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Tools: exit as straightaway with DONT_RUN set

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This commit is contained in:
Julian Oes 2020-03-06 15:55:14 +01:00 committed by Nuno Marques
parent bfef243dba
commit 0989e90b4a
1 changed files with 28 additions and 30 deletions
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58
Tools/sitl_run.sh
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@ -2,6 +2,16 @@
set -e
if [ "$#" -lt 6 ]; then
echo usage: sitl_run.sh sitl_bin debugger program model src_path build_path
exit 1
fi
if [[ -n "$DONT_RUN" ]]; then
echo "Not running simulation (DONT_RUN is set)."
exit 0
fi
sitl_bin="$1"
debugger="$2"
program="$3"
@ -41,12 +51,6 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
model="iris"
fi
if [ "$#" -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
@ -73,22 +77,20 @@ if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
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}"
# Set the plugin path so Gazebo finds our model and sim
source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
gzserver "${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 $!`
fi
if [[ -n "$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
else
echo "You need to have gazebo simulator installed!"
@ -112,9 +114,7 @@ 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
if [ "$debugger" == "lldb" ]; then
eval lldb -- $sitl_command
elif [ "$debugger" == "gdb" ]; then
eval gdb --args $sitl_command
@ -138,14 +138,12 @@ fi
popd >/dev/null
if [[ -z "$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 $GUI_PID
fi
if [ "$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