px4-firmware/Tools/sitl_run.sh

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#!/bin/bash
set -e
sitl_bin="$1"
debugger="$2"
program="$3"
model="$4"
src_path="$5"
build_path="$6"
# The rest of the arguments are files to copy into the working dir.
echo SITL ARGS
echo sitl_bin: $sitl_bin
echo debugger: $debugger
echo program: $program
echo model: $model
echo src_path: $src_path
echo build_path: $build_path
rootfs="$build_path/tmp/rootfs" # this is the working directory
mkdir -p "$rootfs"
# To disable user input
if [[ -n "$NO_PXH" ]]; then
no_pxh=-d
else
no_pxh=""
fi
if [ "$model" != none ]; then
jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
if [ -n "$jmavsim_pid" ]
then
kill $jmavsim_pid
fi
fi
if [ "$model" == "" ] || [ "$model" == "none" ]
then
echo "empty model, setting iris as default"
model="iris"
fi
if [ "$#" -lt 6 ]
then
echo usage: sitl_run.sh sitl_bin debugger program model src_path build_path
echo ""
exit 1
fi
# kill process names that might stil
# be running from last time
pkill -x gazebo || true
pkill -x px4 || true
pkill -x px4_$model || true
cp "$src_path/Tools/posix_lldbinit" "$rootfs/.lldbinit"
cp "$src_path/Tools/posix.gdbinit" "$rootfs/.gdbinit"
shift 6
for file in "$@"; do
cp "$file" $rootfs/
done
SIM_PID=0
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
then
# Start Java simulator
"$src_path"/Tools/jmavsim_run.sh -r 500 &
SIM_PID=`echo $!`
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
then
if [ -x "$(command -v gazebo)" ]
then
if [[ -z "$DONT_RUN" ]]
then
# Set the plugin path so Gazebo finds our model and sim
source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
gzserver --verbose "${src_path}/Tools/sitl_gazebo/worlds/${model}.world" &
SIM_PID=`echo $!`
if [[ -n "$HEADLESS" ]]; then
echo "not running gazebo gui"
else
# gzserver needs to be running to avoid a race. Since the launch
# is putting it into the background we need to avoid it by backing off
sleep 3
nice -n 20 gzclient --verbose &
GUI_PID=`echo $!`
fi
fi
else
echo "You need to have gazebo simulator installed!"
exit 1
fi
fi
pushd "$rootfs" >/dev/null
# Do not exit on failure now from here on because we want the complete cleanup
set +e
if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model} -t \"$src_path\"/test_data"
else
sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
fi
echo SITL COMMAND: $sitl_command
export PX4_SIM_MODEL=${model}
if [[ -n "$DONT_RUN" ]]
then
echo "Not running simulation (\$DONT_RUN is set)."
elif [ "$debugger" == "lldb" ]
then
lldb -- $sitl_command
elif [ "$debugger" == "gdb" ]
then
gdb --args $sitl_command
elif [ "$debugger" == "ddd" ]
then
ddd --debugger gdb --args $sitl_command
elif [ "$debugger" == "valgrind" ]
then
valgrind --track-origins=yes --leak-check=full -v $sitl_command
elif [ "$debugger" == "callgrind" ]
then
valgrind --tool=callgrind -v $sitl_command
elif [ "$debugger" == "ide" ]
then
echo "######################################################################"
echo
echo "PX4 simulator not started, use your IDE to start PX4_${model} target."
echo "Hit enter to quit..."
echo
echo "######################################################################"
read
else
eval $sitl_command
fi
popd >/dev/null
if [[ -z "$DONT_RUN" ]]
then
if [ "$program" == "jmavsim" ]
then
pkill -9 -P $SIM_PID
kill -9 $SIM_PID
elif [ "$program" == "gazebo" ]
then
kill -9 $SIM_PID
if [[ ! -n "$HEADLESS" ]]; then
kill -9 $GUI_PID
fi
fi
fi