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ardupilot/Tools/autotest/sim_vehicle.py

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#!/usr/bin/env python
"""
Framework to start a simulated vehicle and connect it to MAVProxy.
Peter Barker, April 2016
based on sim_vehicle.sh by Andrew Tridgell, October 2011
"""
from __future__ import print_function
import atexit
import errno
import getpass
import optparse
import os
import os.path
import re
import signal
import subprocess
import sys
import tempfile
import time
import shlex
# List of open terminal windows for macosx
windowID = []
class CompatError(Exception):
"""A custom exception class to hold state if we encounter the parse error we are looking for"""
def __init__(self, error, opts, rargs):
Exception.__init__(self, error)
self.opts = opts
self.rargs = rargs
class CompatOptionParser(optparse.OptionParser):
"""An option parser which emulates the behaviour of the old sim_vehicle.sh; if passed -C, the first argument not understood starts a list of arguments that are passed straight to mavproxy"""
def __init__(self, *args, **kwargs):
optparse.OptionParser.__init__(self, *args, **kwargs)
def error(self, error):
"""Override default error handler called by optparse.OptionParser.parse_args when a parse error occurs; raise a detailed exception which can be caught"""
if error.find("no such option") != -1:
raise CompatError(error, self.values, self.rargs)
optparse.OptionParser.error(self, error)
def parse_args(self, args=None, values=None):
"""Wrap parse_args so we can catch the exception raised upon discovering the known parameter parsing error"""
try:
opts, args = optparse.OptionParser.parse_args(self)
except CompatError as e:
if not e.opts.sim_vehicle_sh_compatible:
print(e)
print("Perhaps you want --sim_vehicle_sh_compatible (-C)?")
sys.exit(1)
if e.opts.mavproxy_args:
print("--mavproxy-args not permitted in compat mode")
sys.exit(1)
args = []
opts = e.opts
mavproxy_args = [str(e)[16:]] # this trims "no such option" off
mavproxy_args.extend(e.rargs)
opts.ensure_value("mavproxy_args", " ".join(mavproxy_args))
return opts, args
def cygwin_pidof(proc_name):
""" Thanks to kata198 for this:
https://github.com/kata198/cygwin-ps-misc/blob/master/pidof
"""
pipe = subprocess.Popen("ps -ea | grep " + proc_name, shell=True, stdout=subprocess.PIPE)
output_lines = pipe.stdout.read().replace("\r", "").split("\n")
ret = pipe.wait()
pids = []
if ret != 0:
# No results
return []
for line in output_lines:
if not line:
continue
line_split = [item for item in line.split(' ') if item]
cmd = line_split[-1].split('/')[-1]
if cmd == proc_name:
try:
pid = int(line_split[0].strip())
except:
pid = int(line_split[1].strip())
if pid not in pids:
pids.append(pid)
return pids
def under_cygwin():
"""Return if Cygwin binary exist"""
return os.path.exists("/usr/bin/cygstart")
def under_macos():
return sys.platform == 'darwin'
def kill_tasks_cygwin(victims):
"""Shell out to ps -ea to find processes to kill"""
for victim in list(victims):
pids = cygwin_pidof(victim)
# progress("pids for (%s): %s" % (victim,",".join([ str(p) for p in pids])))
for apid in pids:
os.kill(apid, signal.SIGKILL)
def kill_tasks_macos():
for window in windowID:
cmd = "osascript -e \'tell application \"Terminal\" to close (window(get index of window id %s))\'" % window
os.system(cmd)
def kill_tasks_psutil(victims):
"""Use the psutil module to kill tasks by name. Sadly, this module is not available on Windows, but when it is we should be able to *just* use this routine"""
import psutil
for proc in psutil.process_iter():
if proc.status == psutil.STATUS_ZOMBIE:
continue
if proc.name in victims:
proc.kill()
def kill_tasks_pkill(victims):
"""Shell out to pkill(1) to kill processed by name"""
for victim in victims: # pkill takes a single pattern, so iterate
cmd = ["pkill", victim]
run_cmd_blocking("pkill", cmd, quiet=True)
class BobException(Exception):
"""Handle Bob's Exceptions"""
pass
def kill_tasks():
"""Clean up stray processes by name. This is a somewhat shotgun approach"""
progress("Killing tasks")
try:
victim_names = {
'JSBSim',
'lt-JSBSim',
'ArduPlane.elf',
'ArduCopter.elf',
'APMrover2.elf',
'AntennaTracker.elf',
'JSBSIm.exe',
'MAVProxy.exe',
'runsim.py',
'AntennaTracker.elf',
