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SITL jmavsim make airframes simulator specific 

-cleanup and simplify jmavsim SITL launch and debug
This commit is contained in:
Daniel Agar 2023-01-04 16:43:45 -05:00
parent 760fff7d89
commit 95a6eba36c
9 changed files with 98 additions and 143 deletions
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43
.vscode/tasks.json vendored
View File

@ -49,49 +49,6 @@
"group": "test"
}
},
{
"label": "jmavsim build",
"type": "shell",
"command": "ant create_run_jar copy_res",
"options": {
"cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
},
"presentation": {
"echo": true,
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "dedicated",
"showReuseMessage": false,
"clear": false,
"close": true
},
"problemMatcher": []
},
{
"label": "jmavsim",
"type": "shell",
"dependsOn": "jmavsim build",
"command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
"options": {
"cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
"env": {
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"isBackground": true,
"presentation": {
"echo": true,
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "dedicated",
"showReuseMessage": false,
"clear": false,
"close": true
},
"problemMatcher": []
},
{
"label": "jmavsim kill",
"type": "shell",

32
ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris Normal file
View File

@ -0,0 +1,32 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL jMAVSim
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#
. ${R}etc/init.d/rc.mc_defaults
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
View File

@ -33,6 +33,7 @@
px4_add_romfs_files(
10016_iris
10017_jmavsim_iris
10018_iris_foggy_lidar
10019_omnicopter
10030_px4vision

20
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
View File

@ -124,6 +124,20 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
exit 1
fi
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
echo "INFO [init] jMAVSim simulator"
if jps | grep -i jmavsim; then
kill $(jps | grep -i jmavsim | awk '{print $1}') || true
sleep 1
fi
param set IMU_INTEG_RATE 250
./jmavsim_run.sh -l -r 250 &
simulator_mavlink start -h localhost $((4560+px4_instance))
else
# otherwise start simulator (mavlink) module
simulator_tcp_port=$((4560+px4_instance))
@ -134,15 +148,15 @@ else
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
echo "PX4 SIM HOST: localhost"
echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
simulator_mavlink start -c $simulator_tcp_port
else
echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
fi
else
echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi

3
Tools/simulation/jmavsim/jmavsim_run.sh
View File

@ -2,7 +2,8 @@
set -e
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
SCRIPT_DIR=$(dirname $(readlink -f "$BASH_SOURCE"))
cd "$SCRIPT_DIR/jMAVSim"
port=4560

67
Tools/simulation/jmavsim/sitl_run.sh
View File

@ -1,67 +0,0 @@
#!/usr/bin/env bash
set -e
if [ "$#" -lt 3 ]; then
echo usage: sitl_run.sh sitl_bin debugger src_path build_path
exit 1
fi
sitl_bin="$1"
debugger="$2"
src_path="$3"
build_path="$4"
echo SITL ARGS
echo sitl_bin: $sitl_bin
echo debugger: $debugger
echo src_path: $src_path
echo build_path: $build_path
rootfs="$build_path/rootfs" # this is the working directory
mkdir -p "$rootfs"
# To disable user input
if [[ -n "$NO_PXH" ]]; then
no_pxh=-d
else
no_pxh=""
fi
jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
if [ -n "$jmavsim_pid" ]; then
kill $jmavsim_pid
fi
export PX4_SIM_MODEL="iris"
# Start Java simulator
"$src_path"/Tools/simulation/jmavsim/jmavsim_run.sh -r 250 -l &
SIM_PID=$!
pushd "$rootfs" >/dev/null
# Do not exit on failure now from here on because we want the complete cleanup
set +e
sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc"
echo SITL COMMAND: $sitl_command
if [ "$debugger" == "lldb" ]; then
eval lldb -- $sitl_command
elif [ "$debugger" == "gdb" ]; then
eval gdb --args $sitl_command
elif [ "$debugger" == "valgrind" ]; then
eval valgrind --track-origins=yes --leak-check=full -v $sitl_command
elif [ "$debugger" == "callgrind" ]; then
eval valgrind --tool=callgrind -v $sitl_command
else
eval $sitl_command
fi
popd >/dev/null
pkill -9 -P $SIM_PID
kill -9 $SIM_PID

2
boards/px4/sitl/sitl.cmake
View File

@ -1,5 +1,3 @@
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
# If the environment variable 'replay' is defined, we are building with replay
# support. In this case, we enable the orb publisher rules.

10
platforms/posix/Debug/launch_sitl.json.in
View File

@ -135,7 +135,7 @@
}
},
{
"name": "SITL (jmavsim)",
"name": "SITL (jmavsim_iris SYS_AUTOSTART=10017)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
@ -146,16 +146,13 @@
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "iris"
"name": "PX4_SYS_AUTOSTART",
"value": "10017"
}
],
"externalConsole": false,
"preLaunchTask": "jmavsim",
"postDebugTask": "jmavsim kill",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
@ -171,7 +168,6 @@
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",

61
src/modules/simulation/simulator_mavlink/sitl_targets_jmavsim.cmake
View File

@ -1,25 +1,48 @@
px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
# create targets for each viewer/model/debugger combination
set(debuggers
none
gdb
lldb
valgrind
callgrind
)
find_program(JAVA_ANT_PATH "ant")
find_package(Java)
foreach(debugger ${debuggers})
if(debugger STREQUAL "none")
set(_targ_name "jmavsim")
else()
set(_targ_name "jmavsim_${debugger}")
endif()
if(JAVA_ANT_PATH AND Java_JAVAC_EXECUTABLE AND Java_JAVA_EXECUTABLE)
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
include(UseJava)
find_jar(LIBVECMATH_JAR
"vecmath"
)
if(LIBVECMATH_JAR)
px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
add_custom_target(jmavsim_run_symlink ALL
COMMAND ${CMAKE_COMMAND} -E create_symlink ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jmavsim_run.sh ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
BYPRODUCTS ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
)
# build_jmavsim
add_custom_command(
OUTPUT ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar
COMMAND ${JAVA_ANT_PATH} create_run_jar copy_res
WORKING_DIRECTORY ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/
USES_TERMINAL
DEPENDS git_jmavsim jmavsim_run_symlink
COMMENT "building jMAVSim"
)
add_custom_target(build_jmavsim DEPENDS ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar)
# launch helper
add_custom_target(jmavsim_iris
COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=10017 $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4 git_jmavsim
DEPENDS
px4 git_jmavsim build_jmavsim jmavsim_run_symlink
${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris
COMMENT "launching px4 jmavsim_iris (SYS_AUTOSTART=10017)"
)
endforeach()
add_custom_target(jmavsim DEPENDS jmavsim_iris) # alias
else()
#message(WARNING "jMAVSim requires vecmath.jar, which is not available in your system. Please install it.")
endif()
endif()