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)

platforms/posix/CMakeLists.txt

@@ -31,6 +31,8 @@ if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
 		apps.cpp
 		)
 else()
+	add_definitions(-DPX4_SOURCE_DIR="${PX4_SOURCE_DIR}" -DPX4_BINARY_DIR="${PX4_BINARY_DIR}")
+
 	add_executable(px4
 		src/px4/common/main.cpp
 		apps.cpp
@@ -84,7 +86,7 @@ px4_posix_generate_symlinks(
 	TARGET px4
 )
 
-if (config_romfs_root)
+if(config_romfs_root)
 	add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
 	add_dependencies(px4 romfs_gen_files_target)
 endif()
@@ -110,11 +112,19 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 	# vscode launch.json
 	if(${PX4_BOARD_LABEL} MATCHES "replay")
 		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
+
+	elseif(${PX4_CONFIG} MATCHES "px4_sitl_ign")
+		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl_ignition.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
+
 	else()
-		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sim.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
+		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl_default.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
 	endif()
 
-	include(sitl_target)
+	set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/rootfs)
+	file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/posix.lldbinit ${SITL_WORKING_DIR}/.lldbinit COPYONLY)
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/posix.gdbinit ${SITL_WORKING_DIR}/.gdbinit COPYONLY)
+
 	if(BUILD_TESTING)
 		include(sitl_tests)
 	endif()
@@ -153,7 +163,7 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 	# px4 Tools files
 	install(
 		PROGRAMS
-			${PROJECT_SOURCE_DIR}/Tools/setup_gazebo.bash
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/setup_gazebo.bash
 			${PROJECT_SOURCE_DIR}/Tools/upload_log.py
 		DESTINATION
 			${PROJECT_NAME}/Tools
@@ -181,19 +191,19 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 	# sitl_gazebo dirs
 	install(
 		DIRECTORY
-			${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/models
-			${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/worlds
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/worlds
 		DESTINATION
-			${PROJECT_NAME}/Tools/sitl_gazebo
+			${PROJECT_NAME}/Tools/simulation/gazebo/sitl_gazebo
 		)
 
 	# sitl_gazebo files
 	install(
 		FILES
-			${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/CMakeLists.txt
-			${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/CMakeLists.txt
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/package.xml
 		DESTINATION
-			${PROJECT_NAME}/Tools/sitl_gazebo
+			${PROJECT_NAME}/Tools/simulation/gazebo/sitl_gazebo
 		)
 
 endif()

platforms/posix/Debug/launch_replay.json.in

@@ -14,7 +14,7 @@
                 "${workspaceFolder}/test_data"
             ],
             "stopAtEntry": false,
-            "cwd": "${command:cmake.buildDirectory}/tmp",
+            "cwd": "${command:cmake.buildDirectory}/rootfs",
             "environment": [
                 {
                     "name": "replay",

