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Add support for simulators running on a different host than the PX4 instance

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This commit is contained in:
Chris Lovett
2021-03-31 17:56:38 -07:00
committed by GitHub
parent b66ae5f2d4
commit 292a66ce41
4 changed files with 43 additions and 1 deletions
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src/modules/simulator/simulator.cpp
+12
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@@ -69,6 +69,7 @@ int Simulator::start(int argc, char *argv[])
_instance = new Simulator();
if (_instance) {
if (argc == 5 && strcmp(argv[3], "-u") == 0) {
_instance->set_ip(InternetProtocol::UDP);
_instance->set_port(atoi(argv[4]));
@@ -80,11 +81,21 @@ int Simulator::start(int argc, char *argv[])
}
if (argc == 6 && strcmp(argv[3], "-t") == 0) {
PX4_INFO("Simulator using TCP on remote host %s port %s", argv[4], argv[5]);
PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]);
_instance->set_ip(InternetProtocol::TCP);
_instance->set_tcp_remote_ipaddr(argv[4]);
_instance->set_port(atoi(argv[5]));
}
if (argc == 6 && strcmp(argv[3], "-h") == 0) {
PX4_INFO("Simulator using TCP on remote host %s port %s", argv[4], argv[5]);
PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]);
_instance->set_ip(InternetProtocol::TCP);
_instance->set_hostname(argv[4]);
_instance->set_port(atoi(argv[5]));
}
_instance->run();
return 0;
@@ -102,6 +113,7 @@ static void usage()
PX4_INFO("Connect using UDP: simulator start -u udp_port");
PX4_INFO("Connect using TCP: simulator start -c tcp_port");
PX4_INFO("Connect to a remote server using TCP: simulator start -t ip_addr tcp_port");
PX4_INFO("Connect to a remote server via hostname using TCP: simulator start -h hostname tcp_port");
}
__BEGIN_DECLS