forked from Archive/PX4-Autopilot
164 lines
3.2 KiB
Bash
Executable File
164 lines
3.2 KiB
Bash
Executable File
#!/bin/bash
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set -e
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echo args: $@
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sitl_bin=$1
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rcS_dir=$2
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debugger=$3
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program=$4
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model=$5
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src_path=$6
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build_path=$7
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echo SITL ARGS
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echo sitl_bin: $sitl_bin
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echo rcS_dir: $rcS_dir
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echo debugger: $debugger
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echo program: $program
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echo model: $model
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echo src_path: $src_path
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echo build_path: $build_path
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working_dir=`pwd`
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sitl_bin=$build_path/src/firmware/posix/px4
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rootfs=$build_path/tmp/rootfs
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if [ "$chroot" == "1" ]
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then
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chroot_enabled=-c
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sudo_enabled=sudo
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else
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chroot_enabled=""
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sudo_enabled=""
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fi
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# To disable user input
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if [[ -n "$NO_PXH" ]]; then
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no_pxh=-d
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else
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no_pxh=""
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fi
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if [ "$model" == "" ] || [ "$model" == "none" ]
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then
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echo "empty model, setting iris as default"
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model="iris"
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fi
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if [ "$#" -lt 7 ]
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then
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echo usage: sitl_run.sh rc_script rcS_dir debugger program model src_path build_path
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echo ""
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exit 1
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fi
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# kill process names that might stil
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# be running from last time
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pkill -x gazebo || true
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pkill -x px4 || true
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pkill -x px4_$model || true
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jmavsim_pid=`ps aux | grep java | grep Simulator | cut -d" " -f1`
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if [ -n "$jmavsim_pid" ]
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then
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kill $jmavsim_pid
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fi
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cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
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cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
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SIM_PID=0
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if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
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then
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$src_path/Tools/jmavsim_run.sh &
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SIM_PID=`echo $!`
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cd ../..
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elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
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then
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if [ -x "$(command -v gazebo)" ]
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then
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# Set the plugin path so Gazebo finds our model and sim
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source $src_path/Tools/setup_gazebo.bash ${src_path} ${build_path}
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gzserver --verbose ${src_path}/Tools/sitl_gazebo/worlds/${model}.world &
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SIM_PID=`echo $!`
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if [[ -n "$HEADLESS" ]]; then
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echo "not running gazebo gui"
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else
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gzclient --verbose &
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GUI_PID=`echo $!`
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fi
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else
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echo "You need to have gazebo simulator installed!"
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exit 1
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fi
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elif [ "$program" == "replay" ] && [ ! -n "$no_sim" ]
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then
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echo "Replaying logfile: $logfile"
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# This is not a simulator, but a log file to replay
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# Check if we need to creat a param file to allow user to change parameters
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if ! [ -f "$rootfs/replay_params.txt" ]
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then
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mkdir -p $rootfs
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touch $rootfs/replay_params.txt
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fi
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fi
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cd $working_dir
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if [ "$logfile" != "" ]
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then
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cp $logfile $rootfs/replay.px4log
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fi
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# Do not exit on failure now from here on because we want the complete cleanup
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set +e
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sitl_command="$sudo_enabled $sitl_bin $no_pxh $chroot_enabled $src_path $src_path/${rcS_dir}/${model}"
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echo SITL COMMAND: $sitl_command
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# Start Java simulator
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if [ "$debugger" == "lldb" ]
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then
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lldb -- $sitl_command
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elif [ "$debugger" == "gdb" ]
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then
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gdb --args $sitl_command
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elif [ "$debugger" == "ddd" ]
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then
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ddd --debugger gdb --args $sitl_command
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elif [ "$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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if [ "$program" == "jmavsim" ]
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then
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pkill -9 -P $SIM_PID
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kill -9 $SIM_PID
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elif [ "$program" == "gazebo" ]
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then
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kill -9 $SIM_PID
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if [[ ! -n "$HEADLESS" ]]; then
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kill -9 $GUI_PID
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fi
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fi
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