}
for frame in _options_for_frame.keys():
if "waf_target" not in _options_for_frame[frame]:
continue
exe_name = os.path.basename(_options_for_frame[frame]["waf_target"])
victim_names.add(exe_name)
if under_cygwin():
return kill_tasks_cygwin(victim_names)
if under_macos():
return kill_tasks_macos()
try:
kill_tasks_psutil(victim_names)
except ImportError:
kill_tasks_pkill(victim_names)
except Exception as e:
progress("kill_tasks failed: {}".format(str(e)))
def check_jsbsim_version():
"""Assert that the JSBSim we will run is the one we expect to run"""
jsbsim_cmd = ["JSBSim", "--version"]
progress_cmd("Get JSBSim version", jsbsim_cmd)
try:
jsbsim_version = subprocess.Popen(jsbsim_cmd, stdout=subprocess.PIPE).communicate()[0]
except OSError:
jsbsim_version = '' # this value will trigger the ".index"
# check below and produce a reasonable
# error message
try:
jsbsim_version.index(b"ArduPilot")
except ValueError:
print(r"""
=========================================================
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://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html
for more details
=========================================================
""")
sys.exit(1)
def progress(text):
"""Display sim_vehicle progress text"""
print("SIM_VEHICLE: " + text)
def find_autotest_dir():
"""Return path to autotest directory"""
return os.path.dirname(os.path.realpath(__file__))
def find_root_dir():
"""Return path to root directory"""
return os.path.realpath(os.path.join(find_autotest_dir(), '../..'))
def wait_unlimited():
"""Wait until signal received"""
time.sleep(987654321987654321)
"""
make_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py
default_params_filename: filename of default parameters file. Taken to be relative to autotest dir.
extra_mavlink_cmds: extra parameters that will be passed to mavproxy
"""
_options_for_frame = {
"calibration": {
"extra_mavlink_cmds": "module load sitl_calibration;",
},
# COPTER
"+": {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
},
"quad": {
"model": "+",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
},
"X": {
"waf_target": "bin/arducopter",
# this param set FRAME doesn't actually work because mavproxy
# won't set a parameter unless it knows of it, and the param fetch happens asynchronously
"default_params_filename": "default_params/copter.parm",
"extra_mavlink_cmds": "param fetch frame; param set FRAME 1;",
},
"hexa": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
},
"octa-quad": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
},
"octa": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
},
"tri": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-tri.parm",
},
"y6": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-y6.parm",
},
# COPTER TYPES
"IrisRos": {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
},
"firefly": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/firefly.parm",
},
# HELICOPTER
"heli": {
"make_target": "sitl-heli",
"waf_target": "bin/arducopter-heli",
"default_params_filename": "default_params/copter-heli.parm",
},
"heli-dual": {
"make_target": "sitl-heli-dual",
"waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
},
"heli-compound": {
"make_target": "sitl-heli-compound",
"waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
},
"singlecopter": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-single.parm",
},
"coaxcopter": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-coax.parm",
},
# PLANE
"quadplane-tilttri": {
"make_target": "sitl",
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/quadplane-tilttri.parm",
},
"quadplane-tri": {
"make_target": "sitl",
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/quadplane-tri.parm",
},
"quadplane-cl84" : {
"make_target" : "sitl",
"waf_target" : "bin/arduplane",
"default_params_filename": "default_params/quadplane-cl84.parm",
},
"quadplane": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/quadplane.parm",
},
"plane-elevon": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane-elevons.parm",
},
"plane-vtail": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane-vtail.parm",
},
"plane-tailsitter": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane-tailsitter.parm",
},
