forked from Archive/PX4-Autopilot
79 lines
1.6 KiB
Bash
Executable File
79 lines
1.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -e
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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cd "$SCRIPT_DIR/jMAVSim"
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tcp_port=4560
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extra_args=
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baudrate=921600
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device=
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ip="127.0.0.1"
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while getopts ":b:d:p:qsr:f:i:l" opt; do
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case $opt in
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b)
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baudrate=$OPTARG
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;;
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d)
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device="$OPTARG"
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;;
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i)
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ip="$OPTARG"
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;;
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p)
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tcp_port=$OPTARG
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;;
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q)
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extra_args="$extra_args -qgc"
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;;
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s)
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extra_args="$extra_args -sdk"
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;;
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r)
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extra_args="$extra_args -r $OPTARG"
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;;
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l)
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extra_args="$extra_args -lockstep"
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;;
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\?)
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echo "Invalid option: -$OPTARG" >&2
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exit 1
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;;
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esac
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done
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if [ "$device" == "" ]; then
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device="-tcp $ip:$tcp_port"
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else
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device="-serial $device $baudrate"
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fi
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if [ "$HEADLESS" = "1" ]; then
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extra_args="$extr_args -no-gui"
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fi
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# jMAVSim crashes with Java 9 on macOS, therefore we need to use Java 8
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if [ "$(uname)" == "Darwin" ]; then
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bold=$(tput bold)
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normal=$(tput sgr0)
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if ! /usr/libexec/java_home -V 2>&1 | grep --quiet "Java SE 8" ; then
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echo "${bold}You need to have Java 8 installed for macOS, for more info, see:${normal}"
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echo "${bold}https://github.com/PX4/jMAVSim/issues/81${normal}"
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exit 1
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fi
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export JAVA_HOME=`/usr/libexec/java_home -v 1.8`
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fi
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ant create_run_jar copy_res
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cd out/production
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java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
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ret=$?
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if [ $ret -ne 0 -a $ret -ne 130 ]; then # 130 is Ctrl-C
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# if the start of java fails, it's probably because the GC option is not
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# understood. Try starting without it
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java -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
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fi
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