_t simulator_port_in = SIM_IN_PORT;
uint16_t simulator_port_out = SIM_OUT_PORT;
_irlock_port = IRLOCK_PORT;
struct AP_Param::defaults_table_struct temp_cmdline_param{};
// Set default start time to the real system time.
// This will be overwritten if argument provided.
static struct timeval first_tv;
gettimeofday(&first_tv, nullptr);
time_t start_time_UTC = first_tv.tv_sec;
const bool is_example = APM_BUILD_TYPE(APM_BUILD_Replay) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN);
enum long_options {
CMDLINE_GIMBAL = 1,
CMDLINE_FGVIEW,
CMDLINE_AUTOTESTDIR,
CMDLINE_DEFAULTS,
CMDLINE_UARTA, // must be in A-J order and numbered consecutively
CMDLINE_UARTB,
CMDLINE_UARTC,
CMDLINE_UARTD,
CMDLINE_UARTE,
CMDLINE_UARTF,
CMDLINE_UARTG,
CMDLINE_UARTH,
CMDLINE_UARTI,
CMDLINE_UARTJ,
CMDLINE_SERIAL0, // must be in 0-9 order and numbered consecutively
CMDLINE_SERIAL1,
CMDLINE_SERIAL2,
CMDLINE_SERIAL3,
CMDLINE_SERIAL4,
CMDLINE_SERIAL5,
CMDLINE_SERIAL6,
CMDLINE_SERIAL7,
CMDLINE_SERIAL8,
CMDLINE_SERIAL9,
CMDLINE_RTSCTS,
CMDLINE_BASE_PORT,
CMDLINE_RCIN_PORT,
CMDLINE_SIM_ADDRESS,
CMDLINE_SIM_PORT_IN,
CMDLINE_SIM_PORT_OUT,
CMDLINE_IRLOCK_PORT,
CMDLINE_START_TIME,
CMDLINE_SYSID,
CMDLINE_SLAVE,
#if STORAGE_USE_FLASH
CMDLINE_SET_STORAGE_FLASH_ENABLED,
#endif
#if STORAGE_USE_POSIX
CMDLINE_SET_STORAGE_POSIX_ENABLED,
#endif
#if STORAGE_USE_FRAM
CMDLINE_SET_STORAGE_FRAM_ENABLED,
#endif
};
const struct GetOptLong::option options[] = {
{"help", false, 0, 'h'},
{"wipe", false, 0, 'w'},
{"unhide-groups", false, 0, 'u'},
{"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'},
{"config", true, 0, 'c'},
{"fg", true, 0, 'F'},
{"gimbal", false, 0, CMDLINE_GIMBAL},
{"enable-fgview", false, 0, CMDLINE_FGVIEW},
{"autotest-dir", true, 0, CMDLINE_AUTOTESTDIR},
{"defaults", true, 0, CMDLINE_DEFAULTS},
{"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},
{"uartF", true, 0, CMDLINE_UARTF},
{"uartG", true, 0, CMDLINE_UARTG},
{"uartH", true, 0, CMDLINE_UARTH},
{"uartI", true, 0, CMDLINE_UARTI},
{"uartJ", true, 0, CMDLINE_UARTJ},
{"serial0", true, 0, CMDLINE_SERIAL0},
{"serial1", true, 0, CMDLINE_SERIAL1},
{"serial2", true, 0, CMDLINE_SERIAL2},
{"serial3", true, 0, CMDLINE_SERIAL3},
{"serial4", true, 0, CMDLINE_SERIAL4},
{"serial5", true, 0, CMDLINE_SERIAL5},
{"serial6", true, 0, CMDLINE_SERIAL6},
{"serial7", true, 0, CMDLINE_SERIAL7},
{"serial8", true, 0, CMDLINE_SERIAL8},
{"serial9", true, 0, CMDLINE_SERIAL9},
{"rtscts", false, 0, CMDLINE_RTSCTS},
{"base-port", true, 0, CMDLINE_BASE_PORT},
{"rc-in-port", true, 0, CMDLINE_RCIN_PORT},
{"sim-address", true, 0, CMDLINE_SIM_ADDRESS},
{"sim-port-in", true, 0, CMDLINE_SIM_PORT_IN},
{"sim-port-out", true, 0, CMDLINE_SIM_PORT_OUT},
{"irlock-port", true, 0, CMDLINE_IRLOCK_PORT},
{"start-time", true, 0, CMDLINE_START_TIME},
{"sysid", true, 0, CMDLINE_SYSID},
{"slave", true, 0, CMDLINE_SLAVE},
#if STORAGE_USE_FLASH
{"set-storage-flash-enabled", true, 0, CMDLINE_SET_STORAGE_FLASH_ENABLED},
#endif
#if STORAGE_USE_POSIX
{"set-storage-posix-enabled", true, 0, CMDLINE_SET_STORAGE_POSIX_ENABLED},
#endif
#if STORAGE_USE_FRAM