"plane": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane.parm",
},
# ROVER
"rover": {
"waf_target": "bin/ardurover",
"default_params_filename": "default_params/rover.parm",
},
"rover-skid": {
"waf_target": "bin/ardurover",
"default_params_filename": "default_params/rover-skid.parm",
},
# SIM
"gazebo-iris": {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/gazebo-iris.parm",
},
"gazebo-zephyr": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/gazebo-zephyr.parm",
},
"last_letter": {
"waf_target": "bin/arduplane",
},
"CRRCSim": {
"waf_target": "bin/arduplane",
},
"jsbsim": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane-jsbsim.parm",
},
}
_default_waf_target = {
"ArduPlane": "bin/arduplane",
"ArduCopter": "bin/arducopter",
"APMrover2": "bin/ardurover",
"AntennaTracker": "bin/antennatracker",
}
def default_waf_target(vehicle):
"""Returns a waf target based on vehicle type, which is often determined by which directory the user is in"""
return _default_waf_target[vehicle]
def options_for_frame(frame, vehicle, opts):
"""Return informatiom about how to sitl for frame e.g. build-type==sitl"""
ret = None
if frame in _options_for_frame:
ret = _options_for_frame[frame]
else:
for p in ["octa", "tri", "y6", "firefly", "heli", "gazebo", "last_letter", "jsbsim", "quadplane", "plane-elevon", "plane-vtail", "plane"]:
if frame.startswith(p):
ret = _options_for_frame[p]
break
if ret is None:
if frame.endswith("-heli"):
ret = _options_for_frame["heli"]
if ret is None:
ret = {}
if "model" not in ret:
ret["model"] = frame
if "sitl-port" not in ret:
ret["sitl-port"] = True
if opts.model is not None:
ret["model"] = opts.model
if (ret["model"].find("xplane") != -1 or ret["model"].find("flightaxis") != -1):
ret["sitl-port"] = False
if "make_target" not in ret:
ret["make_target"] = "sitl"
if "waf_target" not in ret:
ret["waf_target"] = default_waf_target(vehicle)
if opts.build_target is not None:
ret["make_target"] = opts.build_target
ret["waf_target"] = opts.build_target
return ret
def do_build_waf(opts, frame_options):
"""Build sitl using waf"""
progress("WAF build")
old_dir = os.getcwd()
root_dir = find_root_dir()
os.chdir(root_dir)
waf_light = os.path.join(root_dir, "modules/waf/waf-light")
cmd_configure = [waf_light, "configure", "--board", "sitl"]
if opts.debug:
cmd_configure.append("--debug")
pieces = [ shlex.split(x) for x in opts.waf_configure_args ]
for piece in pieces:
cmd_configure.extend(piece)
run_cmd_blocking("Configure waf", cmd_configure, check=True)
if opts.clean:
run_cmd_blocking("Building clean", [waf_light, "clean"])
cmd_build = [waf_light, "build", "--target", frame_options["waf_target"]]
if opts.jobs is not None:
cmd_build += ['-j', str(opts.jobs)]
pieces = [ shlex.split(x) for x in opts.waf_build_args ]
for piece in pieces:
cmd_build.extend(piece)
_, sts = run_cmd_blocking("Building", cmd_build)
if sts != 0: # build failed
if opts.rebuild_on_failure:
progress("Build failed; cleaning and rebuilding")
run_cmd_blocking("Building clean", [waf_light, "clean"])
_, sts = run_cmd_blocking("Building", cmd_build)
if sts != 0:
progress("Build failed")
sys.exit(1)
else:
progress("Build failed")
sys.exit(1)
os.chdir(old_dir)
def do_build(vehicledir, opts, frame_options):
"""Build build target (e.g. sitl) in directory vehicledir"""
if opts.build_system == 'waf':
return do_build_waf(opts, frame_options)
old_dir = os.getcwd()
os.chdir(vehicledir)
if opts.clean:
run_cmd_blocking("Building clean", ["make", "clean"])
build_target = frame_options["make_target"]
if opts.debug:
build_target += "-debug"
build_cmd = ["make", build_target]
if opts.jobs is not None:
build_cmd += ['-j', str(opts.jobs)]
_, sts = run_cmd_blocking("Building %s" % build_target, build_cmd)
if sts != 0:
progress("Build failed; cleaning and rebuilding")
run_cmd_blocking("Cleaning", ["make", "clean"])
_, sts = run_cmd_blocking("Building %s" % build_target, build_cmd)
if sts != 0:
progress("Build failed")
sys.exit(1)
os.chdir(old_dir)
def get_user_locations_path():
'''The user locations.txt file is located by default in
$XDG_CONFIG_DIR/ardupilot/locations.txt. If $XDG_CONFIG_DIR is
not defined, we look in $HOME/.config/ardupilot/locations.txt. If
$HOME is not defined, we look in ./.config/ardpupilot/locations.txt.'''
