mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:28:53 +08:00
simulation organization and cleanup
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
This commit is contained in:
Daniel Agar
Regular → Executable
@@ -1,901 +0,0 @@
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#! /bin/bash
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# Written by Carlo Wood, September/October 2016.
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|
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function fatal
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{
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echo "$0: ERROR: $*"
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exit 1
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}
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||||
|
||||
# Make sure we're not having a broken gawk.
|
||||
AWK_VERSION=$(awk -V | head -n 1)
|
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if [[ $AWK_VERSION =~ ^GNU\ Awk\ 4\.[0-9]+\.[0-9]+ ]]; then
|
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AWK_VERSION=$(echo $AWK_VERSION | sed -e 's/GNU Awk \(4\.[0-9]*\.[0-9]*\).*/\1/')
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||||
if [[ $AWK_VERSION =~ ^4\.0*([2-9]+|1\.0*[2-9]+) ]]; then
|
||||
fatal "Your version of awk ($AWK_VERSION) is broken. Please use version 4.1.1 or lower."
|
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fi
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fi
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echo "AWK_VERSION=$AWK_VERSION"
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|
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# Find out what the base directory is.
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BASEDIR="$(dirname $(dirname $(readlink -en "$0")))"
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echo "BASEDIR=\"$BASEDIR\""
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striplen=$((${#BASEDIR} + 2))
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# BASEDIR may not contain a space, that's just too hard to get to work.
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expr index "$BASEDIR" " " >/dev/null && fatal "it is not supported that BASEDIR contains a space."
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# Make sure that worked.
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test -f $BASEDIR/cmake/posix/px4_impl_posix.cmake || fatal "Failed to determine BASEDIR: '\$BASEDIR/cmake/posix/px4_impl_posix.cmake' is not a regular file."
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# Parse command line parameters.
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||||
debug=0 # Set to non-zero to enable debugging.
|
||||
force=0 # Set to 1 to force running of script even when there are uncommitted changes.
|
||||
merge=0 # Set to 1 when merging a branch that didn't run this script into master that did already run this script.
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||||
while [[ $# -gt 0 ]]
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do
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case $1 in
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--debug)
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debug=1
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;;
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--force)
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force=1
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;;
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--merge)
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force=1
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merge=1
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fatal "--merge is not implemented yet."
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;;
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-*)
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fatal "Unknown option $1"
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;;
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--|*)
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break
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;;
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esac
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shift
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done
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non_option_arguments=$#
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if [ $non_option_arguments -eq 0 -a $debug -ne 0 ]; then
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fatal "--debug screws up the source files with debug output! You must provide a single filename to run on."
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fi
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# Better not run this script with changes that still need to be committed.
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cd "$BASEDIR" || fatal "Could not change directory to \"$BASEDIR\""
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if ! git diff-index --quiet HEAD --; then
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if [ $non_option_arguments -ne 0 -o $force -eq 1 ]; then
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if [ $force -eq 1 ]; then
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echo "Uncommitted changes, but running anyway because --force is used."
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else
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echo -n "WARNING: You have uncommitted changes (use --force to remove this warning). Run anyway? [y/N] "
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read answer
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if [ "x$answer" != "xy" -a "x$answer" != "xY" ]; then exit 0; fi
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fi
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else
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fatal "Your working directory has uncommitted changes (see 'git status')! Bailing out."
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fi
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fi
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# Find a reasonable tmp directory.
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# First make a list of all build directories by looking for a CMakeCache.txt in them. Sort them so the most recent one is first.
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CMAKECACHE_FILES=$(find "$BASEDIR" -mindepth 2 -maxdepth 2 -type f -name CMakeCache.txt -wholename "$BASEDIR/build/*/CMakeCache.txt" | xargs /bin/ls -td)
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# Make a list of all candidate tmp directories.
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TMPDIRS=
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for f in $CMAKECACHE_FILES; do
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if [ -d $(dirname $f)/tmp ]; then
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TMPDIRS+=" $(dirname $f)/tmp"
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fi
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done
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# Put BASEDIR first in case there are no build directories because /tmp is probably on a different file system.
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TMPDIRS+=" $BASEDIR /tmp ."
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# Pick the first one that is actually writable.
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for tmp in $TMPDIRS; do
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TMPDIR="$tmp"
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if [ -w "$TMPDIR" ]; then
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break;
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fi
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done
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test -n "$TMPDIR" || fatal "Can not find a writable tmp directory."
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echo "TMPDIR=\"$TMPDIR\""
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# Make a list of all source and header files that we need to fix.
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# List of directories that we don't want to touch.
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EXCLUDE_FOLDERS=".git Tools"
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EXCLUDE_PATTERNS="examples matlab/scripts tests test unit_test *_test *_tests test_* apps/test_* UnitTests"
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||||
# A regular expression for the exclude patterns.
|
||||
EXCLUDE_PATTERNS_RE="($(echo $EXCLUDE_PATTERNS | sed -e 's/\*/[^\/]*/g;s/ /|/g'))"
|
||||
# Extensions of files that we do want to change (leaving out .y and .py for now).
|
||||
C_EXTENSIONS=".c .c_in .c_shipped"
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||||
H_EXTENSIONS=".h .h.in .h_template"
|
||||
CXX_EXTENSIONS=".cc .cpp .cpp.in .cxx .cpp_template"
|
||||
HXX_EXTENSIONS=".hh .hpp .hxx"
|
||||
# The regular expression that we consider to be an #include.
|
||||
INCLUDE_RE='^[[:space:]]*#[[:space:]]*include[[:space:]]*[<"]'
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||||
# Regular expression for empty lines.
|
||||
EMPTY_LINE_RE='^[[:space:]]*$'
|
||||
# Regular expression for one-line comments.
|
||||
COMMENT_LINE_RE='^[[:space:]]*(\/\/.*|\/\*([^*]|\*+[^\/*])*\*+\/[[:space:]]*)$'
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||||
# Regular expression for a #define (on one line).
|
||||
DEFINE_RE='^[[:space:]]*#[[:space:]]*define[[:space:]].*[^\\]$'
|
||||
# Regular expression for an #if[[n]def].
|
||||
IF_RE='^[[:space:]]*#[[:space:]]*if(n?def)?[[:space:]]'
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||||
# Regular expression for an #endif.
|
||||
ENDIF_RE='^[[:space:]]*#[[:space:]]*endif($|[^[:alnum:]])'
|
||||
# Regular expression for header file extension.
|
||||
HEADER_RE="($(echo $H_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
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||||
# Regular expression for C++ source and header files.
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||||
CXXSRC_RE="($(echo $CXX_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
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||||
# List of standard C header files. Note that cfcntl, cshed and cunistd are NOT standard header files, even though they are in NuttX/nuttx/include/cxx.
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||||
REAL_STDC_HEADERS_RE='(cassert|ccomplex|cctype|cerrno|cfenv|cfloat|cinttypes|ciso646|climits|clocale|cmath|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype)'
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STDC_HEADERS=$(find "$BASEDIR/NuttX/nuttx/include/cxx" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDC_HEADERS_RE" | xargs echo)
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||||
# Regular expression of standard C header files, but with the leading 'c' stripped.
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||||
STDC_HEADERS_RE="($(echo $STDC_HEADERS | sed -e 's/^c//;s/ c/|/g'))"
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||||
# Actual list of standard C header files.
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||||
# List of standard C++ header files.
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||||
REAL_STDCXX_HEADERS_RE='(algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|typeindex|typeinfo|type_traits|unordered_map|unordered_set|utility|valarray|variant|vector)'
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||||
STDCXX_HEADERS=$(find "$BASEDIR/NuttX/misc/uClibc++/include/uClibc++" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDCXX_HEADERS_RE" | grep -E -v "$REAL_STDC_HEADERS_RE" | xargs echo)
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||||
# Regular expression of C++ header files.
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||||
STDCXX_HEADERS_RE="($(echo $STDCXX_HEADERS | sed -e 's/ /|/g'))"
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||||
# Regular expression for #pragma once.
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||||
PRAGMA_ONCE_RE='^#pragma once'
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||||
# Regular expression to recognize the start of a C-comment block.
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||||
COMMENT_BEGIN_RE='(^|[^\/])\/\*([^*]|\*+($|[^\/*]))*$'
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||||
# Regular expression to recognize the end of a C-comment block.
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COMMENT_END_RE='\*\/'
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# Regular expression to match C++ unsafe headers. We currently don't have any C++ unsafe headers, do we?
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# v2.0/standard/mavlink.h is not unsafe, but this way the script will leave it alone and not
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# move it above function declarations that need to be declared before including it.
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UNSAFE_HEADERS_RE='(v2\.0\/standard\/mavlink\.h)'
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#UNSAFE_HEADERS_RE='(stm32\.h|arch\/board\/board\.h)'
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# Find all submodules.
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||||
test -f $BASEDIR/.gitmodules || fatal "No such file: $BASEDIR/.gitmodules"
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||||
SUBMODULES=$(grep -A 1 '^\[submodule' $BASEDIR/.gitmodules | grep '^[[:space:]]*path = ' | sed -r -e 's/^[[:space:]]*path = //' | xargs echo)
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echo "SUBMODULES=\"$SUBMODULES\""
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SUBMODULES_RE="($(echo $SUBMODULES | sed -e 's/ /|/g'))"
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||||
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||||
# Disable path name expansion (otherwise the find patterns will be expanded against the files in the current working directory).
