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SITL: Ensure that Instance parameter don't override manualy setted port

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This commit is contained in:
Pierre Kancir 2016-12-08 15:46:21 +01:00 committed by Andrew Tridgell
parent 25fad0a8c2
commit a8d5079a38
1 changed files with 41 additions and 20 deletions
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61
libraries/AP_HAL_SITL/SITL_cmdline.cpp
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@ -135,17 +135,24 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
setvbuf(stderr, (char *)0, _IONBF, 0);
_synthetic_clock_mode = false;
_base_port = 5760;
_rcout_port = 5502;
_rcin_port = 5501;
_fg_view_port = 5503;
const int BASE_PORT = 5760;
const int RCOUT_PORT = 5502;
const int RCIN_PORT = 5501;
const int FG_VIEW_PORT = 5503;
const int GAZEBO_IN_PORT = 9003;
const int GAZEBO_OUT_PORT = 9002;
const int IRLOCK_PORT = 9005;
_base_port = BASE_PORT;
_rcout_port = RCOUT_PORT;
_rcin_port = RCIN_PORT;
_fg_view_port = FG_VIEW_PORT;
_fdm_address = "127.0.0.1";
_client_address = nullptr;
_use_fg_view = true;
_gazebo_address = "127.0.0.1";
_gazebo_port_in = 9003;
_gazebo_port_out = 9002;
_irlock_port = 9005;
_gazebo_port_in = GAZEBO_IN_PORT;
_gazebo_port_out = GAZEBO_OUT_PORT;
_irlock_port = IRLOCK_PORT;
_instance = 0;
enum long_options {
@ -192,12 +199,12 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"defaults", true, 0, CMDLINE_DEFAULTS},
{"rtscts", false, 0, CMDLINE_RTSCTS},
{"disable-fgview", false, 0, CMDLINE_FGVIEW},
{"gazebo-address", true, 0, CMDLINE_GAZEBO_ADDRESS},
{"gazebo-port-in", true, 0, CMDLINE_GAZEBO_PORT_IN},
{"gazebo-port-out", true, 0, CMDLINE_GAZEBO_PORT_OUT},
{"base-port", true, 0, CMDLINE_BASE_PORT},
{"irlock-port", true, 0, CMDLINE_IRLOCK_PORT},
{"rc-in-port", true, 0, CMDLINE_RCIN_PORT},
{"gazebo-address", true, 0, CMDLINE_GAZEBO_ADDRESS},
{"gazebo-port-in", true, 0, CMDLINE_GAZEBO_PORT_IN},
{"gazebo-port-out", true, 0, CMDLINE_GAZEBO_PORT_OUT},
{"base-port", true, 0, CMDLINE_BASE_PORT},
{"irlock-port", true, 0, CMDLINE_IRLOCK_PORT},
{"rc-in-port", true, 0, CMDLINE_RCIN_PORT},
{0, false, 0, 0}
};
@ -221,13 +228,27 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
break;
case 'I': {
_instance = atoi(gopt.optarg);
_base_port += _instance * 10;
_rcout_port += _instance * 10;
_rcin_port += _instance * 10;
_fg_view_port += _instance * 10;
_gazebo_port_in += _instance * 10;
_gazebo_port_out += _instance * 10;
_irlock_port += _instance * 10;
if (_base_port == BASE_PORT) {
_base_port += _instance * 10;
}
if (_rcout_port == RCOUT_PORT) {
_rcout_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 (_gazebo_port_in == GAZEBO_IN_PORT) {
_gazebo_port_in += _instance * 10;
}
if (_gazebo_port_out == GAZEBO_OUT_PORT) {
_gazebo_port_out += _instance * 10;
}
if (_irlock_port == IRLOCK_PORT) {
_irlock_port += _instance * 10;
}
}
break;
case 'P':