config_dir = os.environ.get(
'XDG_CONFIG_DIR',
os.path.join(os.environ.get('HOME', '.'), '.config'))
user_locations_path = os.path.join(
config_dir, 'ardupilot', 'locations.txt')
return user_locations_path
def find_location_by_name(autotest, locname):
"""Search locations.txt for locname, return GPS coords"""
locations_userpath = os.environ.get('ARDUPILOT_LOCATIONS',
get_user_locations_path())
locations_filepath = os.path.join(autotest, "locations.txt")
comment_regex = re.compile("\s*#.*")
for path in [locations_userpath, locations_filepath]:
if not os.path.isfile(path):
continue
with open(path, 'r') as fd:
for line in fd:
line = re.sub(comment_regex, "", line)
line = line.rstrip("\n")
if len(line) == 0:
continue
(name, loc) = line.split("=")
if name == locname:
return loc
print("Failed to find location (%s)" % cmd_opts.location)
sys.exit(1)
def progress_cmd(what, cmd):
"""Print cmd in a way a user could cut-and-paste to get the same effect"""
progress(what)
shell_text = "%s" % (" ".join(['"%s"' % x for x in cmd]))
progress(shell_text)
def run_cmd_blocking(what, cmd, quiet=False, check=False, **kw):
if not quiet:
progress_cmd(what, cmd)
p = subprocess.Popen(cmd, **kw)
ret = os.waitpid(p.pid, 0)
_, sts = ret
if check and sts != 0:
progress("(%s) exited with code %d" % (what,sts,))
sys.exit(1)
return ret
def run_in_terminal_window(autotest, name, cmd):
"""Execute the run_in_terminal_window.sh command for cmd"""
global windowID
runme = [os.path.join(autotest, "run_in_terminal_window.sh"), name]
runme.extend(cmd)
progress_cmd("Run " + name, runme)
if under_macos():
# on MacOS record the window IDs so we can close them later
out = subprocess.Popen(runme, stdout=subprocess.PIPE).communicate()[0]
import re
p = re.compile('tab 1 of window id (.*)')
windowID.append(p.findall(out)[0])
else:
p = subprocess.Popen(runme)
tracker_uarta = None # blemish
def start_antenna_tracker(autotest, opts):
"""Compile and run the AntennaTracker, add tracker to mavproxy"""
global tracker_uarta
progress("Preparing antenna tracker")
tracker_home = find_location_by_name(find_autotest_dir(), opts.tracker_location)
vehicledir = os.path.join(autotest, "../../" + "AntennaTracker")
tracker_frame_options = {
"waf_target": _default_waf_target["AntennaTracker"],
}
do_build(vehicledir, opts, tracker_frame_options)
tracker_instance = 1
os.chdir(vehicledir)
tracker_uarta = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
exe = os.path.join(vehicledir, "AntennaTracker.elf")
run_in_terminal_window(autotest, "AntennaTracker", ["nice", exe, "-I" + str(tracker_instance), "--model=tracker", "--home=" + tracker_home])
def start_vehicle(binary, autotest, opts, stuff, loc):
"""Run the ArduPilot binary"""
cmd_name = opts.vehicle
cmd = []
if opts.valgrind:
cmd_name += " (valgrind)"
cmd.append("valgrind")
if opts.gdb:
cmd_name += " (gdb)"
cmd.append("gdb")
gdb_commands_file = tempfile.NamedTemporaryFile(delete=False)
atexit.register(os.unlink, gdb_commands_file.name)
for breakpoint in opts.breakpoint:
gdb_commands_file.write("b %s\n" % (breakpoint,))
gdb_commands_file.write("r\n")
gdb_commands_file.close()
cmd.extend(["-x", gdb_commands_file.name])
cmd.append("--args")
if opts.strace:
cmd_name += " (strace)"
cmd.append("strace")
strace_options = ['-o', binary + '.strace', '-s', '8000', '-ttt']
cmd.extend(strace_options)
cmd.append(binary)
cmd.append("-S")
cmd.append("-I" + str(opts.instance))
cmd.extend(["--home", loc])
if opts.wipe_eeprom:
cmd.append("-w")
cmd.extend(["--model", stuff["model"]])
cmd.extend(["--speedup", str(opts.speedup)])
if opts.sitl_instance_args:
cmd.extend(opts.sitl_instance_args.split(" ")) # this could be a lot better..