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||||
set -f
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EXCLUDE_ARGS=
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for excl in $EXCLUDE_FOLDERS; do
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if [ -z "$EXCLUDE_ARGS" ]; then
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||||
EXCLUDE_ARGS="-wholename $BASEDIR/$excl/*"
|
||||
else
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||||
EXCLUDE_ARGS+=" -o -wholename $BASEDIR/$excl/*"
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fi
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||||
done
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for excl in $EXCLUDE_PATTERNS; do
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EXCLUDE_ARGS+=" -o -wholename */$excl/*"
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done
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INCLUDE_H_ARGS=
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||||
for ext in $H_EXTENSIONS $HXX_EXTENSIONS; do
|
||||
if [ -z "$INCLUDE_H_ARGS" ]; then
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||||
INCLUDE_H_ARGS="-name *$ext"
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||||
else
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INCLUDE_H_ARGS+=" -o -name *$ext"
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||||
fi
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||||
done
|
||||
INCLUDE_C_ARGS=
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for ext in $C_EXTENSIONS $CXX_EXTENSIONS; do
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||||
if [ -z "$INCLUDE_C_ARGS" ]; then
|
||||
INCLUDE_C_ARGS="-name *$ext"
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||||
else
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||||
INCLUDE_C_ARGS+=" -o -name *$ext"
|
||||
fi
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||||
done
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||||
# Also exclude all submodules -- because we don't maintain those (are we?).
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||||
for subm in $SUBMODULES; do
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if [ -z "$SUBMODULES_ARGS" ]; then
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SUBMODULES_ARGS="-wholename $BASEDIR/$subm/*"
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||||
else
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||||
SUBMODULES_ARGS+=" -o -wholename $BASEDIR/$subm/*"
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||||
fi
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||||
done
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||||
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||||
echo -n "Finding all source files with #include's (excluding submodules and build directory)... "
|
||||
find $BASEDIR -mindepth 2 -type f ! \( -wholename $BASEDIR/build/* -o $EXCLUDE_ARGS -o $SUBMODULES_ARGS \) \( $INCLUDE_C_ARGS -o $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_sources
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||||
cat "$TMPDIR/fix_headers_sources" | xargs grep -l "$INCLUDE_RE" > $TMPDIR/fix_headers_sources_with_includes
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||||
echo "done"
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||||
number_of_files=$(sed -n '$=' "$TMPDIR/fix_headers_sources_with_includes")
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||||
count=0
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||||
|
||||
echo -n "Finding all submodule header files (excluding stdc++ headers)... "
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||||
find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) \( $SUBMODULES_ARGS \) \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_SUBMODULE_HEADERS
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||||
echo "done"
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||||
|
||||
echo -n "Finding all header files (excluding stdc++ headers)... "
|
||||
find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) -wholename $BASEDIR/build/* \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_HEADERS
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||||
grep -E "$HEADER_RE" $TMPDIR/fix_headers_sources >> $TMPDIR/fix_headers_HEADERS
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||||
cat $TMPDIR/fix_headers_SUBMODULE_HEADERS >> $TMPDIR/fix_headers_HEADERS
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||||
echo "done"
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||||
|
||||
echo -n "Finding all include paths... "
|
||||
for f in `cat $TMPDIR/fix_headers_sources_with_includes`; do grep -E "$INCLUDE_RE" $f | sed -r -e "s%$INCLUDE_RE%%"';s/[">].*//'; done | sort -u | grep -E -v "(/|^)$EXCLUDE_PATTERNS_RE/" > $TMPDIR/fix_headers_include_paths
|
||||
echo "done"
|
||||
|
||||
function include_path()
|
||||
{
|
||||
# If the include path starts with a '.', then it is a local header.
|
||||
if [[ $1 =~ ^\. ]]; then return 1; fi
|
||||
# If the include path starts with 'platforms/' then it is a local header;
|
||||
# added this exception here because not everyone has all build_ directories for all targets installed.
|
||||
if [[ $1 =~ platforms/ ]]; then return 1; fi
|
||||
# apps.h is generated from apps.h.in.
|
||||
if [ $1 = "apps.h" ]; then return 1; fi
|
||||
# Treat the following headers from src/platforms/*/include as system header because they replace what is found in nuttx (for posix and qurt).
|
||||
if [ $1 = "arch/board/board.h" -o $1 = "crc32.h" -o $1 = "i2c.h" -o $1 = "queue.h" -o $1 = "poll.h" -o $1 = "sys/ioctl.h" ]; then return 2; fi
|
||||
# Escape the path for reg.exp. matching.
|
||||
PATH_RE=$(echo $1 | sed -e 's/\([+.]\)/\\\1/')
|
||||
issubmodule=0;
|
||||
islocal=0;
|
||||
foo=0
|
||||
for includedir in $(grep "/$PATH_RE\$" $TMPDIR/fix_headers_HEADERS | cut -c $striplen-); do
|
||||
# If the include directory is NuttX header that was copied to the build directory, then it's still a system file.
|
||||
if [[ $includedir/ =~ ^build/.*/NuttX/ ]]; then
|
||||
issubmodule=1
|
||||
# If the include directory is a submodule, then treat it as a system file.
|
||||
elif [[ $includedir/ =~ ^$SUBMODULES_RE/ ]]; then
|
||||
issubmodule=1;
|
||||
else
|
||||
islocal=1
|
||||
fi
|
||||
done
|
||||
if [ $islocal -eq 0 ]; then
|
||||
if [ $issubmodule -eq 0 ]; then
|
||||
# If an include path can't be found then usually it will be a real system header,
|
||||
# however, there are a few (ros related?) files that start with px4... In that
|
||||
# case just leave the quotes alone ("px4muorb.h" and several <px4/...>).
|
||||
if [[ $1 =~ ^px4 ]]; then return 0; fi
|
||||
# While if the include path starts with uORB/topics or topics, and it isn't found,
|
||||
# then likely we just don't have a build directory. These should be local though.
|
||||
# Same for the generated files mixer_multirotor.generated.h and build_git_version.h.
|
||||
if [[ $1 =~ ((/|^)topics/|mixer_multirotor\.generated\.h|build_git_version\.h) ]]; then return 1; fi
|
||||
fi
|
||||
return 2;
|
||||
fi # Submodule or system header.
|
||||
if [ $issubmodule -eq 0 ]; then return 1; fi # Local.
|
||||
# Files that are both local and submodule are simply left alone.
|
||||
# These are (at this moment): "battery.h" "common.h" "Matrix.hpp" "mavlink.h" "protocol.h" "pwm.h" "spi.h" "Vector.hpp".
|
||||
return 0;
|
||||
}
|
||||
|
||||
# Run the include_path function for each of the files in $TMPDIR/fix_headers_include_paths
|
||||
echo -n "Determining which headers need to be included with double quotes... "
|
||||
echo -n > $TMPDIR/fix_headers_quotes
|
||||
for arg in $(cat "$TMPDIR/fix_headers_include_paths"); do
|
||||
include_path $arg
|
||||
localsystem=$?
|
||||
if [ $localsystem -eq 1 ]; then
|
||||
echo "$arg \"$arg\"" >> $TMPDIR/fix_headers_quotes
|
||||
elif [ $localsystem -eq 2 ]; then
|
||||
echo "$arg <$arg>" >> $TMPDIR/fix_headers_quotes
|
||||
fi
|
||||
done
|
||||
echo "done"
|
||||
|
||||
# Truncate the error log.
|
||||
echo -n > $TMPDIR/fix_headers_ERROR.log
|
||||
|
||||
function print_error
|
||||
{
|
||||
echo
|
||||
echo -n " ";
|
||||
echo "*** $1" | tee -a "$TMPDIR/fix_headers_ERROR.log"
|
||||
return 1
|
||||
}
|
||||
|
||||
if [ $debug -ne 0 ]; then
|
||||
# Debug Line.
|
||||
DL='if (cdbl != NR) { printf "\n%u. \"%s\"", NR, $0; cdbl = NR }'
|
||||
# Debug Begin.
|
||||
DB='if (cdbl != NR) { printf "\n%u. \"%s\" ---> ", NR, $0; cdbl = NR } else printf "; "; printf'
|
||||
# Debug End.
|
||||
DE=''
|
||||
else
|
||||
DL='#'
|
||||
DB='#'
|
||||
DE=''
|
||||
fi
|
||||
# Error Prefix.
|
||||
EP='###'
|
||||
|
||||
# The main function that is called for each source file.
|
||||
function fixup_header
|
||||
{
|
||||
count=$((count + 1))
|
||||
echo -n "[$((100 * count / number_of_files))%] Fixing headers of $1... "
|
||||
|
||||
# Is this a header?
|
||||
echo "$1" | sed -e 's/\.in$/;in/;s/.*\././;s/;in$/.in/' | grep -v -E "$HEADER_RE\$" >/dev/null; is_header=$?
|
||||
if [ $debug -ne 0 ]; then echo "is_header = \"$is_header\""; fi
|
||||
|
||||
# Is this C++ source?
|
||||
echo "$1" | sed -e 's/.*\././' | grep -v -E $CXXSRC_RE >/dev/null; is_cxxsrc=$?
|
||||
if [ $debug -ne 0 ]; then echo "is_cxxsrc = \"$is_cxxsrc\""; fi
|
||||
dont_make_cxxsrc=1
|
||||
if [ $is_cxxsrc -eq 0 -a $is_header -ne 0 ]; then
|
||||
grep -m 1 -q -E "^[[:space:]]*(#[[:space:]]*include[[:space:]]*<$STDCXX_HEADERS_RE>|(template|namespace|class)(\$|[^[:alnum:]_]))" "$1"
|
||||
dont_make_cxxsrc=$?
|
||||
fi
|
||||
if [ $dont_make_cxxsrc -eq 0 ]; then
|
||||
is_cxxsrc=1
|
||||
fi
|
||||
|
||||
# Current directory.
|
||||
curdir=$(dirname "$BASEDIR/$1")
|
||||
|
||||
# Parse the file.
|
||||
#
|
||||
# Returns an array of line[]'s. The first line is either the first #include, when it is outside
|
||||
# any #if*...#endif constructs not counting the header guard if the file is a header. For example:
|
||||
#
|
||||
# // Anything here except #include lines.
|
||||
# #include <first_include.h> // <-- first line.
|
||||
#
|
||||
# Or, the first #if* that contains the first #include line. For example:
|
||||
# // Anything here except #include lines.
|
||||
# #ifndef FOO_H // header guard.
|
||||
# #define FOO_H
|
||||
# int global = 1; // Anything unknown.
|
||||
# #ifdef SOMETHING // <-- first line.
|
||||
# #if maybe_more
|
||||
# // anything except #include lines.
|
||||
# #else
|
||||
# // anything except #include lines.
|
||||
# #include <first_include.h>
|
||||
#
|
||||
# Subsequent line[]'s mark the beginning of a new block, where we have the following blocks:
|
||||
# type[] Description
|
||||
type_include=0 # An #include, outside #if*...#endif constructs except a possible header guard.
|
||||
type_ifincludeendif=1 # #if*...#endif constructs with #include's.
|
||||
type_ifendif=2 # #if*...#endif constructs without #include's.
|
||||
type_decls=3 # __BEGIN_DECLS ... __END_DECLS block.
|
||||
type_macro=4 # Contiguous #define block.
|
||||
type_comment=5 #(Multi-line) comments.
|
||||
type_emptyline=6 # Empty lines.
|
||||
type_pragmaonce=7 # #pragma once (must be outside any #if*...#endif constructs).
