forked from Archive/PX4-Autopilot
148 lines
3.7 KiB
Bash
Executable File
148 lines
3.7 KiB
Bash
Executable File
#!/bin/bash
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set -e
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sitl_bin="$1"
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debugger="$2"
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program="$3"
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model="$4"
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src_path="$5"
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build_path="$6"
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# The rest of the arguments are files to copy into the working dir.
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echo SITL ARGS
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echo sitl_bin: $sitl_bin
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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: $build_path
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rootfs="$build_path/tmp/rootfs" # this is the working directory
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mkdir -p "$rootfs"
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# To disable user input
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if [[ -n "$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" != none ]; then
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jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
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if [ -n "$jmavsim_pid" ]; then
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kill $jmavsim_pid
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fi
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fi
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if [ "$model" == "" ] || [ "$model" == "none" ]; then
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echo "empty model, setting iris as default"
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model="iris"
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fi
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if [ "$#" -lt 6 ]; then
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echo usage: sitl_run.sh sitl_bin 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_$model || true
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cp "$src_path/Tools/posix_lldbinit" "$rootfs/.lldbinit"
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cp "$src_path/Tools/posix.gdbinit" "$rootfs/.gdbinit"
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shift 6
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for file in "$@"; do
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cp "$file" $rootfs/
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done
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SIM_PID=0
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if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
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# Start Java simulator
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"$src_path"/Tools/jmavsim_run.sh -r 250 -l &
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SIM_PID=`echo $!`
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elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
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if [ -x "$(command -v gazebo)" ]; then
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if [[ -z "$DONT_RUN" ]]; then
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# Set the plugin path so Gazebo finds our model and sim
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source "$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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# gzserver needs to be running to avoid a race. Since the launch
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# is putting it into the background we need to avoid it by backing off
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sleep 3
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nice -n 20 gzclient --verbose &
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GUI_PID=`echo $!`
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fi
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fi
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else
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echo "You need to have gazebo simulator installed!"
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exit 1
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fi
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fi
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pushd "$rootfs" >/dev/null
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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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if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
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sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model} -t \"$src_path\"/test_data"
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else
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sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
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fi
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echo SITL COMMAND: $sitl_command
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export PX4_SIM_MODEL=${model}
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if [[ -n "$DONT_RUN" ]]; then
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echo "Not running simulation (\$DONT_RUN is set)."
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elif [ "$debugger" == "lldb" ]; then
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eval lldb -- $sitl_command
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elif [ "$debugger" == "gdb" ]; then
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eval gdb --args $sitl_command
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elif [ "$debugger" == "ddd" ]; then
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eval ddd --debugger gdb --args $sitl_command
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elif [ "$debugger" == "valgrind" ]; then
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eval valgrind --track-origins=yes --leak-check=full -v $sitl_command
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elif [ "$debugger" == "callgrind" ]; then
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eval valgrind --tool=callgrind -v $sitl_command
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elif [ "$debugger" == "ide" ]; 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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eval $sitl_command
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fi
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popd >/dev/null
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if [[ -z "$DONT_RUN" ]]; then
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if [ "$program" == "jmavsim" ]; 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" ]; 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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fi
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