if opts.mavlink_gimbal:
cmd.append("--gimbal")
if "default_params_filename" in stuff:
path = os.path.join(autotest, stuff["default_params_filename"])
progress("Using defaults from (%s)" % (path,))
cmd.extend(["--defaults", path])
run_in_terminal_window(autotest, cmd_name, cmd)
def start_mavproxy(opts, stuff):
"""Run mavproxy"""
# FIXME: would be nice to e.g. "mavproxy.mavproxy(....).run" rather than shelling out
extra_cmd = ""
cmd = []
if under_cygwin():
cmd.append("/usr/bin/cygstart")
cmd.append("-w")
cmd.append("/cygdrive/c/Program Files (x86)/MAVProxy/mavproxy.exe")
else:
cmd.append("mavproxy.py")
if opts.hil:
cmd.extend(["--load-module", "HIL"])
else:
cmd.extend(["--master", mavlink_port])
if stuff["sitl-port"]:
cmd.extend(["--sitl", simout_port])
# If running inside of a vagrant guest, then we probably want to forward our mavlink out to the containing host OS
ports = [p + 10 * cmd_opts.instance for p in [14550,14551]]
for port in ports:
if os.path.isfile("/ardupilot.vagrant"):
cmd.extend(["--out", "10.0.2.2:" + str(port)])
else:
cmd.extend(["--out", "127.0.0.1:" + str(port)])
if opts.tracker:
cmd.extend(["--load-module", "tracker"])
global tracker_uarta
# tracker_uarta is set when we start the tracker...
extra_cmd += "module load map; tracker set port %s; tracker start; tracker arm;" % (tracker_uarta,)
if opts.mavlink_gimbal:
cmd.extend(["--load-module", "gimbal"])
if "extra_mavlink_cmds" in stuff:
extra_cmd += " " + stuff["extra_mavlink_cmds"]
if opts.mavproxy_args:
cmd.extend(opts.mavproxy_args.split(" ")) # this could be a lot better..
# compatibility pass-through parameters (for those that don't want
# to use -C :-)
for out in opts.out:
cmd.extend(['--out', out])
if opts.map:
cmd.append('--map')
if opts.console:
cmd.append('--console')
if opts.aircraft is not None:
cmd.extend(['--aircraft', opts.aircraft])
if len(extra_cmd):
cmd.extend(['--cmd', extra_cmd])
local_mp_modules_dir = os.path.abspath(
os.path.join(__file__, '..', '..', 'mavproxy_modules'))
env = dict(os.environ)
env['PYTHONPATH'] = local_mp_modules_dir + os.pathsep + env.get('PYTHONPATH', '')
run_cmd_blocking("Run MavProxy", cmd, env=env)
progress("MAVProxy exited")
# define and run parser
parser = CompatOptionParser("sim_vehicle.py",
epilog="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")
parser.add_option("-v", "--vehicle", type='string', default=None, help="vehicle type (ArduPlane, ArduCopter or APMrover2)")
parser.add_option("-f", "--frame", type='string', default=None, help="""set aircraft frame type
for copters can choose +, X, quad or octa
for planes can choose elevon or vtail""")
parser.add_option("-C", "--sim_vehicle_sh_compatible", action='store_true', default=False, help="be compatible with the way sim_vehicle.sh works; make this the first option")
parser.add_option("-H", "--hil", action='store_true', default=False, help="start HIL")
group_build = optparse.OptionGroup(parser, "Build options")
group_build.add_option("-N", "--no-rebuild", action='store_true', default=False, help="don't rebuild before starting ardupilot")
group_build.add_option("-D", "--debug", action='store_true', default=False, help="build with debugging")
group_build.add_option("-c", "--clean", action='store_true', default=False, help="do a make clean before building")
group_build.add_option("-j", "--jobs", default=None, type='int', help="number of processors to use during build (default for waf : number of processor, for make : 1)")
group_build.add_option("-b", "--build-target", default=None, type='string', help="override SITL build target")
group_build.add_option("-s", "--build-system", default="waf", type='choice', choices=["make", "waf"], help="build system to use")
group_build.add_option("", "--rebuild-on-failure", dest="rebuild_on_failure", action='store_true', default=False, help="if build fails, do not clean and rebuild")
group_build.add_option("", "--waf-configure-arg", action="append", dest="waf_configure_args", type="string", default=[], help="extra arguments to pass to waf in its configure step")
group_build.add_option("", "--waf-build-arg", action="append", dest="waf_build_args", type="string", default=[], help="extra arguments to pass to waf in its build step")
parser.add_option_group(group_build)
group_sim = optparse.OptionGroup(parser, "Simulation options")
group_sim.add_option("-I", "--instance", default=0, type='int', help="instance of simulator")
group_sim.add_option("-V", "--valgrind", action='store_true', default=False, help="enable valgrind for memory access checking (very slow!)")
