px4-firmware/Tools/jmavsim_run.sh

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#! /bin/bash
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
cd "$SCRIPT_DIR/jMAVSim"
udp_port=14560
extra_args=
baudrate=921600
device=
ip="127.0.0.1"
while getopts ":b:d:p:qr:i:" opt; do
case $opt in
b)
baudrate=$OPTARG
;;
d)
device="$OPTARG"
;;
i)
ip="$OPTARG"
;;
p)
udp_port=$OPTARG
;;
q)
extra_args="$extra_args -qgc"
;;
r)
extra_args="$extra_args -r $OPTARG"
;;
\?)
echo "Invalid option: -$OPTARG" >&2
exit 1
;;
esac
done
if [ "$device" == "" ]; then
device="-udp $ip:$udp_port"
else
device="-serial $device $baudrate"
fi
ant create_run_jar copy_res
cd out/production
java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
ret=$?
if [ $ret -ne 0 -a $ret -ne 130 ]; then # 130 is Ctrl-C
# if the start of java fails, it's probably because the GC option is not
# understood. Try starting without it
java -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
fi