px4-firmware/Tools/sitl_multiple_run.sh

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#!/bin/bash
# run multiple instances of the 'px4' binary, but w/o starting the simulator.
# It assumes px4 is already built, with 'make px4_sitl_default'
# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
# For example jmavsim can be run like this:
#./Tools/jmavsim_run.sh -p 4561 -l
sitl_num=2
[ -n "$1" ] && sitl_num="$1"
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/.."
build_path=${src_path}/build/px4_sitl_default
echo "killing running instances"
pkill -x px4 || true
sleep 1
export PX4_SIM_MODEL=iris
n=0
while [ $n -lt $sitl_num ]; do
working_dir="$build_path/instance_$n"
[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
pushd "$working_dir" &>/dev/null
echo "starting instance $n in $(pwd)"
../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -s etc/init.d-posix/rcS >out.log 2>err.log &
popd &>/dev/null
n=$(($n + 1))
done