From 1318e614ad91f822949ca6f16b8b1624aba07d0d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 10 Aug 2018 19:22:41 +0200
Subject: [PATCH] SITL: handle 'make posix_sitl_shell' via unified rcS

The command is now: 'make posix none_shell'
which means: don't start a simulator and run a minimal shell only.
---
 ROMFS/px4fmu_common/init.d-posix/rcS    | 12 +++++++-----
 cmake/configs/posix_sitl_shell.cmake    |  5 -----
 platforms/posix/cmake/sitl_target.cmake |  4 ++--
 posix-configs/SITL/init/shell/iris      | 13 -------------
 4 files changed, 9 insertions(+), 25 deletions(-)
 delete mode 100644 cmake/configs/posix_sitl_shell.cmake
 delete mode 100644 posix-configs/SITL/init/shell/iris

diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 00a4685b88..d18e87818e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -14,14 +14,13 @@ then
 	exit 0
 fi
 
-
-# TODO: In the future we want to share rc.autostart with NuttX
-#source rc.autostart
+RUN_MINIMAL_SHELL=no
 
 # Use the variable set by sitl_run.sh to choose the model settings.
-if [ "$PX4_SIM_MODEL" == "iris" ]; then
+if [ "$PX4_SIM_MODEL" == "shell" ]; then
+	set RUN_MINIMAL_SHELL yes
+elif [ "$PX4_SIM_MODEL" == "iris" ]; then
 	set REQUESTED_AUTOSTART 10016
-
 elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
 	set REQUESTED_AUTOSTART 6011
 else
@@ -35,6 +34,9 @@ then
 	param load
 fi
 
+# exit early when the minimal shell is requested
+[ $RUN_MINIMAL_SHELL == yes ] && exit 0
+
 if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
 then
 	set AUTOCNF no
diff --git a/cmake/configs/posix_sitl_shell.cmake b/cmake/configs/posix_sitl_shell.cmake
deleted file mode 100644
index bf9fcd1992..0000000000
--- a/cmake/configs/posix_sitl_shell.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-include(cmake/configs/posix_sitl_default.cmake)
-
-set(config_sitl_rcS_dir
-	posix-configs/SITL/init/shell
-	)
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index e022f817a3..a5ce2c500d 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -45,9 +45,9 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
 	)
 
 # create targets for each viewer/model/debugger combination
-set(viewers none jmavsim gazebo replay)
+set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
-set(models none iris iris_opt_flow iris_vision iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
+set(models none shell iris iris_opt_flow iris_vision iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
 	foreach(debugger ${debuggers})
diff --git a/posix-configs/SITL/init/shell/iris b/posix-configs/SITL/init/shell/iris
deleted file mode 100644
index 37cb318959..0000000000
--- a/posix-configs/SITL/init/shell/iris
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-
-param load
-param set SYS_RESTART_TYPE 0
-
-dataman start
-
-tone_alarm start