Tools: Only calculate root_dir and autotest_dir once in sim_vehicle.py
This commit is contained in:
Arash Negahdar
Peter Barker
parent
1a0079878a
commit
9fb2914209
@ -28,6 +28,8 @@ from pysim import vehicleinfo
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# List of open terminal windows for macosx
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windowID = []
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autotest_dir = os.path.dirname(os.path.realpath(__file__))
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root_dir = os.path.realpath(os.path.join(autotest_dir, '../..'))
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class CompatError(Exception):
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"""A custom exception class to hold state if we encounter the parse
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@ -260,16 +262,6 @@ def progress(text):
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print("SIM_VEHICLE: " + text)
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def find_autotest_dir():
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"""Return path to autotest directory"""
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return os.path.dirname(os.path.realpath(__file__))
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def find_root_dir():
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"""Return path to root directory"""
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return os.path.realpath(os.path.join(find_autotest_dir(), '../..'))
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def wait_unlimited():
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"""Wait until signal received"""
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while True:
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@ -284,7 +276,6 @@ def do_build_waf(opts, frame_options):
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progress("WAF build")
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old_dir = os.getcwd()
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root_dir = find_root_dir()
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os.chdir(root_dir)
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waf_light = os.path.join(root_dir, "modules/waf/waf-light")
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@ -346,7 +337,7 @@ def do_build_parameters(vehicle):
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# now build parameters
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progress("Building fresh parameter descriptions")
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param_parse_path = os.path.join(
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find_root_dir(), "Tools/autotest/param_metadata/param_parse.py")
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autotest_dir, "param_metadata/param_parse.py")
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cmd_param_build = ["python", param_parse_path, '--vehicle', vehicle]
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_, sts = run_cmd_blocking("Building fresh params", cmd_param_build)
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@ -406,7 +397,7 @@ def get_user_locations_path():
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def find_new_spawn(loc, file_path):
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(lat, lon, alt, heading) = loc.split(",")
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swarminit_filepath = os.path.join(find_autotest_dir(), "swarminit.txt")
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swarminit_filepath = os.path.join(autotest_dir, "swarminit.txt")
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for path2 in [file_path, swarminit_filepath]:
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if os.path.isfile(path2):
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with open(path2, 'r') as swd:
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@ -425,11 +416,11 @@ def find_new_spawn(loc, file_path):
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return loc
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def find_location_by_name(autotest, locname):
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def find_location_by_name(locname):
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"""Search locations.txt for locname, return GPS coords"""
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locations_userpath = os.environ.get('ARDUPILOT_LOCATIONS',
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get_user_locations_path())
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locations_filepath = os.path.join(autotest, "locations.txt")
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locations_filepath = os.path.join(autotest_dir, "locations.txt")
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comment_regex = re.compile("\s*#.*")
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for path in [locations_userpath, locations_filepath]:
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if not os.path.isfile(path):
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@ -476,11 +467,11 @@ def run_cmd_blocking(what, cmd, quiet=False, check=False, **kw):
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return ret
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def run_in_terminal_window(autotest, name, cmd):
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def run_in_terminal_window(name, cmd):
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"""Execute the run_in_terminal_window.sh command for cmd"""
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global windowID
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runme = [os.path.join(autotest, "run_in_terminal_window.sh"), name]
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runme = [os.path.join(autotest_dir, "run_in_terminal_window.sh"), name]
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runme.extend(cmd)
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progress_cmd("Run " + name, runme)
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@ -511,14 +502,13 @@ def run_in_terminal_window(autotest, name, cmd):
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tracker_uarta = None # blemish
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def start_antenna_tracker(autotest, opts):
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def start_antenna_tracker(opts):
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"""Compile and run the AntennaTracker, add tracker to mavproxy"""
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global tracker_uarta
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progress("Preparing antenna tracker")
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tracker_home = find_location_by_name(find_autotest_dir(),
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opts.tracker_location)
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vehicledir = os.path.join(autotest, "../../" + "AntennaTracker")
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tracker_home = find_location_by_name(opts.tracker_location)
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vehicledir = os.path.join(autotest_dir, "../../" + "AntennaTracker")
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options = vinfo.options["AntennaTracker"]
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tracker_default_frame = options["default_frame"]
