forked from Archive/PX4-Autopilot
255 lines
7.1 KiB
Bash
Executable File
255 lines
7.1 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -e
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if [ "$#" -lt 7 ]; then
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echo usage: sitl_run.sh sitl_bin debugger program model world src_path build_path
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exit 1
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fi
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if [[ -n "$DONT_RUN" ]]; then
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echo "Not running simulation (DONT_RUN is set)."
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exit 0
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fi
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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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world="$5"
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src_path="$6"
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build_path="$7"
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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 world: $world
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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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# To disable user input
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if [[ -n "$VERBOSE_SIM" ]]; then
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verbose="--verbose"
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else
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verbose=""
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fi
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# Disable follow mode
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if [[ "$PX4_NO_FOLLOW_MODE" != "1" ]]; then
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follow_mode="--gui-client-plugin libgazebo_user_camera_plugin.so"
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else
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follow_mode=""
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fi
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if [ "$program" == "jmavsim" ]; 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" == "" ] || [ "$model" == "none" ]; then
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if [ "$program" == "jsbsim" ]; then
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echo "empty model, setting rascal as default for jsbsim"
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model="rascal"
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else
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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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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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# Do NOT kill PX4 if debug in ide
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if [ "$debugger" != "ide" ]; then
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pkill -x px4 || true
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pkill -x px4_$model || true
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fi
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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 7
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for file in "$@"; do
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cp "$file" $rootfs/
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done
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export PX4_SIM_MODEL=${model}
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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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"$src_path"/Tools/jmavsim_run.sh -r 250 -l &
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SIM_PID=$!
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elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
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if [ -x "$(command -v gazebo)" ]; then
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# Get the model name
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model_name="${model}"
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# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
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if [ -f "${src_path}/Tools/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
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model_name="${model}-gen"
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fi
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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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if [ -z $PX4_SITL_WORLD ]; then
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#Spawn predefined world
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if [ "$world" == "none" ]; then
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if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
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echo "empty world, default world ${model}.world for model found"
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
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else
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echo "empty world, setting empty.world as default"
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world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
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fi
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else
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#Spawn empty world if world with model name doesn't exist
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
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fi
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else
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if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
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# Spawn world by name if exists in the worlds directory from environment variable
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
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else
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# Spawn world from environment variable with absolute path
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world_path="$PX4_SITL_WORLD"
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fi
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fi
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gzserver $verbose $world_path &
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SIM_PID=$!
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# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
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IFS_bak=$IFS
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IFS=":"
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for possible_model_path in ${GAZEBO_MODEL_PATH}; do
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if [ -z $possible_model_path ]; then
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continue
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fi
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# trim \r from path
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possible_model_path=$(echo $possible_model_path | tr -d '\r')
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if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
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modelpath=$possible_model_path
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break
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fi
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done
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IFS=$IFS_bak
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if [ -z $modelpath ]; then
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echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
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exit 1
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else
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echo "Using: ${modelpath}/${model}/${model}.sdf"
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fi
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while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
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echo "gzserver not ready yet, trying again!"
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sleep 1
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done
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if [[ -n "$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 $follow_mode &
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GUI_PID=$!
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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 [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
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echo "FG setup"
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cd "${src_path}/Tools/flightgear_bridge/"
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"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0
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"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
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FG_BRIDGE_PID=$!
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elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
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source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
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if [[ -n "$HEADLESS" ]]; then
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echo "not running flightgear gui"
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else
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fgfs --fdm=null \
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--native-fdm=socket,in,60,,5550,udp \
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--aircraft=$JSBSIM_AIRCRAFT_MODEL \
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--airport=${world} \
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--disable-hud \
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--disable-ai-models &> /dev/null &
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FGFS_PID=$!
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fi
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"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
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JSBSIM_PID=$!
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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\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
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fi
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echo SITL COMMAND: $sitl_command
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if [ "$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 $sitl_command
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fi
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popd >/dev/null
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if [ "$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 $GUI_PID
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fi
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elif [ "$program" == "flightgear" ]; then
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kill $FG_BRIDGE_PID
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kill -9 `cat /tmp/px4fgfspid_0`
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elif [ "$program" == "jsbsim" ]; then
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kill $JSBSIM_PID
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kill $FGFS_PID
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fi
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