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posix: add argument to change the CWD (#12482)

This commit is contained in:
Anthony Lamping 2019-08-01 12:25:35 -04:00 committed by Daniel Agar
parent 4bf9344913
commit 5d986f2030
3 changed files with 49 additions and 12 deletions
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2
launch/single_vehicle_spawn.launch
View File

@ -25,7 +25,7 @@
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

2
launch/single_vehicle_spawn_sdf.launch
View File

@ -25,7 +25,7 @@
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

57
platforms/posix/src/main.cpp
View File

@ -109,6 +109,7 @@ static bool dir_exists(const std::string &path);
static bool file_exists(const std::string &name);
static std::string file_basename(std::string const &pathname);
static std::string pwd();
static int change_directory(const std::string &directory);
#ifdef __PX4_SITL_MAIN_OVERRIDE
@ -181,13 +182,14 @@ int main(int argc, char **argv)
std::string data_path;
std::string commands_file = "etc/init.d/rcS";
std::string test_data_path;
std::string working_directory;
int instance = 0;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "hdt:s:i:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "hdt:s:i:w:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'h':
print_usage();
@ -209,6 +211,10 @@ int main(int argc, char **argv)
instance = strtoul(myoptarg, nullptr, 10);
break;
case 'w':
working_directory = myoptarg;
break;
default:
PX4_ERR("unrecognized flag");
print_usage();
@ -218,6 +224,15 @@ int main(int argc, char **argv)
PX4_DEBUG("instance: %i", instance);
// change the CWD befre setting up links and other directories
if (!working_directory.empty()) {
int ret = change_directory(working_directory);
if (ret != PX4_OK) {
return ret;
}
}
if (myoptind < argc) {
std::string optional_arg = argv[myoptind];
@ -232,7 +247,6 @@ int main(int argc, char **argv)
return -1;
}
int ret = create_symlinks_if_needed(data_path);
if (ret != PX4_OK) {
@ -383,7 +397,6 @@ int create_dirs()
return PX4_OK;
}
void register_sig_handler()
{
// SIGINT
@ -544,14 +557,15 @@ void print_usage()
{
printf("Usage for Server/daemon process: \n");
printf("\n");
printf(" px4 [-h|-d] [-s <startup_file>] [-t <test_data_directory>] [<rootfs_directory>] [-i <instance>]\n");
printf(" px4 [-h|-d] [-s <startup_file>] [-t <test_data_directory>] [<rootfs_directory>] [-i <instance>] [-w <working_directory>]\n");
printf("\n");
printf(" -s <startup_file> shell script to be used as startup (default=etc/init.d/rcS)\n");
printf(" <rootfs_directory> directory where startup files and mixers are located,\n");
printf(" (if not given, CWD is used)\n");
printf(" -i <instance> px4 instance id to run multiple instances [0...N], default=0\n");
printf(" -h help/usage information\n");
printf(" -d daemon mode, don't start pxh shell\n");
printf(" -s <startup_file> shell script to be used as startup (default=etc/init.d/rcS)\n");
printf(" <rootfs_directory> directory where startup files and mixers are located,\n");
printf(" (if not given, CWD is used)\n");
printf(" -i <instance> px4 instance id to run multiple instances [0...N], default=0\n");
printf(" -w <working_directory> directory to change to\n");
printf(" -h help/usage information\n");
printf(" -d daemon mode, don't start pxh shell\n");
printf("\n");
printf("Usage for client: \n");
printf("\n");
@ -626,3 +640,26 @@ std::string pwd()
char temp[PATH_MAX];
return (getcwd(temp, PATH_MAX) ? std::string(temp) : std::string(""));
}
int change_directory(const std::string &directory)
{
// create directory
if (!dir_exists(directory)) {
int ret = mkdir(directory.c_str(), S_IRWXU | S_IRWXG | S_IRWXO);
if (ret == -1) {
PX4_ERR("Error creating directory: %s (%s)", directory.c_str(), strerror(errno));
return -1;
}
}
// change directory
int ret = chdir(directory.c_str());
if (ret == -1) {
PX4_ERR("Error changing current path to: %s (%s)", directory.c_str(), strerror(errno));
return -1;
}
return PX4_OK;
}