|
||||
type_end=8 # The first line of the remainder of the file.
|
||||
#
|
||||
# However, any block NOT containing one or more #include's (all types > 1) will
|
||||
# cause subsequent blocks that do not contain #include's to be ignored,
|
||||
# with as result that those blocks will be treated as contiguous code blocks.
|
||||
# A comment that is followed by a type that is not to be ignored as such
|
||||
# is given the type that follows (which itself is then ignored).
|
||||
# Empty lines are ignored unless they appear directly in front of a type
|
||||
# that is not to be ignored according to the above rules, where 'previous
|
||||
# types' then are the types before the empty line.
|
||||
#
|
||||
# For example:
|
||||
#
|
||||
# > #include <first_header.h> # type_include
|
||||
# > #include <second_header.h> # type_include
|
||||
# > # type_emptyline
|
||||
# > #include <third_header.h> # type_include
|
||||
# ^ #ifdef FOO # type_ifendif
|
||||
# | #define BAR 1
|
||||
# | #endif # (detected here)
|
||||
# | <-- ignored because:
|
||||
# v #define BAZ(x) x // Do baz <-- ignored (prev and this type in {type_ifendif, type_macro})
|
||||
# > # type_emptyline
|
||||
# ^ // This include is important: # type_comment, but then replaced by type_ifincludeendif
|
||||
# | <-- ignored because:
|
||||
# | // more here. <-- ignored same type
|
||||
# | #ifdef BAR <-- "ignored": type_ifincludeendif, but put 3 lines higher.
|
||||
# | #include <bar.h>
|
||||
# v #endif # (detected here)
|
||||
# > # type_emptyline
|
||||
# > #include <another.h> # type_include
|
||||
#
|
||||
# This script stops parsing at the first not recognized line outside #if*...#endif constructs
|
||||
# unless no first line was found yet. It does not attempt overly hard to decode rare constructs,
|
||||
# most notably anything with a leading C comment is not recognized and will thus lead to an abort.
|
||||
# For example the following lines are not recognized:
|
||||
#
|
||||
# /* Some comment */ #include <header.h>
|
||||
# /* Some comment */ // Another comment.
|
||||
#
|
||||
# Lines that have a trailing comment are recognized (by ignoring the comment).
|
||||
|
||||
result=$(awk "\
|
||||
function add(l, t) {
|
||||
# First add always succeeds.
|
||||
if (ptr > 0) {
|
||||
# An empty line is always added, at first, unless the immediate preceding type is an empty line.
|
||||
if (t == $type_emptyline && type[ptr - 1] == $type_emptyline) {
|
||||
return; $DB \"ignored because line %d is also empty.\", line[ptr - 1] $DE
|
||||
}
|
||||
# A comment is always, added at first, unless the preceding non-empty line type is a comment.
|
||||
# Same for #include's.
|
||||
if (t == $type_comment && last_none_type == t) {
|
||||
$DB \"ignoring because same type as last_none_type (%s)\", type_name[t] $DE
|
||||
# Gobble up preceding empty lines.
|
||||
if (type[ptr - 1] == $type_emptyline) {
|
||||
--ptr; $DB \"ptr = %d; [43mRemoved type_emptyline @ line %d[0m\", ptr, line[ptr] $DE
|
||||
}
|
||||
return;
|
||||
|
||||
}
|
||||
# {ifendif, macro}'s are collapsed too.
|
||||
if ((t == $type_ifendif || t == $type_macro) && (last_nonws_type == $type_ifendif || last_nonws_type == $type_macro)) {
|
||||
# Gobble up preceding comments and empty lines.
|
||||
while (ptr > 0 && (type[ptr - 1] == $type_emptyline || type[ptr - 1] == $type_comment)) {
|
||||
--ptr; $DB \"ptr = %d; [43mRemoved %s @ line %d[0m\", ptr, type_name[type[ptr]], line[ptr] $DE
|
||||
}
|
||||
# ptr > 0 here because the first add is never for an empty line or comment.
|
||||
last_none_type = type[ptr - 1]; $DB \"last_none_type = %s\", type_name[last_none_type] $DE
|
||||
return;
|
||||
}
|
||||
# type_include and type_pragmaonce and higher are always added.
|
||||
}
|
||||
if (t == $type_end) {
|
||||
# Remove drag.
|
||||
while(ptr > 0 && line[ptr - 1] >= l) --ptr;
|
||||
}
|
||||
# If this type is not an empty line and it was preceded by a comment, then melt it together with that comment.
|
||||
else if (t != $type_emptyline && last_none_type == $type_comment) {
|
||||
# In this case t cannot be type_comment.
|
||||
# Gobble up preceding empty lines.
|
||||
if (type[ptr - 1] == $type_emptyline) {
|
||||
--ptr; $DB \"ptr = %d; [43mRemoved type_emptyline @ line %d[0m\", ptr, line[ptr] $DE
|
||||
}
|
||||
# And replace the comment type.
|
||||
--ptr; $DB \"ptr = %d; [45mreplacing the %s @ line %d[0m\", ptr, type_name[type[ptr]], line[ptr] $DE
|
||||
l = line[ptr];
|
||||
|
||||
}
|
||||
line[ptr] = l; $DB \"ptr = %d; [42m%s @ line %d[0m\", ptr, type_name[t], l $DE;
|
||||
type[ptr++] = t;
|
||||
if (t != $type_emptyline) {
|
||||
last_none_type = t; $DB \"last_none_type = %s\", type_name[last_none_type] $DE
|
||||
if (t != $type_comment)
|
||||
last_nonws_type = t;
|
||||
}
|
||||
}
|
||||
|
||||
BEGIN {
|
||||
debug = $debug; # 0: no debug output; non-zero: print debug output.
|
||||
header = $is_header; # 0: do not look for a header guard; 1: treat first #ifndef as header guard.
|
||||
in_if = 0; # The number of nested levels inside #if, #ifdef or #ifndef ... #endif constructs.
|
||||
in_if_base = 0; # 0: no header guard was found (or #pragma once); 1: an #ifndef header guard was found.
|
||||
in_decl = 0; # 0: not inside a __BEGIN_DECLS ... __END_DECLS block; 1: inside such a block.
|
||||
found_guard = 0; # 0: no header guard was found; 1: a header guard was found (including #pragma once).
|
||||
base_if = 0; # The current base-level #if that we are scanning.
|
||||
drag = 0; # The number of lines since the last certainly relevant line (a base-level #include or a base-level #endif containing one of more #includes).
|
||||
skipped = 0; # 0: No #include was encountered in the current (base-level) #if block; 1: one or more #include's encountered in the current base-level #if block.
|
||||
in_comment = 0; # 0: not in a multi-line C comment; 1: in a multi-line C comment.
|
||||
cdbl = 0; # Current debug line.
|
||||
error = 0; # 0: no error occured; 1: an error occured.
|
||||
ptr = 0; # Current pointer into line[] and type[].
|
||||
found_comment_end = 0; # The last line (possibly the current line) that is/was a multi-line C comment termination.
|
||||
last_none_type = -1; # The last non-emptyline type that was added.
|
||||
last_nonws_type = -1; # The last non-whitespace type that was added.
|
||||
# For debug purposes:
|
||||
type_name[$type_ifendif] = \"type_ifendif\";
|
||||
type_name[$type_ifincludeendif] = \"type_ifincludeendif\";
|
||||
type_name[$type_decls] = \"type_decls\";
|
||||
type_name[$type_comment] = \"type_comment\";
|
||||
type_name[$type_emptyline] = \"type_emptyline\";
|
||||
type_name[$type_include] = \"type_include\";
|
||||
type_name[$type_macro] = \"type_macro\";
|
||||
type_name[$type_pragmaonce] = \"type_pragmaonce\";
|
||||
type_name[$type_end] = \"type_end\";
|
||||
}
|
||||
|
||||
END {
|
||||
last_line = NR - drag;
|
||||
add(last_line + 1, $type_end); $DB \"\n\" $DE;
|
||||
# Print output.
|
||||
if (error || ptr == 0 || last_line < line[0]) {
|
||||
print \"error=1\";
|
||||
exit
|
||||
}
|
||||
printf \"lines=\\\"\";
|
||||
for (i = 0; i < ptr - 1; ++i)
|
||||
printf \"%d \", line[i];
|
||||
printf \"%d\\\"; \", line[ptr - 1];
|
||||
printf \"types=\\\"\";
|
||||
for (i = 0; i < ptr - 1; ++i)
|
||||
printf \"%d \", type[i];
|
||||
printf \"%d\\\"; \", type[ptr - 1];
|
||||
print \"error=0; first_line=\" line[0] \"; last_line=\" last_line
|
||||
}
|
||||
|
||||
#======================================================================================================
|
||||
# Handle multi-line C comments.
|
||||
|
||||
/$COMMENT_END_RE/ {
|
||||
if (in_comment) {
|
||||
in_comment = 0; $DB \"comment end\" $DE;
|
||||
found_comment_end = NR;
|
||||
sub(/^([^*]|\*+[^*\/])*\*+\//, \"\") # Remove the tail of the comment.
|
||||
}
|
||||
# FALL-THROUGH
|
||||
}
|
||||
|
||||
{
|
||||
if (in_comment) {
|
||||
++drag; $DB \"in comment; drag = %d\", drag $DE;
|
||||
next
|
||||
}
|
||||
found_comment_begin = 0;
|
||||
# FALL-THROUGH
|
||||
}
|
||||
|
||||
/$COMMENT_BEGIN_RE/ {
|
||||
in_comment = 1; $DB \"comment begin\" $DE;
|
||||
found_comment_begin = 1;
|
||||
sub(/\/\*([^*]|\*+($|[^*\/]))*$/, \"\") # Remove the head of the comment so that we'll recognize this as an empty line if it is.
