init.d-posix: make all simulation airframes simulator specific

Tools/simulation/flightgear/sitl_run.sh

@@ -22,7 +22,7 @@ echo build_path: $build_path
 rootfs="$build_path/rootfs" # this is the working directory
 mkdir -p "$rootfs"
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=flightgear_${model}
 
 echo "FG setup"
 cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"

Tools/simulation/gazebo/sitl_multiple_run.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
 
 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=${vehicle_model}
+export PX4_SIM_MODEL=gazebo_${vehicle_model}
 
 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -126,7 +126,7 @@ else
 
 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}
+			export PX4_SIM_MODEL=gazebo_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))

Tools/simulation/gazebo/sitl_run.sh

@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=gazebo_${model}
 export PX4_SIM_WORLD=${world}
 
 SIM_PID=0
@@ -75,10 +75,6 @@ SIM_PID=0
 if [ -x "$(command -v gazebo)" ]; then
 	# Get the model name
 	model_name="${model}"
-	# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
-	if [ -f "${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
-		model_name="${model}-gen"
-	fi
 
 	# Set the plugin path so Gazebo finds our model and sim
 	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"

Tools/simulation/jmavsim/jmavsim_run.sh

@@ -2,7 +2,8 @@
 
 set -e
 
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+SCRIPT_DIR=$(dirname $(readlink -f "$BASH_SOURCE"))
+
 cd "$SCRIPT_DIR/jMAVSim"
 
 port=4560
@@ -73,4 +74,4 @@ fi
 ant create_run_jar copy_res
 cd out/production
 
-java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
+java -XX:GCTimeRatio=20 --illegal-access=permit -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args

Tools/simulation/jmavsim/sitl_run.sh

@@ -1,67 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-if [ "$#" -lt 3 ]; then
-	echo usage: sitl_run.sh sitl_bin debugger src_path build_path
-	exit 1
-fi
-
-sitl_bin="$1"
-debugger="$2"
-src_path="$3"
-build_path="$4"
-
-echo SITL ARGS
-
-echo sitl_bin: $sitl_bin
-echo debugger: $debugger
-echo src_path: $src_path
-echo build_path: $build_path
-
-rootfs="$build_path/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
-
-jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
-if [ -n "$jmavsim_pid" ]; then
-	kill $jmavsim_pid
-fi
-
-export PX4_SIM_MODEL="iris"
-
-# Start Java simulator
-"$src_path"/Tools/simulation/jmavsim/jmavsim_run.sh -r 250 -l &
-SIM_PID=$!
-
-pushd "$rootfs" >/dev/null
-
-# Do not exit on failure now from here on because we want the complete cleanup
-set +e
-
-sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc"
-
-echo SITL COMMAND: $sitl_command
-
-if [ "$debugger" == "lldb" ]; then
-	eval lldb -- $sitl_command
-elif [ "$debugger" == "gdb" ]; then
-	eval gdb --args $sitl_command
-elif [ "$debugger" == "valgrind" ]; then
-	eval valgrind --track-origins=yes --leak-check=full -v $sitl_command
-elif [ "$debugger" == "callgrind" ]; then
-	eval valgrind --tool=callgrind -v $sitl_command
-else
-	eval $sitl_command
-fi
-
-popd >/dev/null
-
-pkill -9 -P $SIM_PID
-kill -9 $SIM_PID

Tools/simulation/jsbsim/sitl_run.sh

@@ -37,7 +37,7 @@ else
 	no_pxh=""
 fi
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=jsbsim_${model}
 export PX4_SIM_WORLD=${world}
 
 # This is needed for aircraft namespace mapping

Tools/simulation/sitl_multiple_run.sh

@@ -19,7 +19,7 @@ pkill -x px4 || true
 
 sleep 1
 
-export PX4_SIM_MODEL=iris
+export PX4_SIM_MODEL=gazebo_iris
 
 n=0
 while [ $n -lt $sitl_num ]; do