group_sim.add_option("-T", "--tracker", action='store_true', default=False, help="start an antenna tracker instance")
group_sim.add_option("-A", "--sitl-instance-args", type='string', default=None, help="pass arguments to SITL instance")
# group_sim.add_option("-R", "--reverse-throttle", action='store_true', default=False, help="reverse throttle in plane")
group_sim.add_option("-G", "--gdb", action='store_true', default=False, help="use gdb for debugging ardupilot")
group_sim.add_option("-g", "--gdb-stopped", action='store_true', default=False, help="use gdb for debugging ardupilot (no auto-start)")
group_sim.add_option("-d", "--delay-start", default=0, type='float', help="delays the start of mavproxy by the number of seconds")
group_sim.add_option("-B", "--breakpoint", type='string', action="append", default=[], help="add a breakpoint at given location in debugger")
group_sim.add_option("-M", "--mavlink-gimbal", action='store_true', default=False, help="enable MAVLink gimbal")
group_sim.add_option("-L", "--location", type='string', default='CMAC', help="select start location from Tools/autotest/locations.txt")
group_sim.add_option("-l", "--custom-location", type='string', default=None, help="set custom start location")
group_sim.add_option("-S", "--speedup", default=1, type='int', help="set simulation speedup (1 for wall clock time)")
group_sim.add_option("-t", "--tracker-location", default='CMAC_PILOTSBOX', type='string', help="set antenna tracker start location")
group_sim.add_option("-w", "--wipe-eeprom", action='store_true', default=False, help="wipe EEPROM and reload parameters")
group_sim.add_option("-m", "--mavproxy-args", default=None, type='string', help="additional arguments to pass to mavproxy.py")
group_sim.add_option("", "--strace", action='store_true', default=False, help="strace the ArduPilot binary")
group_sim.add_option("", "--model", type='string', default=None, help="Override simulation model to use")
group_sim.add_option("", "--use-dir", type='string', default=None, help="Store SITL state and output in named directory")
group_sim.add_option("", "--no-mavproxy", action='store_true', default=False, help="Don't launch MAVProxy")
parser.add_option_group(group_sim)
# special-cased parameters for mavproxy, because some people's fingers
# have long memories, and they don't want to use -C :-)
group = optparse.OptionGroup(parser, "Compatibility MAVProxy options (consider using --mavproxy-args instead)")
group.add_option("", "--out", default=[], type='string', action="append", help="create an additional mavlink output")
group.add_option("", "--map", default=False, action='store_true', help="load map module on startup")
group.add_option("", "--console", default=False, action='store_true', help="load console module on startup")
group.add_option("", "--aircraft", default=None, help="store state and logs in named directory")
parser.add_option_group(group)
cmd_opts, cmd_args = parser.parse_args()
# clean up processes at exit:
atexit.register(kill_tasks)
progress("Start")
if cmd_opts.sim_vehicle_sh_compatible and cmd_opts.jobs is None:
cmd_opts.jobs = 1
# validate parameters
if cmd_opts.hil:
if cmd_opts.valgrind:
print("May not use valgrind with hil")
sys.exit(1)
if cmd_opts.gdb or cmd_opts.gdb_stopped:
print("May not use gdb with hil")
sys.exit(1)
if cmd_opts.strace:
print("May not use strace with hil")
sys.exit(1)
if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped):
print("May not use valgrind with gdb")
sys.exit(1)