|
||||
# FALL-THROUGH
|
||||
}
|
||||
|
||||
#======================================================================================================
|
||||
# Detect and handle header guard.
|
||||
|
||||
/$PRAGMA_ONCE_RE/ {
|
||||
++drag; $DB \"drag = %d\", drag $DE;
|
||||
if (header && found_guard == 0 && in_if == 0) {
|
||||
found_guard = NR; $DB \"found_guard = %d\", found_guard $DE;
|
||||
if (ptr > 0)
|
||||
add(NR, $type_pragmaonce)
|
||||
next
|
||||
}
|
||||
print \"\\n$EP $1:\" NR \": unexpected #pragma once\";
|
||||
error = 1;
|
||||
exit
|
||||
}
|
||||
|
||||
/^#ifndef / {
|
||||
if (ptr == 0 && header && found_guard == 0 && in_if == 0) {
|
||||
found_guard = NR; $DB \"found_guard = %d\", found_guard $DE;
|
||||
in_if = 1; $DB \"in_if = %d\", in_if $DE;
|
||||
in_if_base = 1; $DB \"in_if_base = %d\", in_if_base $DE;
|
||||
next
|
||||
}
|
||||
# FALL-THROUGH
|
||||
}
|
||||
|
||||
#======================================================================================================
|
||||
# Detect and handle __BEGIN_DECLS ... __END_DECLS blocks.
|
||||
|
||||
/^[[:space:]]*__BEGIN_DECLS/ {
|
||||
++drag; $DB \"drag = %d\", drag $DE;
|
||||
if (in_decl == 0) {
|
||||
in_decl = 1; $DB \"in_decl = 1\" $DE
|
||||
add(NR, $type_decls);
|
||||
next
|
||||
}
|
||||
print \"\\n$EP $1:\" NR \": Nested __BEGIN_DECLS!\";
|
||||
error = 1;
|
||||
exit
|
||||
}
|
||||
|
||||
/^[[:space:]]*__END_DECLS/ {
|
||||
++drag; $DB \"drag = %d\", drag $DE;
|
||||
if (in_decl == 1) {
|
||||
in_decl = 0; $DB \"in_decl = 0\" $DE
|
||||
if (skipped) {
|
||||
drag = 0;
|
||||
} else if (ptr == 1) {
|
||||
ptr = 0; $DB \"erase DECLS block\" $DE
|
||||
last_none_type = -1;
|
||||
}
|
||||
next
|
||||
}
|
||||
print \"\\n$EP $1:\" NR \": __END_DECLS without matching __BEGIN_DECLS!\";
|
||||
error = 1;
|
||||
exit
|
||||
}
|
||||
|
||||
#======================================================================================================
|
||||
# Detect and handle #if ... #endif blocks.
|
||||
|
||||
/$IF_RE/ {
|
||||
++drag; $DB \"drag = %d\", drag $DE;
|
||||
if (in_if == in_if_base && in_decl == 0) {
|
||||
skipped = 0; $DB \"skipped = 0\" $DE;
|
||||
base_if = NR; $DB \"base_if = %d\", NR $DE;
|
||||
}
|
||||
++in_if; $DB \"in_if = %d\", in_if $DE;
|
||||
next
|
||||
}
|
||||
|
||||
/$ENDIF_RE/ {
|
||||
--in_if; $DB \"in_if = %d\", in_if $DE;
|
||||
if (in_if < 0) {
|
||||
print \"\\n$EP $1:\" NR \": #endif without matching #if!\";
|
||||
error = 1;
|
||||
exit
|
||||
}
|
||||
++drag;
|
||||
if (in_if == in_if_base && in_decl == 0) {
|
||||
if (skipped) {
|
||||
drag = 0;
|
||||
add(base_if, $type_ifincludeendif);
|
||||
} else if (ptr > 0)
|
||||
add(base_if, $type_ifendif);
|
||||
} $DB \"drag = %d\", drag $DE;
|
||||
# Left header guard?
|
||||
if (in_if < in_if_base) { $DB \"left header guard:\" $DE;
|
||||
# assert(in_if == 0 && in_if_base == 1 && header && found_guard)
|
||||
exit
|
||||
}
|
||||
next
|
||||
}
|
||||
|
||||
#======================================================================================================
|
||||
# Handle #include lines.
|
||||
|
||||
/$INCLUDE_RE/ {
|
||||
if (!/\"(\.\/)?mavlink_msg/) {
|
||||
# If we're inside a __BEGIN_DECLS ... __END_DECLS block then only certain headers may be included.
|
||||
hname = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
|
||||
cpp_safe = !(hname ~ /$UNSAFE_HEADERS_RE/);
|
||||
$DB \"hname = \\\"\" hname \"\\\"; cpp_safe = \" cpp_safe \"; in_decl = \" in_decl \"; is_cxxsrc = $is_cxxsrc\" $DE
|
||||
if (in_decl && cpp_safe) {
|
||||
print \"\\n$EP $1:\" NR \": including \" hname \" inside a __BEGIN_DECLS ... __END_DECLS block.\";
|
||||
error = 1;
|
||||
exit
|
||||
} else if (!in_decl && !cpp_safe && $is_cxxsrc) {
|
||||
print \"\\n$EP $1:\" NR \": including \" hname \" outside a __BEGIN_DECLS ... __END_DECLS block!\";
|
||||
error = 1;
|
||||
exit
|
||||
}
|
||||
if (in_if > in_if_base || in_decl) {
|
||||
skipped = 1; $DB \"skipped = 1\" $DE;
|
||||
} else {
|
||||
drag = 0; $DB \"drag = 0\" $DE;
|
||||
add(NR, $type_include); $DB \"first_line = %d\", NR $DE;
|
||||
}
|
||||
next
|
||||
}
|
||||
}
|
||||
|
||||
#======================================================================================================
|
||||
# Ignore #define's, empty lines and lines with just comments.
|
||||
|
||||
/$DEFINE_RE/ {
|
||||
++drag; $DB \"drag = %d\", drag $DE;
|
||||
if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
|
||||
add(NR, $type_macro);
|
||||
}
|
||||
next
|
||||
}
|
||||
|
||||
/$EMPTY_LINE_RE/ {
|
||||
++drag; $DB \"drag = %d\", drag $DE;
|
||||
if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
|
||||
if (found_comment_begin)
|
||||
add(NR, $type_comment);
|
||||
else if (found_comment_end != NR)
|
||||
add(NR, $type_emptyline);
|
||||
}
|
||||
next
|
||||
}
|
||||
|
||||
/$COMMENT_LINE_RE/ {
|
||||
++drag; $DB \"drag = %d\", drag $DE;
|
||||
if (ptr > 0 && in_if == in_if_base && in_decl == 0 && type[ptr - 1] != $type_comment) {
|
||||
add(NR, $type_comment);
|
||||
}
|
||||
next
|
||||
}
|
||||
|
||||
#======================================================================================================
|
||||
# Handle everything else (unrecognized lines).
|
||||
|
||||
{
|
||||
++drag; $DB \"unknown; drag = %d\", drag $DE;
|
||||
if (ptr > 0 && in_if <= in_if_base && in_decl == 0) {
|
||||
exit
|
||||
}
|
||||
}
|
||||
|
||||
" "$BASEDIR/$1")
|
||||
|
||||
# Decode the result.
|
||||
vars=$(echo "$result" | tail -n 1)
|
||||
error_msg=$(echo "$result" | grep "^$EP " | sed -e 's/^....//')
|
||||
if [ $debug -ne 0 ]; then
|
||||
len=$(echo "$result" | wc --lines)
|
||||
echo "$result" | head -n $((len - 1)) | grep -v "^$EP " # Debug messages
|
||||
echo "vars: $vars"
|
||||
fi
|
||||
# Evaluate the last line printed in END.
|
||||
error=1; eval $vars
|
||||
test -z "$error_msg" || print_error "$error_msg" || return
|
||||
test $error -eq 0 -a $first_line -gt 0 || print_error "FAILED to find an #include in $1?!" || return
|
||||
test $last_line -ge $first_line || print_error "FAILED to find a sensible last line in $1?!" || return
|
||||
|
||||
# Calculate the number of lines starting from the current line.
|
||||
# Use sed to count lines, because wc --lines doesn't report the last line when that doesn't end on a new-line, contrary to the fact that tail treats such lines as lines.
|
||||
total_lines=$(sed -n '$=' "$BASEDIR/$1")
|
||||
if [ $debug -ne 0 ]; then echo "total_lines = \"$total_lines\""; fi
|
||||
|
||||
# Edit the first_line...last_line block.
|
||||
# Header files are ordered as follows (lowest value first):
|
||||
cat_winsock=0; # Winsock2.h
|
||||
cat_posix_sys=1; # posix_sys.h or one of the px4_ headers that include it.
|
||||
cat_px4=2; # Other px4_*.h
|
||||
cat_local=3; # "*.h"
|
||||
cat_cxx=4; # <std c++ header>, ie <iostream>
|
||||
cat_c=5; # <c std c++ header>, ie <cstdio>
|
||||
cat_system=6; # <*.h>
|
||||
|
||||
head -n $last_line "$BASEDIR/$1" | tail -n $((last_line - first_line + 1)) | awk "
|
||||
|
||||
function sort_by_type_line_header_type_hname(blk2, v2, blk1, v1) {
|
||||
# Return true if blk1 comes before blk2.
|
||||
# Move type_include before the rest. Keep the same line order for the rest.
|
||||
return (type[blk2] != $type_include && (type[blk1] == $type_include || line[blk1] < line[blk2])) ||
|
||||
(type[blk2] == $type_include && type[blk1] == $type_include &&
|
||||
# If both are include's then put include with a lower header_type first; sort alphabetically for the same header type.
|
||||
(header_type[blk1] < header_type[blk2] || (header_type[blk1] == header_type[blk2] && hname[blk1] < hname[blk2])));
|
||||
}
|
||||
|
||||
BEGIN {
|
||||
first_line = $first_line;
|
||||
split(\"$lines\", line);
|
||||
split(\"$types\", type);
|
||||
i = 0;
|
||||
do {
|
||||
line[++i] -= first_line - 1;
|
||||
} while(type[i] != $type_end)
|
||||
for(b = 0; b < i; ++b) header_type[b] = 100;
|
||||
blk = 1;
|
||||
n = 0;
|
||||
is_cxxsrc = $is_cxxsrc;
|
||||
# px4_posix.h includes px4_defines.h includes px4_log.h includes posix_sys.h which must be the first header included.
|
||||
sys_val[\"px4_posix.h\"] = 1;
|
||||
sys_val[\"px4_defines.h\"] = 2;
|
||||
sys_val[\"px4_log.h\"] = 3;
|
||||
sys_val[\"posix_sys.h\"] = 4;
|
||||
saw_sys_val = 5; # Didn't see any of the above; otherwise the lowest value of the header seen.