platforms/posix/Debug/launch_sitl_default.json.in

@@ -2,17 +2,59 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "SITL (gazebo)",
+            "name": "SITL (sihsim 10040_quadx)",
             "type": "cppdbg",
             "request": "launch",
             "program": "${command:cmake.launchTargetPath}",
             "args": [
-                "${workspaceFolder}/ROMFS/px4fmu_common",
-                "-s", "etc/init.d-posix/rcS",
-                "-t", "${workspaceFolder}/test_data"
+                "${workspaceFolder}/ROMFS/px4fmu_common"
             ],
             "stopAtEntry": false,
-            "cwd": "${command:cmake.buildDirectory}/tmp",
+            "cwd": "${command:cmake.buildDirectory}/rootfs",
+            "environment": [
+                {
+                    "name": "PX4_SIM_MODEL",
+                    "value": "quadx"
+                }
+            ],
+            "externalConsole": false,
+            "postDebugTask": "px4_sitl_cleanup",
+            "linux": {
+                "MIMode": "gdb",
+                "externalConsole": false,
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            },
+            "osx": {
+                "MIMode": "lldb",
+                "externalConsole": true,
+                "setupCommands": [
+                    {
+                        "text": "pro hand -p true -s false -n false SIGCONT",
+                    }
+                ]
+            }
+        },
+        {
+            "name": "SITL (Gazebo Classic)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "${workspaceFolder}/ROMFS/px4fmu_common"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}/rootfs",
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
@@ -49,17 +91,15 @@
             }
         },
         {
-            "name": "SITL (jmavsim iris)",
+            "name": "SITL (jmavsim)",
             "type": "cppdbg",
             "request": "launch",
             "program": "${command:cmake.launchTargetPath}",
             "args": [
-                "${workspaceFolder}/ROMFS/px4fmu_common",
-                "-s", "etc/init.d-posix/rcS",
-                "-t", "${workspaceFolder}/test_data"
+                "${workspaceFolder}/ROMFS/px4fmu_common"
             ],
             "stopAtEntry": false,
-            "cwd": "${command:cmake.buildDirectory}/tmp",
+            "cwd": "${command:cmake.buildDirectory}/rootfs",
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
@@ -100,12 +140,10 @@
             "request": "launch",
             "program": "${command:cmake.launchTargetPath}",
             "args": [
-                "${workspaceFolder}/ROMFS/px4fmu_common",
-                "-s", "etc/init.d-posix/rcS",
-                "-t", "${workspaceFolder}/test_data"
+                "${workspaceFolder}/ROMFS/px4fmu_common"
             ],
             "stopAtEntry": false,
-            "cwd": "${command:cmake.buildDirectory}/tmp",
+            "cwd": "${command:cmake.buildDirectory}/rootfs",
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
@@ -145,10 +183,18 @@
             "id": "PX4_SIM_MODEL",
             "description": "PX4_SIM_MODEL",
             "options": [
-              "x3",
-              "x4"
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
             ],
-            "default": "x3"
+            "default": "iris"
           }
     ]
 }

platforms/posix/Debug/launch_sitl_ignition.json.in

@@ -0,0 +1,63 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "SITL (Ignition Gazebo)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "${workspaceFolder}/ROMFS/px4fmu_common",
+                "-s", "etc/init.d-posix/rcS"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}/rootfs",
+            "environment": [
+                {
+                    "name": "PX4_SIM_MODEL",
+                    "value": "${input:PX4_SIM_MODEL}"
+                }
+            ],
+            "externalConsole": false,
+            "preLaunchTask": "ign gazebo",
+            "postDebugTask": "ign gazebo kill",
+            "linux": {
+                "MIMode": "gdb",
+                "externalConsole": false,
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            },
+            "osx": {
+                "MIMode": "lldb",
+                "externalConsole": true,
+                "setupCommands": [
+                    {
+                        "text": "pro hand -p true -s false -n false SIGCONT",
+                    }
+                ]
+            }
+        }
+    ],
+    "inputs": [
+        {
+            "type": "pickString",
+            "id": "PX4_SIM_MODEL",
+            "description": "PX4_SIM_MODEL",
+            "options": [
+              "x3",
+              "x4"
+            ],
+            "default": "x3"
+          }
+    ]
+}

