forked from Archive/PX4-Autopilot
104 lines
2.5 KiB
Bash
Executable File
104 lines
2.5 KiB
Bash
Executable File
#!/bin/bash
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rc_script=$1
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debugger=$2
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program=$3
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model=$4
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build_path=$5
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curr_dir=`pwd`
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echo SITL ARGS
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echo rc_script: $rc_script
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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 build_path: $build_path
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if [ "$model" == "" ] || [ "$model" == "none" ]
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then
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echo "empty model, setting iris as default"
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model="iris"
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fi
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if [ "$#" != 5 ]
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then
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echo usage: sitl_run.sh rc_script debugger program model 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 gazebo
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pkill mainapp
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jmavsim_pid=`jps | 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 Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
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cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
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SIM_PID=0
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if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
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then
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cd Tools/jMAVSim
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ant
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java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
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SIM_PID=`echo $!`
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elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
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then
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if [ -x "$(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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export GAZEBO_PLUGIN_PATH=$curr_dir/Tools/sitl_gazebo/Build:${GAZEBO_PLUGIN_PATH}
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# Set the model path so Gazebo finds the airframes
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export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
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# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
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# export GAZEBO_MODEL_DATABASE_URI=""
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export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
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mkdir -p Tools/sitl_gazebo/Build
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cd Tools/sitl_gazebo/Build
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cmake -Wno-dev ..
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make -j4
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gzserver --verbose ../worlds/${model}.world &
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SIM_PID=`echo $!`
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gzclient --verbose &
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GUI_PID=`echo $!`
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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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cd $build_path/src/firmware/posix
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mkdir -p rootfs/fs/microsd
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mkdir -p rootfs/eeprom
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touch rootfs/eeprom/parameters
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# Start Java simulator
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if [ "$debugger" == "lldb" ]
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then
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lldb -- mainapp ../../../../${rc_script}_${program}_${model}
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elif [ "$debugger" == "gdb" ]
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then
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gdb --args mainapp ../../../../${rc_script}_${program}_${model}
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elif [ "$debugger" == "ddd" ]
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then
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ddd --debugger gdb --args mainapp ../../../../${rc_script}_${program}_${model}
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elif [ "$debugger" == "valgrind" ]
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then
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valgrind ./mainapp ../../../../${rc_script}_${program}_${model}
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else
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./mainapp ../../../../${rc_script}_${program}_${model}
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fi
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if [ "$program" == "jmavsim" ]
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then
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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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kill -9 $GUI_PID
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fi
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