|
||||
for(b = 0; b < i; ++b) saw_sys[b] = saw_sys_val;
|
||||
}
|
||||
|
||||
END {
|
||||
l = asorti(txt, k, \"sort_by_type_line_header_type_hname\");
|
||||
for (b = 1; b <= l; ++b) {
|
||||
if (type[k[b]] == $type_include && header_type[k[b]] == $cat_posix_sys && saw_sys[k[b]] > saw_sys_val) continue;
|
||||
len = length(txt[k[b]]);
|
||||
for (n = 0; n < len; ++n) print txt[k[b]][n];
|
||||
if (b < l && type[k[b]] == $type_include && type[k[b+1]] != $type_emptyline &&
|
||||
(type[k[b+1]] != $type_include || (header_type[k[b]] != header_type[k[b+1]] && header_type[k[b+1]] != $cat_px4))) {
|
||||
printf \"\n\";
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
if (NR == line[blk + 1]) {
|
||||
++blk;
|
||||
n = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/$INCLUDE_RE/ {
|
||||
# Don't use double quotes around standard header names.
|
||||
\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDC_HEADERS_RE\\.h\\\"/, \"\\\1<\\\2.h>\", \"1\");
|
||||
if (is_cxxsrc) {
|
||||
\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDCXX_HEADERS_RE\\\"/, \"\\\1<\\\2>\", \"1\");
|
||||
# Change deprecated C header names to standard C++ header names in C++ source files.
|
||||
\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*<)$STDC_HEADERS_RE\\.h>/, \"\\\1c\\\2>\", \"1\");
|
||||
}
|
||||
# Don't include \"./foo.h\", that is implied, so just include \"foo.h\".
|
||||
\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*\\\")\.\//, \"\\\1\", \"1\");
|
||||
# Extract the header filename.
|
||||
hname[blk] = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
|
||||
# If the header exists in the directory of the including file, then it is a local header.
|
||||
command = sprintf(\"test -e %s/%s\", \"$curdir\", hname[blk]);
|
||||
if (system(command) == 0) {
|
||||
\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<]([^\">]*)[\">]/, \"\\\1\\\"\\\2\\\"\", \"1\");
|
||||
} else {
|
||||
# Do we know if this is a local file, or a submodule / system header?
|
||||
# The grep reg.exp needs \\ (for backslah) and \1 for back reference, thus: \\\1.
|
||||
# However we print the grep command using sprintf, so each backslash needs to be escaped once more: \\\\\\1.
|
||||
# Finally, this is a bash string and we need to escape each backslash once more to pass it corrently to awk, hence we need twelve backslahes:
|
||||
command = sprintf(\"grep '^%s ' '%s' 2>/dev/null\", gensub(/([.+])/, \"\\\\\\\\\\\\1\", \"g\", hname[blk]), \"$TMPDIR/fix_headers_quotes\");
|
||||
ret = command | getline result;
|
||||
if (ret != 0) {
|
||||
result = substr(result, index(result, \" \") + 1);
|
||||
\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<][^\">]*[\">]/, \"\\\1\" result, \"1\");
|
||||
}
|
||||
}
|
||||
# Categorise the header.
|
||||
if (hname[blk] == \"Winsock2.h\") {
|
||||
if (header_type[blk] > $cat_winsock)
|
||||
header_type[blk] = $cat_winsock;
|
||||
}
|
||||
else if (hname[blk] in sys_val) {
|
||||
if (header_type[blk] > $cat_posix_sys)
|
||||
header_type[blk] = $cat_posix_sys;
|
||||
# posix_sys.h is sometimes included within #ifdef __PX4_POSIX ... #endif. The other headers should not be conditional.
|
||||
if ((hname[blk] == \"posix_sys.h\" || type[blk] == $type_include)) {
|
||||
type[blk] = $type_include; # Treat #ifdef __PX4_POSIX #include \"posix_sys.h\" #endif as an include for sorting purposes.
|
||||
saw_sys[blk] = sys_val[hname[blk]]; # There will be only one include (header name) for this block.
|
||||
if (sys_val[hname[blk]] < saw_sys_val)
|
||||
saw_sys_val = sys_val[hname[blk]];
|
||||
}
|
||||
# Use double quotes for these headers.
|
||||
\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
|
||||
}
|
||||
else if (hname[blk] ~ /^(platforms\/px4_|px4_)/) {
|
||||
if (header_type[blk] > $cat_px4)
|
||||
header_type[blk] = $cat_px4;
|
||||
# Use double quotes for these headers.
|
||||
\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
|
||||
}
|
||||
else if (\$0 ~ /^[[:space:]]*#[[:space:]]*include[[:space:]]*\"/) {
|
||||
if (header_type[blk] > $cat_local)
|
||||
header_type[blk] = $cat_local;
|
||||
}
|
||||
else if (hname[blk] ~ /^$STDCXX_HEADERS_RE\$/) {
|
||||
if (header_type[blk] > $cat_cxx)
|
||||
header_type[blk] = $cat_cxx;
|
||||
}
|
||||
else if (hname[blk] ~ /^c$STDC_HEADERS_RE\$/) {
|
||||
if (header_type[blk] > $cat_c)
|
||||
header_type[blk] = $cat_c;
|
||||
}
|
||||
else if (hname[blk] ~ /^$STDC_HEADERS_RE\.h\$/) {
|
||||
if (header_type[blk] > $cat_system)
|
||||
header_type[blk] = $cat_system;
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
# Remove empty lines before #include's.
|
||||
if (type[blk] == $type_include) {
|
||||
for (i = 1; blk > i && type[blk - i] == $type_emptyline; ++i)
|
||||
delete txt[blk - i]
|
||||
}
|
||||
txt[blk][n++] = \$0;
|
||||
}
|
||||
|
||||
" > $TMPDIR/fix_headers_current_block
|
||||
|
||||
# Construct a new file in TMPDIR.
|
||||
head -n $((first_line - 1)) "$BASEDIR/$1" > $TMPDIR/fix_headers_current_file
|
||||
|
||||
# Append the editted block.
|
||||
cat $TMPDIR/fix_headers_current_block >> $TMPDIR/fix_headers_current_file
|
||||
|
||||
# Append the rest.
|
||||
tail -n $((total_lines - last_line)) "$BASEDIR/$1" >> $TMPDIR/fix_headers_current_file
|
||||
|
||||
# Compare original with result.
|
||||
if cmp --quiet "$BASEDIR/$1" $TMPDIR/fix_headers_current_file; then
|
||||
echo "No change"
|
||||
else
|
||||
echo "Fixed lines $first_line-$last_line"
|
||||
mv $TMPDIR/fix_headers_current_file "$BASEDIR/$1" || fatal "Failed to move $TMPDIR/fix_headers_current_file to $BASEDIR/$1 !?!"
|
||||
fi
|
||||
}
|
||||
|
||||
if [ $non_option_arguments -ne 0 ]; then
|
||||
fixup_header $1
|
||||
exit
|
||||
fi
|
||||
|
||||
# Run the fixup function for each of the files in $TMPDIR/fix_headers_sources_with_includes.
|
||||
# Strip BASEDIR because we don't know how long that is and it might too much for bash.
|
||||
for arg in $(cat "$TMPDIR/fix_headers_sources_with_includes" | cut -c $striplen-); do
|
||||
fixup_header $arg
|
||||
done
|
||||
|
||||
# Clean up.
|
||||
if [ $debug -eq 0 -o $# -eq 0 ]; then
|
||||
rm "$TMPDIR/fix_headers_sources" "$TMPDIR/fix_headers_sources_with_includes" "$TMPDIR/fix_headers_SUBMODULE_HEADERS" "$TMPDIR/fix_headers_HEADERS" \
|
||||
"$TMPDIR/fix_headers_include_paths" "$TMPDIR/fix_headers_quotes" "$TMPDIR/fix_headers_current_block"
