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spiri-sdk
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rename tracker_instance to instance

This commit is contained in:
Burak Ozter 2024-11-04 17:29:16 -04:00
parent ed6097388d
commit 2fa4e45818
2 changed files with 9 additions and 9 deletions
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2
docker-compose.yml
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@ -52,7 +52,7 @@ services:
- -c - -c
- | - |
./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \ ./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \
--no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$TRACKER_INSTANCE --no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE
profiles: profiles:
- uav-sim - uav-sim
stdin_open: true stdin_open: true

16
sim_drone.py
View File

@ -86,7 +86,7 @@ def modified_environ(*remove, **update):
# @app.command() # @app.command()
def start(tracker_instance: int = 0, sys_id: int = 1): def start(instance: int = 0, sys_id: int = 1):
"""Starts the simulated drone with a given sys_id, """Starts the simulated drone with a given sys_id,
each drone must have it's own unique ID. each drone must have it's own unique ID.
""" """
@ -96,12 +96,12 @@ def start(tracker_instance: int = 0, sys_id: int = 1):
with logger.contextualize(syd_id=sys_id): with logger.contextualize(syd_id=sys_id):
env = os.environ env = os.environ
with modified_environ( with modified_environ(
SERIAL0_PORT=str(int(env["SERIAL0_PORT"]) + 10 * tracker_instance), SERIAL0_PORT=str(int(env["SERIAL0_PORT"]) + 10 * instance),
MAVROS2_PORT=str(int(env["MAVROS2_PORT"]) + 10 * tracker_instance), MAVROS2_PORT=str(int(env["MAVROS2_PORT"]) + 10 * instance),
MAVROS1_PORT=str(int(env["MAVROS1_PORT"]) + 10 * tracker_instance), MAVROS1_PORT=str(int(env["MAVROS1_PORT"]) + 10 * instance),
FDM_PORT_IN=str(int(env["FDM_PORT_IN"]) + 10 * tracker_instance), FDM_PORT_IN=str(int(env["FDM_PORT_IN"]) + 10 * instance),
SITL_PORT=str(int(env["SITL_PORT"]) + 10 * tracker_instance), SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance),
TRACKER_INSTANCE=str(tracker_instance), INSTANCE=str(instance),
DRONE_SYS_ID=str(sys_id), DRONE_SYS_ID=str(sys_id),
): ):
logger.info("Starting drone stack, this may take some time") logger.info("Starting drone stack, this may take some time")
@ -126,7 +126,7 @@ def start_group():
"""Start a group of robots""" """Start a group of robots"""
for i in range(sim_drone_count): for i in range(sim_drone_count):
logger.info(f"start robot {i}") logger.info(f"start robot {i}")
start(tracker_instance=i, sys_id=i + 1) start(instance=i, sys_id=i + 1)
# if i == 0: # if i == 0:
# wait_for_gazebo() # wait_for_gazebo()