platforms/posix/Debug/posix.gdbinit

@@ -0,0 +1,2 @@
+handle SIGCONT nostop noprint nopass
+run

platforms/posix/Debug/posix.lldbinit

@@ -0,0 +1,3 @@
+run
+pro hand -p true -s false -n false SIGCONT
+continue

platforms/posix/cmake/sitl_target.cmake

@@ -1,418 +0,0 @@
-set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
-file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
-file(MAKE_DIRECTORY ${SITL_WORKING_DIR}/rootfs)
-
-# add a symlink to the logs dir to make it easier to find them
-add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
-	COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/log logs
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-)
-add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
-add_dependencies(px4 logs_symlink)
-add_custom_target(run_config
-	COMMAND Tools/sitl_run.sh $<TARGET_FILE:px4> ${config_sitl_debugger} ${config_sitl_viewer} ${config_sitl_model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-	WORKING_DIRECTORY ${SITL_WORKING_DIR}
-	USES_TERMINAL
-	DEPENDS px4 logs_symlink
-)
-
-px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/jMAVSim")
-
-# Add support for external project building
-include(ExternalProject)
-
-# Estimate an appropriate number of parallel jobs
-cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY)
-cmake_host_system_information(RESULT NUMBER_OF_LOGICAL_CORES QUERY NUMBER_OF_LOGICAL_CORES)
-
-set(parallel_jobs 1)
-
-if(NOT NUMBER_OF_LOGICAL_CORES)
-	include(ProcessorCount)
-	ProcessorCount(NUMBER_OF_LOGICAL_CORES)
-endif()
-
-if(NOT AVAILABLE_PHYSICAL_MEMORY AND NUMBER_OF_LOGICAL_CORES GREATER_EQUAL 4)
-	# Memory estimate unavailable, use N-2 jobs
-	math(EXPR parallel_jobs "${NUMBER_OF_LOGICAL_CORES} - 2")
-endif()
-
-if (AVAILABLE_PHYSICAL_MEMORY)
-	# Allow an additional job for every 1.5GB of available physical memory
-	math(EXPR parallel_jobs "${AVAILABLE_PHYSICAL_MEMORY}/(3*1024/2)")
-else()
-	set(AVAILABLE_PHYSICAL_MEMORY "?")
-endif()
-
-if(parallel_jobs GREATER NUMBER_OF_LOGICAL_CORES)
-	set(parallel_jobs ${NUMBER_OF_LOGICAL_CORES})
-endif()
-
-if(parallel_jobs LESS 1)
-	set(parallel_jobs 1)
-endif()
-
-message(DEBUG  "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
-		Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
-
-# project to build sitl_gazebo if necessary
-px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
-ExternalProject_Add(sitl_gazebo
-	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
-	CMAKE_ARGS
-		-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-		-DSEND_ODOMETRY_DATA=ON
-		-DGENERATE_ROS_MODELS=ON
-	BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
-	INSTALL_COMMAND ""
-	DEPENDS git_gazebo
-	USES_TERMINAL_CONFIGURE true
-	USES_TERMINAL_BUILD true
-	EXCLUDE_FROM_ALL true
-	BUILD_ALWAYS 1
-	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
-)
-
-ExternalProject_Add(mavsdk_tests
-	SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
-	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-	BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests
-	INSTALL_COMMAND ""
-	USES_TERMINAL_CONFIGURE true
-	USES_TERMINAL_BUILD true
-	EXCLUDE_FROM_ALL true
-	BUILD_ALWAYS 1
-)
-
-px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge")
-ExternalProject_Add(flightgear_bridge
-	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/flightgear_bridge
-	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-	BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge
-	INSTALL_COMMAND ""
-	DEPENDS git_flightgear_bridge
-	USES_TERMINAL_CONFIGURE true
-	USES_TERMINAL_BUILD true
-	EXCLUDE_FROM_ALL true
-	BUILD_ALWAYS 1
-)
-
-px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/jsbsim_bridge")
-ExternalProject_Add(jsbsim_bridge
-	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/jsbsim_bridge
-	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-	BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge
-	INSTALL_COMMAND ""
-	DEPENDS git_jsbsim_bridge
-	USES_TERMINAL_CONFIGURE true
-	USES_TERMINAL_BUILD true
-	EXCLUDE_FROM_ALL true
-	BUILD_ALWAYS 1
-)
-
-# create targets for each viewer/model/debugger combination
-set(viewers
-	none
-	jmavsim
-	gazebo
-)
-
-set(debuggers
-	none
-	gdb
-	lldb
-	valgrind