|
||||
fi
|
||||
|
||||
# Print all error messages again at the end.
|
||||
if [ -s "$TMPDIR/fix_headers_ERROR.log" ]; then
|
||||
echo "$0 finished with errors:"
|
||||
cat "$TMPDIR/fix_headers_ERROR.log"
|
||||
else
|
||||
echo "SUCCESS"
|
||||
rm "$TMPDIR/fix_headers_ERROR.log"
|
||||
fi
|
||||
Regular → Executable
-200
@@ -1,200 +0,0 @@
|
||||
#!/bin/bash
|
||||
#Author: Benjamin Perseghetti
|
||||
#Email: bperseghetti@rudislabs.com
|
||||
# This script unifies running gazebo simulation for HITL and SITL
|
||||
# You can run multiple instances of the 'px4' binary, with the gazebo SITL simulation
|
||||
# This script assumes px4 is already built, with 'make px4_sitl_default gazebo'
|
||||
# You can also run HITL with -h flag
|
||||
# Generate world and/or model files with editable json -j [m (model), w (world), mw (model and world), or wm (world and model)]
|
||||
|
||||
# The simulator in SITL is expected to send to TCP port 4560+i for i in [0, N-1]
|
||||
# For example gazebo can be run like this for multiple SITL:
|
||||
# ./Tools/gz_sim.sh -n 10 -m iris
|
||||
# Or gazebo can be run like this for HITL:
|
||||
# ./Tools/gz_sim.sh -h 1 -m standard_vtol
|
||||
|
||||
function cleanup() {
|
||||
echo "running the cleanup"
|
||||
pkill -x px4
|
||||
pkill gazebo
|
||||
pkill gzclient
|
||||
pkill gzserver
|
||||
}
|
||||
|
||||
trap "cleanup" INT SIGINT SIGTERM EXIT
|
||||
|
||||
function spawn_model() {
|
||||
MODEL=$1
|
||||
N=$2 #Instance Number
|
||||
WORLD_FILE=$3
|
||||
MJ=$4
|
||||
SITL_MODEL_NAME="${MODEL}_${N}"
|
||||
sitl_path=${SCRIPT_DIR}/sitl_gazebo
|
||||
jinja_model_script=${sitl_path}/scripts/jinja_model_gen.py
|
||||
base_model="--base_model ${MODEL}"
|
||||
model_json="--json_gen ${MJ}"
|
||||
|
||||
if [ $hitl == true ]; then
|
||||
python3 ${src_path}/Tools/boot_now.py "/dev/ttyACM0"
|
||||
hil_mode="--hil_mode 1"
|
||||
model_name="--model_name ${MODEL}"
|
||||
hitl_launch_command="${model_json} ${base_model} ${hil_mode} ${model_name}"
|
||||
echo "Generating: ${jinja_model_script} ${hitl_launch_command}"
|
||||
python3 ${jinja_model_script} ${hitl_launch_command}
|
||||
sleep 1
|
||||
source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
sleep 2
|
||||
gazebo ${sitl_path}/worlds/temp_${WORLD_FILE}.world --verbose
|
||||
|
||||
else
|
||||
mavlink_tcp="--mavlink_tcp_port $((4560+${N}))"
|
||||
mavlink_udp="--mavlink_udp_port $((14560+${N}))"
|
||||
model_name="--model_name ${SITL_MODEL_NAME}"
|
||||
output_path="--output_path /tmp"
|
||||
working_dir="$build_path/instance_$n"
|
||||
sitl_launch_command="${model_json} ${base_model} ${mavlink_tcp} ${mavlink_udp} ${model_name} ${output_path}"
|
||||
[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
|
||||
pushd "$working_dir" &>/dev/null
|
||||
echo "starting instance $N in $(pwd)"
|
||||
../bin/px4 -i $N -d "$build_path/etc" -w sitl_${SITL_MODEL_NAME} -s etc/init.d-posix/rcS >out.log 2>err.log &
|
||||
python3 ${jinja_model_script} ${sitl_launch_command}
|
||||
echo "Generating: ${jinja_model_script} ${sitl_launch_command}"
|
||||
echo "Spawning ${SITL_MODEL_NAME}"
|
||||
gz model --spawn-file=/tmp/${SITL_MODEL_NAME}.sdf --model-name=${SITL_MODEL_NAME} -x 0.0 -y $((3*${N})) -z 0.2
|
||||
popd &>/dev/null
|
||||
fi
|
||||
|
||||
}
|
||||
|
||||
if [ "$1" == "--help" ]; then
|
||||
echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-h <run_hitl>] [-w <world>] [-s <script>] [-t <num_threads>] [-j <json_params>]"
|
||||
echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
|
||||
echo "-h flag is used to launch a single vehicle in HITL mode"
|
||||
echo "-t flag is used to set the number of ODE threads for the world"
|
||||
echo "-j flag is used to enable json parameters from gen_params.json for the world (w), model (m), or both (wm or mw)"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
while getopts n:m:h:w:s:t:j:p option
|
||||
do
|
||||
case "${option}"
|
||||
in
|
||||
n) NUM_VEHICLES=${OPTARG};;
|
||||
m) VEHICLE_MODEL=${OPTARG};;
|
||||
h) HITL=${OPTARG};;
|
||||
w) WORLD=${OPTARG};;
|
||||
s) SCRIPT=${OPTARG};;
|
||||
t) THREADS=${OPTARG};;
|
||||
j) JSON=${OPTARG};;
|
||||
p) TARGET=${OPTARG};;
|
||||
esac
|
||||
done
|
||||
|
||||
num_vehicles=${NUM_VEHICLES:=1}
|
||||
world=${WORLD:=empty}
|
||||
hitl=${HITL:=false}
|
||||
threads=${THREADS:=1}
|
||||
json_opts=${JSON:=0}
|
||||
target=${TARGET:=px4_sitl_default}
|
||||
system_threads=`grep -Pc '^processor\t' /proc/cpuinfo`
|
||||
echo "Number of requested ODE threads: $((threads))"
|
||||
echo "Max number of possilbe threads: $((system_threads))"
|
||||
if [ $((threads)) -gt $((system_threads)) ]; then
|
||||
threads=$system_threads
|
||||
echo "Requested ODE thread count too high, set to system max of $threads threads."
|
||||
elif [ $(( ${threads} )) -lt 1 ]; then
|
||||
threads=1
|
||||
echo "Requested ODE thread count too low, set to $threads thread."
|
||||
else
|
||||
echo "Using $threads threads for ODE."
|
||||
fi
|
||||
|
||||
if [ "$json_opts" == "mw" ] || [ "$json_opts" == "wm" ]; then
|
||||
echo "JSON used for both world and model generation"
|
||||
wjson="1"
|
||||
mjson="1"
|
||||
elif [ "$json_opts" == "w" ]; then
|
||||
echo "JSON used for world generation"
|
||||
wjson="1"
|
||||
mjson="0"
|
||||
elif [ "$json_opts" == "m" ]; then
|
||||
echo "JSON used for model generation"
|
||||
mjson="1"
|
||||
wjson="0"
|
||||
else
|
||||
wjson="0"
|
||||
mjson="0"
|
||||
fi
|
||||
|
||||
if [ "$hitl" == "True" ] || [ "$hitl" == "1" ] || [ "$hitl" == "true" ]; then
|
||||
hitl=true
|
||||
else
|
||||
hitl=false
|
||||
fi
|
||||
|
||||
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
|
||||
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
src_path="$SCRIPT_DIR/.."
|
||||
echo ${SCRIPT}
|
||||
build_path=${src_path}/build/${target}
|
||||
source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
sleep 1
|
||||
|
||||
sitl_path=${SCRIPT_DIR}/sitl_gazebo
|
||||
world_name="--world_name ${world}"
|
||||
jinja_world_script=${sitl_path}/scripts/jinja_world_gen.py
|
||||
sitl_ode_threads="--ode_threads ${threads}"
|
||||
world_json="--json_gen ${wjson}"
|
||||
|
||||
if [ $hitl == true ]; then
|
||||
hitl_model_name="--model_name ${PX4_SIM_MODEL}"
|
||||
echo "HITL mode is currently turned on, disabling multiple vehicle spawn and script spawn."
|
||||
echo "RUNNING: python3 $jinja_world_script $world_name $hitl_model_name $world_json"
|
||||
python3 $jinja_world_script $world_name $hitl_model_name $world_json
|
||||
echo "Generated temp_${world}.world"
|
||||
spawn_model ${PX4_SIM_MODEL} 0 ${world} ${mjson}
|
||||
|
||||
else
|
||||
echo "killing running instances"
|
||||
pkill -x px4 || true
|
||||
echo "HITL mode is currently turned off."
|
||||
echo "RUNNING: python3 $jinja_world_script $world_name $sitl_ode_threads $world_json"
|
||||
python3 $jinja_world_script $world_name $sitl_ode_threads $world_json
|
||||
echo "Generated temp_${world}.world"
|
||||
echo "Starting gazebo: gzserver ${sitl_path}/worlds/temp_${world}.world --verbose"
|
||||
gzserver ${sitl_path}/worlds/temp_${world}.world --verbose &
|
||||
sleep 5
|
||||
|
||||
n=0
|
||||
if [ -z ${SCRIPT} ]; then
|
||||
if [ $num_vehicles -gt 255 ]; then
|
||||
echo "Tried spawning $num_vehicles vehicles. The maximum number of supported vehicles is 255"
|
||||
exit 1
|
||||
fi
|
||||
while [ $n -lt $num_vehicles ]; do
|
||||
spawn_model ${PX4_SIM_MODEL} $n ${world} ${mjson}
|
||||
n=$(($n + 1))
|
||||
done
|
||||
else
|
||||
for target in ${SCRIPT}; do
|
||||
target="$(echo "$target" | tr -d ' ')" #Remove spaces
|
||||
target_vehicle="${target%:*}"
|
||||
target_number="${target#*:}"
|
||||
|
||||
if [ $n -gt 255 ]; then
|
||||
echo "Tried spawning $n vehicles. The maximum number of supported vehicles is 255"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
m=0
|
||||
while [ $m -lt ${target_number} ]; do
|
||||
spawn_model ${PX4_SIM_MODEL} $n ${world} ${mjson}
|
||||
m=$(($m + 1))
|
||||
n=$(($n + 1))
|
||||
done
|
||||
done
|
||||
fi
|
||||
echo "Starting gazebo client"
|
||||
gzclient
|
||||
fi
|
||||
Regular → Executable
@@ -1,2 +0,0 @@
|
||||
handle SIGCONT nostop noprint nopass
|
||||
run
|
||||
@@ -1,3 +0,0 @@
|
||||
run
|
||||
pro hand -p true -s false -n false SIGCONT
|
||||
continue
|
||||
@@ -1,5 +0,0 @@
|
||||
$(info px4_developer.mk inclded)
|
||||
ifeq ($(UAVCAN_BL_OVERRIDE),y)
|
||||
$(info ************************** UAVCAN BOOT LOADERS built for In place application Debugging ***************************************)
|
||||
export EXTRAFLAGS +=-DDEBUG_APPLICATION_INPLACE
|
||||
endif
|
||||
Regular → Executable
@@ -1,6 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
make parameters_metadata
|
||||
cp parameters.xml ../qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
|
||||
make airframe_metadata
|
||||
cp airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
|
||||
@@ -1,39 +0,0 @@
|
||||
#!/bin/bash
|
||||
#
|
||||
# Setup environment to make JSBSim visible to PX4.
|
||||
#
|
||||
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
|
||||
|
||||
if [ "$#" != 3 ]; then
|
||||
echo -e "usage: source setup_jsbsim.bash src_dir build_dir model\n"
|
||||
return 1
|
||||
fi
|
||||
|
||||
SRC_DIR="$1"
|
||||
BUILD_DIR="$2"
|
||||
MODEL="$3"
|
||||
|
||||
export FG_AIRCRAFT="${SRC_DIR}/Tools/jsbsim_bridge/models"
|
||||
|
||||
# This is needed for aircraft namespace mapping
|
||||
# Need more architectural discussions to make this more scalable
|
||||
case "$MODEL" in
|
||||
rascal)
|
||||
MODEL_NAME="Rascal110-JSBSim"
|
||||
;;
|
||||
malolo)
|
||||
MODEL_NAME="Malolo1"
|
||||
;;
|
||||
quadrotor_x)
|
||||
MODEL_NAME="quadrotor_x"
|
||||
;;
|
||||
hexarotor_x)
|
||||
MODEL_NAME="hexarotor_x"
|
||||
;;
|
||||
*)
|
||||
echo "Unknown Model"
|
||||
exit 1
|
||||
|
||||
esac
|
||||
|
||||
export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"
|
||||
Executable
+47
@@ -0,0 +1,47 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
set -e
|
||||
|
||||
if [ "$#" -lt 4 ]; then
|
||||
echo usage: sitl_run.sh sitl_bin model src_path build_path
|
||||
exit 1
|
||||
fi
|
||||
|
||||
sitl_bin="$1"
|
||||
model="$2"
|
||||
src_path="$3"
|
||||
build_path="$4"
|
||||
|
||||
echo SITL ARGS
|
||||
|
||||
echo sitl_bin: $sitl_bin
|
||||
echo model: $model
|
||||
echo src_path: $src_path
|
||||
echo build_path: $build_path
|
||||
|
||||
rootfs="$build_path/rootfs" # this is the working directory
|
||||
mkdir -p "$rootfs"
|
||||
|
||||
export PX4_SIM_MODEL=${model}
|
||||
|
||||
echo "FG setup"
|
||||
cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"
|
||||
./FG_run.py models/${model}.json 0
|
||||
"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
|
||||
FG_BRIDGE_PID=$!