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tracker_frame_options = options["frames"][tracker_default_frame]
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@ -528,8 +518,7 @@ def start_antenna_tracker(autotest, opts):
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os.chdir(vehicledir)
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tracker_uarta = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
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exe = os.path.join(vehicledir, "AntennaTracker.elf")
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run_in_terminal_window(autotest,
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"AntennaTracker",
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run_in_terminal_window("AntennaTracker",
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["nice",
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exe,
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"-I" + str(tracker_instance),
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@ -538,7 +527,7 @@ def start_antenna_tracker(autotest, opts):
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os.chdir(oldpwd)
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def start_vehicle(binary, autotest, opts, stuff, loc=None):
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def start_vehicle(binary, opts, stuff, loc=None):
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"""Run the ArduPilot binary"""
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cmd_name = opts.vehicle
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@ -605,7 +594,7 @@ def start_vehicle(binary, autotest, opts, stuff, loc=None):
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paths = stuff["default_params_filename"]
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if not isinstance(paths, list):
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paths = [paths]
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paths = [os.path.join(autotest, x) for x in paths]
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paths = [os.path.join(autotest_dir, x) for x in paths]
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for x in paths:
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if not os.path.isfile(x):
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print("The parameter file (%s) does not exist" % (x,))
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@ -624,7 +613,7 @@ def start_vehicle(binary, autotest, opts, stuff, loc=None):
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if opts.mcast:
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cmd.extend(["--uartA mcast:"])
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run_in_terminal_window(autotest, cmd_name, cmd)
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run_in_terminal_window(cmd_name, cmd)
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def start_mavproxy(opts, stuff):
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@ -1075,7 +1064,7 @@ frame_infos = vinfo.options_for_frame(cmd_opts.frame,
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cmd_opts.vehicle,
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cmd_opts)
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vehicle_dir = os.path.realpath(os.path.join(find_root_dir(), cmd_opts.vehicle))
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vehicle_dir = os.path.realpath(os.path.join(root_dir, cmd_opts.vehicle))
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if not os.path.exists(vehicle_dir):
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print("vehicle directory (%s) does not exist" % (vehicle_dir,))
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sys.exit(1)
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@ -1085,13 +1074,13 @@ if not cmd_opts.hil:
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kill_tasks()
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if cmd_opts.tracker:
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start_antenna_tracker(find_autotest_dir(), cmd_opts)
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start_antenna_tracker(cmd_opts)
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if cmd_opts.custom_location:
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location = cmd_opts.custom_location
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progress("Starting up at %s" % (location,))
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elif cmd_opts.location is not None:
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location = find_location_by_name(find_autotest_dir(), cmd_opts.location)
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location = find_location_by_name(cmd_opts.location)
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progress("Starting up at %s (%s)" % (location, cmd_opts.location))
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else:
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progress("Starting up at SITL location")
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@ -1109,14 +1098,14 @@ if cmd_opts.use_dir is not None:
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if cmd_opts.hil:
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# (unlikely)
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jsbsim_opts = [
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os.path.join(find_autotest_dir(),
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os.path.join(autotest_dir,
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"jsb_sim/runsim.py"),
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"--speedup=" + str(cmd_opts.speedup)
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]
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if location is not None:
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jsbsim_opts.extend(["--home", location])
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run_in_terminal_window(find_autotest_dir(), "JSBSim", jsbsim_opts)
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run_in_terminal_window("JSBSim", jsbsim_opts)
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else:
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if not cmd_opts.no_rebuild: # i.e. we should rebuild
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do_build(vehicle_dir, cmd_opts, frame_infos)
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@ -1126,7 +1115,7 @@ else:
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if cmd_opts.build_system == "waf":
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binary_basedir = "build/sitl"
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vehicle_binary = os.path.join(find_root_dir(),
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vehicle_binary = os.path.join(root_dir,
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binary_basedir,
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frame_infos["waf_target"])
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else:
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@ -1137,7 +1126,6 @@ else:
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sys.exit(1)
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start_vehicle(vehicle_binary,
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find_autotest_dir(),
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cmd_opts,
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frame_infos,
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loc=location)
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