{"set-storage-fram-enabled", true, 0, CMDLINE_SET_STORAGE_FRAM_ENABLED},
#endif
{"vehicle", true, 0, 'v'},
{0, false, 0, 0}
};
if (is_example) {
model_str = "novehicle";
HALSITL::UARTDriver::_console = true;
}
// storage defaults are set here:
bool storage_posix_enabled = true;
bool storage_flash_enabled = false;
bool storage_fram_enabled = false;
bool erase_all_storage = false;
if (asprintf(&autotest_dir, AP_BUILD_ROOT "/Tools/autotest") <= 0) {
AP_HAL::panic("out of memory");
}
_set_signal_handlers();
setvbuf(stdout, (char *)0, _IONBF, 0);
setvbuf(stderr, (char *)0, _IONBF, 0);
bool wiping_storage = false;
GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:v:",
options);
while (!is_example && (opt = gopt.getoption()) != -1) {
switch (opt) {
case 'w':
erase_all_storage = true;
break;
case 'u':
AP_Param::set_hide_disabled_groups(false);
break;
case 's':
speedup = strtof(gopt.optarg, nullptr);
temp_cmdline_param = {"SIM_SPEEDUP", speedup};
cmdline_param.push_back(temp_cmdline_param);
printf("Setting SIM_SPEEDUP=%f\n", speedup);
break;
case 'r':
sim_rate_hz = strtof(gopt.optarg, nullptr);
temp_cmdline_param = {"SIM_RATE_HZ", sim_rate_hz};
cmdline_param.push_back(temp_cmdline_param);
printf("Setting SIM_RATE_HZ=%f\n", sim_rate_hz);
break;
case 'C':
HALSITL::UARTDriver::_console = true;
break;
case 'I': {
_instance = atoi(gopt.optarg);
if (_base_port == BASE_PORT) {
_base_port += _instance * 10;
}
if (_rcin_port == RCIN_PORT) {
_rcin_port += _instance * 10;
}
if (_fg_view_port == FG_VIEW_PORT) {
_fg_view_port += _instance * 10;
}
if (simulator_port_in == SIM_IN_PORT) {
simulator_port_in += _instance * 10;
}
if (simulator_port_out == SIM_OUT_PORT) {
simulator_port_out += _instance * 10;
}
if (_irlock_port == IRLOCK_PORT) {
_irlock_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 'c':
config = gopt.optarg;
break;
case 'F':
_fg_address = gopt.optarg;
break;
case 'v':
vehicle_str = gopt.optarg;
break;
case CMDLINE_GIMBAL:
enable_gimbal = true;
break;
case CMDLINE_FGVIEW:
_use_fg_view = true;
break;
case CMDLINE_AUTOTESTDIR:
autotest_dir = strdup(gopt.optarg);
break;
case CMDLINE_DEFAULTS:
defaults_path = strdup(gopt.optarg);
break;
case CMDLINE_UARTA:
case CMDLINE_UARTB:
case CMDLINE_UARTC:
case CMDLINE_UARTD:
case CMDLINE_UARTE:
case CMDLINE_UARTF:
case CMDLINE_UARTG:
case CMDLINE_UARTH:
case CMDLINE_UARTI:
case CMDLINE_UARTJ: {
int uart_idx = opt - CMDLINE_UARTA;
// ordering captures the historical use of uartB as SERIAL3
static const uint8_t mapping[] = { 0, 3, 1, 2, 4, 5, 6, 7, 8, 9 };
int serial_idx = mapping[uart_idx];
char uart_letter = (char)(uart_idx)+'A';
printf("WARNING: deprecated option --uart%c will be removed in a "
"future release. Use --serial%d instead.\n",
uart_letter, serial_idx);
_serial_path[serial_idx] = gopt.optarg;
break;
}
case CMDLINE_SERIAL0:
case CMDLINE_SERIAL1:
case CMDLINE_SERIAL2:
case CMDLINE_SERIAL3:
case CMDLINE_SERIAL4:
case CMDLINE_SERIAL5:
case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9:
_serial_path[opt - CMDLINE_SERIAL0] = gopt.optarg;
break;
case CMDLINE_RTSCTS:
_use_rtscts = true;
break;
case CMDLINE_BASE_PORT:
_base_port = atoi(gopt.optarg);
break;
case CMDLINE_RCIN_PORT:
_rcin_port = atoi(gopt.optarg);
break;
case CMDLINE_SIM_ADDRESS:
simulator_address = gopt.optarg;
break;
case CMDLINE_SIM_PORT_IN:
simulator_port_in = atoi(gopt.optarg);
break;
case CMDLINE_SIM_PORT_OUT:
simulator_port_out = atoi(gopt.optarg);
break;
case CMDLINE_IRLOCK_PORT:
_irlock_port = atoi(gopt.optarg);
break;
case CMDLINE_START_TIME:
start_time_UTC = atoi(gopt.optarg);
break;
case CMDLINE_SYSID: {
const int32_t sysid = atoi(gopt.optarg);
if (sysid < 1 || sysid > 255) {
fprintf(stderr, "You must specify a SYSID greater than 0 and less than 256\n");
exit(1);
}
temp_cmdline_param = {"SYSID_THISMAV", static_cast<float>(sysid)};
cmdline_param.push_back(temp_cmdline_param);
printf("Setting SYSID_THISMAV=%d\n", sysid);
break;
}
#if STORAGE_USE_POSIX
case CMDLINE_SET_STORAGE_POSIX_ENABLED:
storage_posix_enabled = atoi(gopt.optarg);
break;
#endif
#if STORAGE_USE_FLASH
case CMDLINE_SET_STORAGE_FLASH_ENABLED:
storage_flash_enabled = atoi(gopt.optarg);
break;
#endif
#if STORAGE_USE_FRAM
case CMDLINE_SET_STORAGE_FRAM_ENABLED:
storage_fram_enabled = atoi(gopt.optarg);
break;
#endif
case 'h':
_usage();
exit(0);
case CMDLINE_SLAVE: {
#if HAL_SIM_JSON_MASTER_ENABLED
const int32_t slaves = atoi(gopt.optarg);
if (slaves > 0) {
ride_along.init(slaves);
}
#endif
break;
}
default:
_usage();
exit(1);
}
}
if (!model_str) {
printf("You must specify a vehicle model. Options are:\n");
for (uint8_t i=0; i < ARRAY_SIZE(model_constructors); i++) {
printf(" %s\n", model_constructors[i].name);
}
// spit this out again as the original message probably just
// scrolled off the screen:
printf("You must specify a vehicle model.\n");
exit(1);
}
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) {
// printf("Creating model %f,%f,%f,%f at speed %.1f\n", opos.lat, opos.lng, opos.alt, opos.hdg, speedup);
sitl_model = model_constructors[i].constructor(model_str);
if (home_str != nullptr) {
Location home;
float home_yaw;
if (strchr(home_str,',') == nullptr) {
if (!lookup_location(home_str, home, home_yaw)) {
::printf("Failed to find location (%s). Should be in locations.txt or LAT,LON,ALT,HDG e.g. 37.4003371,-122.0800351,0,353\n", home_str);
exit(1);
}
} else if (!parse_home(home_str, home, home_yaw)) {
::printf("Failed to parse home string (%s). Should be LAT,LON,ALT,HDG e.g. 37.4003371,-122.0800351,0,353\n", home_str);
exit(1);
}
sitl_model->set_start_location(home, home_yaw);
}
sitl_model->set_interface_ports(simulator_address, simulator_port_in, simulator_port_out);
sitl_model->set_speedup(speedup);
sitl_model->set_instance(_instance);
sitl_model->set_autotest_dir(autotest_dir);
sitl_model->set_config(config);
_synthetic_clock_mode = true;
break;
}
}
if (sitl_model == nullptr) {
printf("Vehicle model (%s) not found\n", model_str);
exit(1);
}
if (storage_posix_enabled && storage_flash_enabled) {
// this will change in the future!
printf("Only one of flash or posix storage may be selected");
exit(1);
}
if (AP::sitl()) {
// Set SITL start time.