|
||||
|
||||
pushd "$rootfs" >/dev/null
|
||||
|
||||
# Do not exit on failure now from here on because we want the complete cleanup
|
||||
set +e
|
||||
|
||||
sitl_command="\"$sitl_bin\" \"$build_path\"/etc"
|
||||
|
||||
echo SITL COMMAND: $sitl_command
|
||||
|
||||
eval $sitl_command
|
||||
|
||||
popd >/dev/null
|
||||
|
||||
kill $FG_BRIDGE_PID
|
||||
kill -9 `cat /tmp/px4fgfspid_0`
|
||||
@@ -17,7 +17,7 @@ BUILD_DIR=$2
|
||||
|
||||
# setup Gazebo env and update package path
|
||||
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
|
||||
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/sitl_gazebo/models
|
||||
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
|
||||
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
|
||||
|
||||
echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
|
||||
# For example gazebo can be run like this:
|
||||
#./Tools/gazebo_sitl_multiple_run.sh -n 10 -m iris
|
||||
#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
|
||||
|
||||
function cleanup() {
|
||||
pkill -x px4
|
||||
@@ -29,13 +29,13 @@ function spawn_model() {
|
||||
exit 1
|
||||
fi
|
||||
|
||||
working_dir="$build_path/instance_$n"
|
||||
working_dir="$build_path/rootfs/$n"
|
||||
[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
|
||||
|
||||
pushd "$working_dir" &>/dev/null
|
||||
echo "starting instance $N in $(pwd)"
|
||||
../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
|
||||
python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
|
||||
$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
|
||||
python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
|
||||
|
||||
echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
|
||||
|
||||
@@ -73,7 +73,7 @@ export PX4_SIM_MODEL=${vehicle_model}
|
||||
|
||||
echo ${SCRIPT}
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
src_path="$SCRIPT_DIR/.."
|
||||
src_path="$SCRIPT_DIR/../../.."
|
||||
|
||||
build_path=${src_path}/build/${target}
|
||||
mavlink_udp_port=14560
|
||||
@@ -84,7 +84,7 @@ pkill -x px4 || true
|
||||
|
||||
sleep 1
|
||||
|
||||
source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
@@ -94,7 +94,7 @@ else
|
||||
fi
|
||||
|
||||
echo "Starting gazebo"
|
||||
gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
|
||||
gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
|
||||
sleep 5
|
||||
|
||||
n=0
|
||||
Executable
+180
@@ -0,0 +1,180 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
if [ "$#" -lt 6 ]; then
|
||||
echo usage: sitl_run.sh sitl_bin debugger model world 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"
|
||||
model="$3"
|
||||
world="$4"
|
||||
src_path="$5"
|
||||
build_path="$6"
|
||||
|
||||
echo SITL ARGS
|
||||
|
||||
echo sitl_bin: $sitl_bin
|
||||
echo debugger: $debugger
|
||||
echo model: $model
|
||||
echo world: $world
|
||||
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
|
||||
|
||||
# To disable user input
|
||||
if [[ -n "$VERBOSE_SIM" ]]; then
|
||||
verbose="--verbose"
|
||||
else
|
||||
verbose=""
|
||||
fi
|
||||
|
||||
# Disable follow mode
|
||||
if [[ "$PX4_NO_FOLLOW_MODE" != "1" ]]; then
|
||||
follow_mode="--gui-client-plugin libgazebo_user_camera_plugin.so"
|
||||
else
|
||||
follow_mode=""
|
||||
fi
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
|
||||
else
|
||||
ros_args=""
|
||||
fi
|
||||
|
||||
if [ "$model" == "" ] || [ "$model" == "none" ]; then
|
||||
echo "empty model, setting iris as default"
|
||||
model="iris"
|
||||
fi
|
||||
|
||||
# kill process names that might stil
|
||||
# be running from last time
|
||||
pkill -x gazebo || true
|
||||
|
||||
export PX4_SIM_MODEL=${model}
|
||||
export PX4_SIM_WORLD=${world}
|
||||
|
||||
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}"
|
||||
if [ -z $PX4_SITL_WORLD ]; then
|
||||
#Spawn predefined world
|
||||
if [ "$world" == "none" ]; then
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
|
||||
echo "empty world, default world ${model}.world for model found"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
|
||||
else
|
||||
echo "empty world, setting empty.world as default"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
|
||||
fi
|
||||
else
|
||||
#Spawn empty world if world with model name doesn't exist
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
|
||||
fi
|
||||
else
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
|
||||
# Spawn world by name if exists in the worlds directory from environment variable
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
|
||||
else
|
||||
# Spawn world from environment variable with absolute path
|
||||
world_path="$PX4_SITL_WORLD"
|
||||
fi
|
||||
fi
|
||||
gzserver $verbose $world_path $ros_args &
|
||||
SIM_PID=$!
|
||||
|
||||
# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
|
||||
IFS_bak=$IFS
|
||||
IFS=":"
|
||||
for possible_model_path in ${GAZEBO_MODEL_PATH}; do
|
||||
if [ -z $possible_model_path ]; then
|
||||
continue
|
||||
fi
|
||||
# trim \r from path
|
||||
possible_model_path=$(echo $possible_model_path | tr -d '\r')
|
||||
if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
|
||||
modelpath=$possible_model_path
|
||||
break
|
||||
fi
|
||||
done
|
||||
IFS=$IFS_bak
|
||||
|
||||
if [ -z $modelpath ]; then
|
||||
echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
|
||||
exit 1
|
||||
else
|
||||
echo "Using: ${modelpath}/${model}/${model}.sdf"
|
||||
fi
|
||||
|
||||
while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
|
||||
echo "gzserver not ready yet, trying again!"
|
||||
sleep 1
|
||||
done
|
||||
|
||||
if [[ -n "$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 $follow_mode &
|
||||
GUI_PID=$!
|
||||
fi
|
||||
else
|
||||
echo "You need to have gazebo simulator installed!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
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
|
||||
|
||||
|
||||
kill -9 $SIM_PID
|
||||
if [[ ! -n "$HEADLESS" ]]; then
|
||||
kill -9 $GUI_PID
|
||||
fi
|
||||
|
Before Width: | Height: | Size: 206 KiB After Width: | Height: | Size: 206 KiB |
|
Before Width: | Height: | Size: 80 KiB After Width: | Height: | Size: 80 KiB |
|
Before Width: | Height: | Size: 182 KiB After Width: | Height: | Size: 182 KiB |
|
Before Width: | Height: | Size: 88 KiB After Width: | Height: | Size: 88 KiB |
|
Before Width: | Height: | Size: 112 KiB After Width: | Height: | Size: 112 KiB |
|
Before Width: | Height: | Size: 166 KiB After Width: | Height: | Size: 166 KiB |
|
Before Width: | Height: | Size: 46 KiB After Width: | Height: | Size: 46 KiB |
|
Before Width: | Height: | Size: 57 KiB After Width: | Height: | Size: 57 KiB |
|
Before Width: | Height: | Size: 33 KiB After Width: | Height: | Size: 33 KiB |
|
Before Width: | Height: | Size: 34 KiB After Width: | Height: | Size: 34 KiB |
|
Before Width: | Height: | Size: 38 KiB After Width: | Height: | Size: 38 KiB |
+1
-1
@@ -1,6 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version="1.9">
|
||||
<world name="empty">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<max_step_size>0.004</max_step_size>
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
Executable
+67
@@ -0,0 +1,67 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
set -e
|
||||
|
||||
if [ "$#" -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 $SIM_PID
|
||||
Executable
+96
@@ -0,0 +1,96 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
|
||||
set -e
|
||||
|
||||
if [ "$#" -lt 5 ]; then
|
||||
echo usage: sitl_run.sh sitl_bin model world 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"
|
||||
model="$2"
|
||||
world="$3"
|
||||
src_path="$4"
|
||||
build_path="$5"
|
||||
|
||||
echo SITL ARGS
|
||||
|
||||
echo sitl_bin: $sitl_bin
|
||||
echo model: $model
|
||||
echo world: $world
|
||||
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
|
||||
|
||||
export PX4_SIM_MODEL=${model}
|
||||
export PX4_SIM_WORLD=${world}
|
||||
|
||||
# This is needed for aircraft namespace mapping
|
||||
# Need more architectural discussions to make this more scalable
|
||||
case "$model" in
|
||||
rascal)
|
||||
MODEL_NAME="Rascal110-JSBSim"
|
||||
;;
|
||||
malolo)
|
||||
MODEL_NAME="Malolo1"
|
||||
;;
|
||||
quadrotor_x)
|
||||
MODEL_NAME="quadrotor_x"
|
||||
;;
|
||||
hexarotor_x)
|
||||
MODEL_NAME="hexarotor_x"
|
||||
;;
|
||||
*)
|
||||
echo "Unknown Model"
|
||||
exit 1
|
||||
|
||||
esac
|
||||
|
||||
export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"
|
||||
|
||||
if [[ -n "$HEADLESS" ]]; then
|
||||
echo "not running flightgear gui"
|
||||
else
|
||||
export FG_AIRCRAFT="${SRC_DIR}/Tools/simulation/jsbsim/jsbsim_bridge/models"
|
||||
|
||||
fgfs --fdm=null \
|
||||
--native-fdm=socket,in,60,,5550,udp \
|
||||
--aircraft=$JSBSIM_AIRCRAFT_MODEL \
|
||||
--airport=${world} \
|
||||
--disable-hud \
|
||||
--disable-ai-models &> /dev/null &
|
||||
FGFS_PID=$!
|
||||
fi
|
||||
|
||||
"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/simulation/jsbsim/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
|
||||
JSBSIM_PID=$!