-	callgrind
-)
-
-set(models
-	none
-	believer
-	boat
-	cloudship
-	glider
-	iris
-	iris_dual_gps
-	iris_foggy_lidar
-	iris_irlock
-	iris_obs_avoid
-	iris_opt_flow
-	iris_opt_flow_mockup
-	iris_rplidar
-	iris_vision
-	nxp_cupcar
-	omnicopter
-	plane
-	plane_cam
-	plane_catapult
-	plane_lidar
-	px4vision
-	r1_rover
-	rover
-	shell
-	standard_vtol
-	standard_vtol_drop
-	tailsitter
-	techpod
-	tiltrotor
-	typhoon_h480
-	uuv_bluerov2_heavy
-	uuv_hippocampus
-)
-
-set(worlds
-	none
-	baylands
-	empty
-	ksql_airport
-	mcmillan_airfield
-	sonoma_raceway
-	warehouse
-	windy
-	yosemite
-)
-
-set(all_posix_vmd_make_targets)
-foreach(viewer ${viewers})
-	foreach(debugger ${debuggers})
-		foreach(model ${models})
-			foreach(world ${worlds})
-				if(world STREQUAL "none")
-					if(debugger STREQUAL "none")
-						if(model STREQUAL "none")
-							set(_targ_name "${viewer}")
-						else()
-							set(_targ_name "${viewer}_${model}")
-						endif()
-					else()
-						if(model STREQUAL "none")
-							set(_targ_name "${viewer}___${debugger}")
-						else()
-							set(_targ_name "${viewer}_${model}_${debugger}")
-						endif()
-					endif()
-
-					add_custom_target(${_targ_name}
-						COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${viewer} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-						WORKING_DIRECTORY ${SITL_WORKING_DIR}
-						USES_TERMINAL
-						DEPENDS logs_symlink
-					)
-					list(APPEND all_posix_vmd_make_targets ${_targ_name})
-					if(viewer STREQUAL "gazebo")
-						add_dependencies(${_targ_name} px4 sitl_gazebo)
-					elseif(viewer STREQUAL "jmavsim")
-						add_dependencies(${_targ_name} px4 git_jmavsim)
-					endif()
-				else()
-					if(viewer STREQUAL "gazebo")
-						if(debugger STREQUAL "none")
-							if(model STREQUAL "none")
-								set(_targ_name "${viewer}___${world}")
-							else()
-								set(_targ_name "${viewer}_${model}__${world}")
-							endif()
-						else()
-							if(model STREQUAL "none")
-								set(_targ_name "${viewer}__${debugger}_${world}")
-							else()
-								set(_targ_name "${viewer}_${model}_${debugger}_${world}")
-							endif()
-						endif()
-
-						add_custom_target(${_targ_name}
-							COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${viewer} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-							WORKING_DIRECTORY ${SITL_WORKING_DIR}
-							USES_TERMINAL
-							DEPENDS logs_symlink
-						)
-						list(APPEND all_posix_vmd_make_targets ${_targ_name})
-						add_dependencies(${_targ_name} px4 sitl_gazebo)
-					endif()
-				endif()
-			endforeach()
-		endforeach()
-	endforeach()
-endforeach()
-
-# create targets for jsbsim
-set(models_jsbsim
-	none
-	rascal
-	quadrotor_x
-	hexarotor_x
-	malolo
-)
-
-set(worlds_jsbsim
-	none
-	LSZH
-)
-
-foreach(debugger ${debuggers})
-	foreach(model ${models_jsbsim})
-		foreach(world ${worlds_jsbsim})
-			if(world STREQUAL "none")
-				if(debugger STREQUAL "none")
-					if(model STREQUAL "none")
-						set(_targ_name "jsbsim")
-					else()
-						set(_targ_name "jsbsim_${model}")
-					endif()
-				else()
-					if(model STREQUAL "none")
-						set(_targ_name "jsbsim__${debugger}_${world}")
-					else()
-						set(_targ_name "jsbsim_${model}_${debugger}_${world}")
-					endif()
-				endif()
-
-				add_custom_target(${_targ_name}
-					COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} jsbsim ${model} "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-					WORKING_DIRECTORY ${SITL_WORKING_DIR}
-					USES_TERMINAL
-					DEPENDS logs_symlink
-				)
-				list(APPEND all_posix_vmd_make_targets ${_targ_name})
-				add_dependencies(${_targ_name} px4 jsbsim_bridge)
-			else()
-				if(debugger STREQUAL "none")
-					if(model STREQUAL "none")
-						set(_targ_name "jsbsim___${world}")
-					else()
-						set(_targ_name "jsbsim_${model}__${world}")
-					endif()
-				else()
-					if(model STREQUAL "none")
-						set(_targ_name "jsbsim___${debugger}_${world}")
-					else()
-						set(_targ_name "jsbsim_${model}_${debugger}_${world}")
-					endif()
-				endif()
-
-				add_custom_target(${_targ_name}
-					COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} jsbsim ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-					WORKING_DIRECTORY ${SITL_WORKING_DIR}
