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AP_HAL_SITL: Add scrimmage simulator support

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Anthony Velte 2019-07-18 13:39:00 -04:00 committed by Andrew Tridgell
parent 892ad11552
commit 5d2f114947
1 changed files with 10 additions and 1 deletions
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11
libraries/AP_HAL_SITL/SITL_cmdline.cpp
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@ -30,6 +30,7 @@
#include <SITL/SIM_SilentWings.h> #include <SITL/SIM_SilentWings.h>
#include <SITL/SIM_Morse.h> #include <SITL/SIM_Morse.h>
#include <SITL/SIM_AirSim.h> #include <SITL/SIM_AirSim.h>
#include <SITL/SIM_Scrimmage.h>
#include <signal.h> #include <signal.h>
#include <stdio.h> #include <stdio.h>
@ -69,6 +70,7 @@ void SITL_State::_usage(void)
"\t--synthetic-clock|-S set synthetic clock mode\n" "\t--synthetic-clock|-S set synthetic clock mode\n"
"\t--home|-O HOME set home location (lat,lng,alt,yaw)\n" "\t--home|-O HOME set home location (lat,lng,alt,yaw)\n"
"\t--model|-M MODEL set simulation model\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--fg|-F ADDRESS set Flight Gear view address, defaults to 127.0.0.1\n"
"\t--disable-fgview disable Flight Gear view\n" "\t--disable-fgview disable Flight Gear view\n"
"\t--gimbal enable simulated MAVLink gimbal\n" "\t--gimbal enable simulated MAVLink gimbal\n"
@ -132,6 +134,7 @@ static const struct {
{ "silentwings", SilentWings::create }, { "silentwings", SilentWings::create },
{ "morse", Morse::create }, { "morse", Morse::create },
{ "airsim", AirSim::create}, { "airsim", AirSim::create},
{ "scrimmage", Scrimmage::create },
}; };
void SITL_State::_set_signal_handlers(void) const void SITL_State::_set_signal_handlers(void) const
@ -165,6 +168,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
_use_fg_view = true; _use_fg_view = true;
char *autotest_dir = nullptr; char *autotest_dir = nullptr;
_fg_address = "127.0.0.1"; _fg_address = "127.0.0.1";
const char* config = "";
const int BASE_PORT = 5760; const int BASE_PORT = 5760;
const int RCIN_PORT = 5501; const int RCIN_PORT = 5501;
@ -215,6 +219,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"synthetic-clock", false, 0, 'S'}, {"synthetic-clock", false, 0, 'S'},
{"home", true, 0, 'O'}, {"home", true, 0, 'O'},
{"model", true, 0, 'M'}, {"model", true, 0, 'M'},
{"config", true, 0, 'c'},
{"fg", true, 0, 'F'}, {"fg", true, 0, 'F'},
{"gimbal", false, 0, CMDLINE_GIMBAL}, {"gimbal", false, 0, CMDLINE_GIMBAL},
{"disable-fgview", false, 0, CMDLINE_FGVIEW}, {"disable-fgview", false, 0, CMDLINE_FGVIEW},
@ -246,7 +251,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
setvbuf(stdout, (char *)0, _IONBF, 0); setvbuf(stdout, (char *)0, _IONBF, 0);
setvbuf(stderr, (char *)0, _IONBF, 0); setvbuf(stderr, (char *)0, _IONBF, 0);
GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:", GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:",
options); options);
while ((opt = gopt.getoption()) != -1) { while ((opt = gopt.getoption()) != -1) {
@ -304,6 +309,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case 'M': case 'M':
model_str = gopt.optarg; model_str = gopt.optarg;
break; break;
case 'c':
config = gopt.optarg;
break;
case 'F': case 'F':
_fg_address = gopt.optarg; _fg_address = gopt.optarg;
break; break;
@ -369,6 +377,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
sitl_model->set_speedup(speedup); sitl_model->set_speedup(speedup);
sitl_model->set_instance(_instance); sitl_model->set_instance(_instance);
sitl_model->set_autotest_dir(autotest_dir); sitl_model->set_autotest_dir(autotest_dir);
sitl_model->set_config(config);
_synthetic_clock_mode = true; _synthetic_clock_mode = true;
break; break;
} }