AP::sitl()->start_time_UTC = start_time_UTC;
}
hal.set_storage_posix_enabled(storage_posix_enabled);
hal.set_storage_flash_enabled(storage_flash_enabled);
hal.set_storage_fram_enabled(storage_fram_enabled);
if (erase_all_storage) {
AP_Param::erase_all();
unlink("flash.dat");
hal.set_wipe_storage(wiping_storage);
}
fprintf(stdout, "Starting sketch '%s'\n", vehicle_str);
if (strcmp(vehicle_str, "ArduCopter") == 0) {
_vehicle = ArduCopter;
} else if (strcmp(vehicle_str, "Rover") == 0) {
_vehicle = Rover;
} else if (strcmp(vehicle_str, "ArduSub") == 0) {
_vehicle = ArduSub;
} else if (strcmp(vehicle_str, "Blimp") == 0) {
_vehicle = Blimp;
} else {
_vehicle = ArduPlane;
}
_sitl_setup();
}
/*
parse a home string into a location and yaw
*/
bool SITL_State::parse_home(const char *home_str, Location &loc, float &yaw_degrees)
{
char *saveptr = nullptr;
char *s = strdup(home_str);
if (!s) {
free(s);
::printf("No home string supplied\n");
return false;
}
char *lat_s = strtok_r(s, ",", &saveptr);
if (!lat_s) {
free(s);
::printf("Failed to parse latitude\n");
return false;
}
char *lon_s = strtok_r(nullptr, ",", &saveptr);
if (!lon_s) {
free(s);
::printf("Failed to parse longitude\n");
return false;
}
char *alt_s = strtok_r(nullptr, ",", &saveptr);
if (!alt_s) {
free(s);
::printf("Failed to parse altitude\n");
return false;
}
char *yaw_s = strtok_r(nullptr, ",", &saveptr);
if (!yaw_s) {
free(s);
::printf("Failed to parse yaw\n");
return false;
}
loc = {};
loc.lat = static_cast<int32_t>(strtod(lat_s, nullptr) * 1.0e7);
loc.lng = static_cast<int32_t>(strtod(lon_s, nullptr) * 1.0e7);
loc.alt = static_cast<int32_t>(strtod(alt_s, nullptr) * 1.0e2);
if (loc.lat == 0 && loc.lng == 0) {
// default to CMAC instead of middle of the ocean. This makes
// SITL in MissionPlanner a bit more useful
loc.lat = -35.363261*1e7;
loc.lng = 149.165230*1e7;
loc.alt = 584*100;
}
yaw_degrees = strtof(yaw_s, nullptr);
free(s);
return true;
}
/*
lookup a location in locations.txt in ROMFS
*/
bool SITL_State::lookup_location(const char *home_str, Location &loc, float &yaw_degrees)
{
const char *locations = "@ROMFS/locations.txt";
FileData *fd = AP::FS().load_file(locations);
if (fd == nullptr) {
::printf("Missing %s\n", locations);
return false;
}
char *str = strndup((const char *)fd->data, fd->length);
if (!str) {
delete fd;
return false;
}
size_t len = strlen(home_str);
char *saveptr = nullptr;
for (char *s = strtok_r(str, "\r\n", &saveptr);
s;
s=strtok_r(nullptr, "\r\n", &saveptr)) {
if (strncasecmp(s, home_str, len) == 0 && s[len]=='=') {
bool ok = parse_home(&s[len+1], loc, yaw_degrees);
free(str);
delete fd;
return ok;
}
}
free(str);
delete fd;
::printf("Failed to find location '%s'\n", home_str);
return false;
}
#endif
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