|
||||
|
||||
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
|
||||
eval $sitl_command
|
||||
|
||||
popd >/dev/null
|
||||
|
||||
kill $JSBSIM_PID
|
||||
kill $FGFS_PID
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
|
||||
# For example jmavsim can be run like this:
|
||||
#./Tools/jmavsim_run.sh -p 4561 -l
|
||||
#./Tools/simulation/jmavsim/jmavsim_run.sh -p 4561 -l
|
||||
|
||||
sitl_num=2
|
||||
[ -n "$1" ] && sitl_num="$1"
|
||||
@@ -28,7 +28,7 @@ while [ $n -lt $sitl_num ]; do
|
||||
|
||||
pushd "$working_dir" &>/dev/null
|
||||
echo "starting instance $n in $(pwd)"
|
||||
../bin/px4 -i $n -d "$build_path/etc" -s etc/init.d-posix/rcS >out.log 2>err.log &
|
||||
$build_path/bin/px4 -i $n -d "$build_path/etc" >out.log 2>err.log &
|
||||
popd &>/dev/null
|
||||
|
||||
n=$(($n + 1))
|
||||
@@ -1,287 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
|
||||
set -e
|
||||
|
||||
if [ "$#" -lt 7 ]; then
|
||||
echo usage: sitl_run.sh sitl_bin debugger program model world src_path build_path
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ -n "$DONT_RUN" ]]; then
|
||||
echo "Not running simulation (DONT_RUN is set)."
|
||||
exit 0
|
||||
fi
|
||||
|
||||
sitl_bin="$1"
|
||||
debugger="$2"
|
||||
program="$3"
|
||||
model="$4"
|
||||
world="$5"
|
||||
src_path="$6"
|
||||
build_path="$7"
|
||||
# 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 world: $world
|
||||
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
|
||||
|
||||
# To disable user input
|
||||
if [[ -n "$VERBOSE_SIM" ]]; then
|
||||
verbose="--verbose"
|
||||
else
|
||||
verbose=""
|
||||
fi
|
||||
|
||||
# Disable follow mode
|
||||
if [[ "$PX4_NO_FOLLOW_MODE" != "1" ]]; then
|
||||
follow_mode="--gui-client-plugin libgazebo_user_camera_plugin.so"
|
||||
else
|
||||
follow_mode=""
|
||||
fi
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
|
||||
else
|
||||
ros_args=""
|
||||
fi
|
||||
|
||||
if [ "$program" == "jmavsim" ]; 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" == "" ] || [ "$model" == "none" ]; then
|
||||
if [ "$program" == "jsbsim" ]; then
|
||||
echo "empty model, setting rascal as default for jsbsim"
|
||||
model="rascal"
|
||||
elif [ "$program" == "sihsim" ]; then
|
||||
echo "empty model, setting quadx as default for sihsim"
|
||||
model="quadx"
|
||||
else
|
||||
echo "empty model, setting iris as default"
|
||||
model="iris"
|
||||
fi
|
||||
fi
|
||||
|
||||
# kill process names that might stil
|
||||
# be running from last time
|
||||
pkill -x gazebo || true
|
||||
|
||||
# Do NOT kill PX4 if debug in ide
|
||||
if [ "$debugger" != "ide" ]; then
|
||||
pkill -x px4 || true
|
||||
pkill -x px4_$model || true
|
||||
fi
|
||||
|
||||
cp "$src_path/Tools/posix_lldbinit" "$rootfs/.lldbinit"
|
||||
cp "$src_path/Tools/posix.gdbinit" "$rootfs/.gdbinit"
|
||||
|
||||
shift 7
|
||||
for file in "$@"; do
|
||||
cp "$file" $rootfs/
|
||||
done
|
||||
|
||||
export PX4_SIM_MODEL=${model}
|
||||
export PX4_SIM_WORLD=${world}
|
||||
|
||||
SIM_PID=0
|
||||
|
||||
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
|
||||
# Start Java simulator
|
||||
"$src_path"/Tools/jmavsim_run.sh -r 250 -l &
|
||||
SIM_PID=$!
|
||||
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
|
||||
if [ -x "$(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/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/setup_gazebo.bash" "${src_path}" "${build_path}"
|
||||
if [ -z $PX4_SITL_WORLD ]; then
|
||||
#Spawn predefined world
|
||||
if [ "$world" == "none" ]; then
|
||||
if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
|
||||
echo "empty world, default world ${model}.world for model found"
|
||||
world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
|
||||
else
|
||||
echo "empty world, setting empty.world as default"
|
||||
world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
|
||||
fi
|
||||
else
|
||||
#Spawn empty world if world with model name doesn't exist
|
||||
world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
|
||||
fi
|
||||
else
|
||||
if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
|
||||
# Spawn world by name if exists in the worlds directory from environment variable
|
||||
world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
|
||||
else
|
||||
# Spawn world from environment variable with absolute path
|
||||
world_path="$PX4_SITL_WORLD"
|
||||
fi
|
||||
fi
|
||||
gzserver $verbose $world_path $ros_args &
|
||||
SIM_PID=$!
|
||||
|
||||
# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
|
||||
IFS_bak=$IFS
|
||||
IFS=":"
|
||||
for possible_model_path in ${GAZEBO_MODEL_PATH}; do
|
||||
if [ -z $possible_model_path ]; then
|
||||
continue
|
||||
fi
|
||||
# trim \r from path
|
||||
possible_model_path=$(echo $possible_model_path | tr -d '\r')
|
||||
if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
|
||||
modelpath=$possible_model_path
|
||||
break
|
||||
fi
|
||||
done
|
||||
IFS=$IFS_bak
|
||||
|
||||
if [ -z $modelpath ]; then
|
||||
echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
|
||||
exit 1
|
||||
else
|
||||
echo "Using: ${modelpath}/${model}/${model}.sdf"
|
||||
fi
|
||||
|
||||
while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
|
||||
echo "gzserver not ready yet, trying again!"
|
||||
sleep 1
|
||||
done
|
||||
|
||||
if [[ -n "$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 $follow_mode &
|
||||
GUI_PID=$!
|
||||
fi
|
||||
else
|
||||
echo "You need to have gazebo simulator installed!"
|
||||
exit 1
|
||||
fi
|
||||
elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
|
||||
echo "Ignition Gazebo"
|
||||
if [[ -n "$HEADLESS" ]]; then
|
||||
ignition_headless="-s"
|
||||
else
|
||||
ignition_headless=""
|
||||
fi
|
||||
|
||||
export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${src_path}/Tools/simulation/gazebo/models
|
||||
|
||||
# TODO: verify if world already exists?
|
||||
ign service --info --service /world/empty/create
|
||||
echo $?
|
||||
|
||||
ign gazebo ${ignition_headless} -r "${src_path}/Tools/simulation/gazebo/worlds/${world}.sdf" &
|
||||
|
||||
elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
|
||||
echo "FG setup"
|
||||
cd "${src_path}/Tools/flightgear_bridge/"
|
||||
"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0
|
||||
"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
|
||||
FG_BRIDGE_PID=$!
|
||||
elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
|
||||
source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
|
||||
if [[ -n "$HEADLESS" ]]; then
|
||||
echo "not running flightgear gui"
|
||||
else
|
||||
fgfs --fdm=null \
|
||||
--native-fdm=socket,in,60,,5550,udp \
|
||||
--aircraft=$JSBSIM_AIRCRAFT_MODEL \
|
||||
--airport=${world} \
|
||||
--disable-hud \
|
||||
--disable-ai-models &> /dev/null &
|
||||
FGFS_PID=$!
|
||||
fi
|
||||
"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
|
||||
JSBSIM_PID=$!
|
||||
elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
|
||||
export SIM_MODE="sihsim"
|
||||
if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
|
||||
echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
||||
pushd "$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\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
|
||||
fi
|
||||
|
||||
echo SITL COMMAND: $sitl_command
|
||||
|
||||
if [ "$debugger" == "lldb" ]; then
|
||||
eval lldb -- $sitl_command
|
||||
elif [ "$debugger" == "gdb" ]; then
|
||||
eval gdb --args $sitl_command
|
||||
elif [ "$debugger" == "ddd" ]; then
|
||||
eval ddd --debugger 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 $sitl_command
|
||||
elif [ "$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 $sitl_command
|
||||
fi
|
||||
|
||||
popd >/dev/null
|
||||
|
||||
if [ "$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 $GUI_PID
|
||||
fi
|
||||
elif [ "$program" == "flightgear" ]; then
|
||||
kill $FG_BRIDGE_PID
|
||||
kill -9 `cat /tmp/px4fgfspid_0`
|
||||
elif [ "$program" == "jsbsim" ]; then
|
||||
kill $JSBSIM_PID
|
||||
kill $FGFS_PID
|
||||
fi
|
||||
@@ -1,34 +0,0 @@
|
||||
#!/bin/bash
|
||||
UAVCANFW=../ROMFS/px4fmu_common/uavcan/fw
|
||||
ROMFS_REFIX=_
|
||||
echo Removing : $UAVCANFW
|
||||
rm -fr $UAVCANFW
|
||||
for f in $(find firmware -type f -name "*.*.bin")
|
||||
do
|
||||
UAVCAN_NAME=$(echo $f | cut -d"/" -f2 | cut -d. -f1-4 | cut -d- -f1-2)
|
||||
UAVCAN_HW=$(echo $f cut -d/ -f2 | cut -d. -f1-4 | cut -d- -f3)
|
||||
DST=${ROMFS_REFIX}$(echo $f | cut -d. -f3-7 | cut -d- -f1,2,3).$(echo $f | cut -d. -f6,7)
|
||||
# deal with legacy non conforming naming
|
||||
if [[ ${DST:(-7)} == bin.bin ]]
|
||||
then
|
||||
echo " WARNING: Improper name format!!!!!!!!! $f see should be <uavcan_name>-<HW_MAJOR>.<HW_MINOR)-<HW_MAJOR>.<HW_MINOR).<git hash[8]>.bin"
|
||||
DST=${DST%????}
|
||||
fi
|
||||
echo Processing file: $f Length:${#DST}
|
||||
if [ ${#DST} -le 28 ]
|
||||
then
|
||||
if [ -d "${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}" ]
|
||||
then
|
||||
echo " ERROR: name colision directory ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW} exits!"
|
||||
exit 2
|
||||
fi
|
||||
echo " Creating Directory ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}"
|
||||
mkdir -p ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}
|
||||
echo " Copying $f to ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}/${DST}"
|
||||
cp $f ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}/${DST}
|
||||
else
|
||||
echo " ERROR: $DST is ${#DST} charaters and needs to be less than or equal to 28"
|
||||
exit 1
|
||||
fi
|
||||
done
|
||||
exit 0
|
||||
Regular → Executable
Reference in New Issue
Block a user