if cmd_opts.strace and (cmd_opts.gdb or cmd_opts.gdb_stopped):
print("May not use strace with gdb")
sys.exit(1)
if cmd_opts.strace and cmd_opts.valgrind:
print("valgrind and strace almost certainly not a good idea")
# magically determine vehicle type (if required):
if cmd_opts.vehicle is None:
cwd = os.getcwd()
cmd_opts.vehicle = os.path.basename(cwd)
# determine a frame type if not specified:
default_frame_for_vehicle = {
"APMrover2": "rover",
"ArduPlane": "jsbsim",
"ArduCopter": "quad",
"AntennaTracker": "tracker",
}
if cmd_opts.vehicle not in default_frame_for_vehicle:
# try in parent directories, useful for having config in subdirectories
cwd = os.getcwd()
while cwd:
bname = os.path.basename(cwd)
if not bname:
break
if bname in default_frame_for_vehicle:
cmd_opts.vehicle = bname
break
cwd = os.path.dirname(cwd)
# try to validate vehicle
if cmd_opts.vehicle not in default_frame_for_vehicle:
progress("** Is (%s) really your vehicle type? Try -v VEHICLETYPE if not, or be in the e.g. ArduCopter subdirectory" % (cmd_opts.vehicle,))
# determine frame options (e.g. build type might be "sitl")
if cmd_opts.frame is None:
cmd_opts.frame = default_frame_for_vehicle[cmd_opts.vehicle]
# setup ports for this instance
mavlink_port = "tcp:127.0.0.1:" + str(5760 + 10 * cmd_opts.instance)
simout_port = "127.0.0.1:" + str(5501 + 10 * cmd_opts.instance)
frame_infos = options_for_frame(cmd_opts.frame, cmd_opts.vehicle, cmd_opts)
if frame_infos["model"] == "jsbsim":
check_jsbsim_version()
vehicle_dir = os.path.realpath(os.path.join(find_root_dir(), cmd_opts.vehicle))
if not os.path.exists(vehicle_dir):
print("vehicle directory (%s) does not exist" % (vehicle_dir,))
sys.exit(1)
if not cmd_opts.hil:
if cmd_opts.instance == 0:
kill_tasks()
if cmd_opts.tracker:
start_antenna_tracker(find_autotest_dir(), cmd_opts)
if cmd_opts.custom_location:
location = cmd_opts.custom_location
progress("Starting up at %s" % (location,))
else:
location = find_location_by_name(find_autotest_dir(), cmd_opts.location)
progress("Starting up at %s (%s)" % (location, cmd_opts.location))
if cmd_opts.use_dir is not None:
new_dir = cmd_opts.use_dir
try:
os.makedirs(os.path.realpath(new_dir))
except OSError as exception:
if exception.errno != errno.EEXIST:
raise
os.chdir(new_dir)
if cmd_opts.hil:
# (unlikely)
run_in_terminal_window(find_autotest_dir(), "JSBSim", [os.path.join(find_autotest_dir(), "jsb_sim/runsim.py"), "--home", location, "--speedup=" + str(cmd_opts.speedup)])
else:
if not cmd_opts.no_rebuild: # i.e. we should rebuild
do_build(vehicle_dir, cmd_opts, frame_infos)
if cmd_opts.build_system == "waf":
if cmd_opts.debug:
binary_basedir = "build/sitl-debug"
else:
binary_basedir = "build/sitl"
vehicle_binary = os.path.join(find_root_dir(), binary_basedir, frame_infos["waf_target"])
else:
vehicle_binary = os.path.join(vehicle_dir, cmd_opts.vehicle + ".elf")
if not os.path.exists(vehicle_binary):
print("Vehicle binary (%s) does not exist" % (vehicle_binary,))
sys.exit(1)
start_vehicle(vehicle_binary, find_autotest_dir(), cmd_opts, frame_infos, location)
if cmd_opts.delay_start:
progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
time.sleep(float(cmd_opts.delay_start))
try:
if cmd_opts.no_mavproxy:
time.sleep(3) # Just wait to output the last command after run_in_terminal_window.sh
progress("Waiting for SITL to exit")
wait_unlimited()
else:
start_mavproxy(cmd_opts, frame_infos)
except KeyboardInterrupt:
progress("Keyboard Interrupt received ...")
sys.exit(0)
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