forked from Archive/PX4-Autopilot
Implement the way to run posix simulator directly from IDE without the need to reconfigure command lines, but use runner created via CMake
Steps to debug: * Run gazebo (or any other sim) server and client viewers via the terminal: `make posix_sitl_default gazebo_none_ide` * In your IDE select `px4_<mode>` target you want to debug (e.g. `px4_iris`) * Start debug session directly from IDE This approach significantly reduces the debug cycle time because simulator (e.g. gazebo) is always running in background and you only re-run px4 process which is very light.
This commit is contained in:
Anton Matosov
Lorenz Meier
parent
b79e4ab506
commit
6d3116e30b
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@ -135,6 +135,15 @@ then
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elif [ "$debugger" == "valgrind" ]
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then
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valgrind $sitl_command
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elif [ "$debugger" == "ide" ]
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then
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echo "######################################################################"
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echo
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echo "PX4 simulator not started, use your IDE to start PX4_${model} target."
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echo "Hit enter to quit..."
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echo
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echo "######################################################################"
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read
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else
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$sitl_command
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fi
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@ -4,122 +4,137 @@ px4_posix_generate_builtin_commands(
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OUT apps
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MODULE_LIST ${module_libraries})
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if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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include(fastrpc)
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include(linux_app)
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function(px4_add_sitl_app)
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px4_parse_function_args(
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NAME px4_add_sitl_app
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ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME
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REQUIRED APP_NAME MAIN_SRC
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ARGN ${ARGN})
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
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LINUX_APP(
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APP_NAME px4
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IDL_NAME px4muorb
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APPS_DEST "/home/linaro"
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SOURCES
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px4muorb_stub.c
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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LINK_LIBS
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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${FASTRPC_ARM_LIBS}
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pthread m rt
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-Wl,--end-group
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)
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include(fastrpc)
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include(linux_app)
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px4_add_adb_push(OUT upload
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
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LINUX_APP(
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APP_NAME ${APP_NAME}
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IDL_NAME px4muorb
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APPS_DEST "/home/linaro"
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SOURCES
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px4muorb_stub.c
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${MAIN_SRC}
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apps.cpp
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LINK_LIBS
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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${FASTRPC_ARM_LIBS}
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pthread m rt
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-Wl,--end-group
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)
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px4_add_adb_push(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
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${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
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DEPENDS px4
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DEST /home/linaro)
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DEPENDS ${APP_NAME}
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DEST /home/linaro)
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elseif ("${BOARD}" STREQUAL "rpi")
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elseif ("${BOARD}" STREQUAL "rpi")
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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)
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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target_link_libraries(px4
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-Wl,--start-group
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${module_libraries}
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df_driver_framework
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
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px4_add_scp_push(OUT upload
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
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${RPI_CONFIG_FILES}
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${PX4_SOURCE_DIR}/ROMFS
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DEPENDS px4
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DEST /home/pi)
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elseif ("${BOARD}" STREQUAL "bebop")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(px4
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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df_driver_framework
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(px4
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${module_libraries}
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${df_driver_libs}
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pthread m
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file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
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px4_add_scp_push(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
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${RPI_CONFIG_FILES}
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${PX4_SOURCE_DIR}/ROMFS
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DEPENDS ${APP_NAME}
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DEST /home/pi)
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elseif ("${BOARD}" STREQUAL "bebop")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(${APP_NAME}
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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endif()
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px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
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DEPENDS ${APP_NAME}
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DEST /usr/bin)
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else()
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(${APP_NAME}
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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endif()
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endif()
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endfunction()
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px4_add_adb_push_to_bebop(OUT upload
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
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DEPENDS px4
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DEST /usr/bin)
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else()
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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SET(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
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px4_add_sitl_app(APP_NAME px4
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UPLOAD_NAME upload
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MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
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)
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if (NOT APPLE)
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target_link_libraries(px4
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(px4
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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endif()
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endif()
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#=============================================================================
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# sitl run targets
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#
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@ -152,7 +167,7 @@ set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
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# create targets for each viewer/model/debugger combination
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set(viewers none jmavsim gazebo replay)
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set(debuggers none gdb lldb ddd valgrind)
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set(debuggers none ide gdb lldb ddd valgrind)
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set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
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set(all_posix_vmd_make_targets)
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foreach(viewer ${viewers})
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@ -171,6 +186,20 @@ foreach(viewer ${viewers})
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set(_targ_name "${viewer}_${model}_${debugger}")
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endif()
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endif()
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if (debugger STREQUAL "ide" AND viewer STREQUAL "gazebo")
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SET(SITL_RUNNER_SOURCE_DIR ${PX4_SOURCE_DIR})
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SET(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
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SET(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
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CONFIGURE_FILE(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
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px4_add_sitl_app(APP_NAME px4_${model}
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UPLOAD_NAME upload_${model}
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MAIN_SRC ${CMAKE_CURRENT_BINARY_DIR}/sitl_runner_main_${model}.cpp
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)
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endif()
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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@ -286,7 +286,13 @@ static void set_cpu_scaling()
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#endif
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}
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#ifdef __PX4_SITL_MAIN_OVERRIDE
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int SITL_MAIN(int argc, char **argv);
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int SITL_MAIN(int argc, char **argv)
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#else
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int main(int argc, char **argv)
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#endif
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{
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bool daemon_mode = false;
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bool chroot_on = false;
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@ -0,0 +1,53 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Anton Matosov. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file sitl_runner_main.cpp
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* Basic shell to execute px4 with specific model
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*
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* @author Anton Matosov <anton.matosov@gmail.com>
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*/
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#include <unistd.h>
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#define __PX4_SITL_MAIN_OVERRIDE
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#include "@SITL_RUNNER_MAIN_CPP@"
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int main(int argc, const char **argv)
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{
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if (chdir("@SITL_RUNNER_WORKING_DIRECTORY@") != 0) {
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PX4_ERR("Failed to change current directory to @SITL_RUNNER_WORKING_DIRECTORY@. error %i", errno);
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return errno;
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}
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const char *argsOverride[] = {argv[0], "@SITL_RUNNER_SOURCE_DIR@", "@SITL_RUNNER_MODEL_FILE@"};
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return SITL_MAIN(sizeof(argsOverride) / sizeof(argsOverride[0]), (char**)argsOverride);
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}
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