-					USES_TERMINAL
-					DEPENDS logs_symlink
-				)
-				list(APPEND all_posix_vmd_make_targets ${_targ_name})
-				add_dependencies(${_targ_name} px4 jsbsim_bridge)
-			endif()
-		endforeach()
-	endforeach()
-endforeach()
-
-# create targets for sihsim
-set(models_sih
-	none
-	airplane
-	quadx
-	xvert
-)
-
-set(worlds_sih
-	none
-)
-
-foreach(debugger ${debuggers})
-	foreach(model ${models_sih})
-		foreach(world ${worlds_sih})
-			if(world STREQUAL "none")
-				if(debugger STREQUAL "none")
-					if(model STREQUAL "none")
-						set(_targ_name "sihsim")
-					else()
-						set(_targ_name "sihsim_${model}")
-					endif()
-				else()
-					if(model STREQUAL "none")
-						set(_targ_name "sihsim__${debugger}_${world}")
-					else()
-						set(_targ_name "sihsim_${model}_${debugger}_${world}")
-					endif()
-				endif()
-
-				add_custom_target(${_targ_name}
-					COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} sihsim ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-					WORKING_DIRECTORY ${SITL_WORKING_DIR}
-					USES_TERMINAL
-					DEPENDS logs_symlink
-				)
-				list(APPEND all_posix_vmd_make_targets ${_targ_name})
-			else()
-				if(debugger STREQUAL "none")
-					if(model STREQUAL "none")
-						set(_targ_name "sihsim___${world}")
-					else()
-						set(_targ_name "sihsim_${model}__${world}")
-					endif()
-				else()
-					if(model STREQUAL "none")
-						set(_targ_name "sihsim___${debugger}_${world}")
-					else()
-						set(_targ_name "sihsim_${model}_${debugger}_${world}")
-					endif()
-				endif()
-
-				add_custom_target(${_targ_name}
-					COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} sihsim ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-					WORKING_DIRECTORY ${SITL_WORKING_DIR}
-					USES_TERMINAL
-					DEPENDS logs_symlink
-				)
-				list(APPEND all_posix_vmd_make_targets ${_targ_name})
-			endif()
-		endforeach()
-	endforeach()
-endforeach()
-
-# add flighgear targets
-if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
-	set(models
-		rascal
-		rascal-electric
-		tf-g1
-		tf-g2
-		tf-r1
-	)
-	set(all_posix_vmd_make_targets)
-
-	foreach(model ${models})
-		set(_targ_name "flightgear_${model}")
-		add_custom_target(${_targ_name}
-			COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none flightgear ${model} none ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-			WORKING_DIRECTORY ${SITL_WORKING_DIR}
-			USES_TERMINAL
-			DEPENDS logs_symlink
-		)
-
-		add_dependencies(${_targ_name} px4 flightgear_bridge)
-		list(APPEND all_posix_vmd_make_targets ${_targ_name})
-	endforeach()
-endif()
-
-
-# Ignition Gazebo
-add_custom_target(ignition_x3
-	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x3 empty ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-	WORKING_DIRECTORY ${SITL_WORKING_DIR}
-	USES_TERMINAL
-	DEPENDS logs_symlink
-)
-
-add_custom_target(ignition_x4
-	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x4 empty ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-	WORKING_DIRECTORY ${SITL_WORKING_DIR}
-	USES_TERMINAL
-	DEPENDS logs_symlink
-)
-
-
-string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
-
-add_custom_target(list_vmd_make_targets
-	COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
-	COMMENT "List of acceptable '${PX4_BOARD}' <viewer_model_debugger> targets:"
-	VERBATIM
-	)

platforms/posix/cmake/sitl_tests.cmake

@@ -121,16 +121,9 @@ sanitizer_fail_test_on_error(sitl-imu_filtering)
 
 # Dynamic module loading test
 add_test(NAME dyn
-	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
-		$<TARGET_FILE:px4>
-		none
-		none
-		test_dyn_hello
-		none
-		${PX4_SOURCE_DIR}
-		${PX4_BINARY_DIR}
-		$<TARGET_FILE:examples__dyn_hello>
-	WORKING_DIRECTORY ${SITL_WORKING_DIR})
+	COMMAND $<TARGET_FILE:px4> -s "${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_dyn_hello"
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}/src/examples/dyn_hello
+)
 set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
 sanitizer_fail_test_on_error(dyn)
 

platforms/posix/src/px4/common/main.cpp

@@ -195,12 +195,15 @@ int main(int argc, char **argv)
 #endif // (_POSIX_MEMLOCK > 0) && !ENABLE_LOCKSTEP_SCHEDULER
 
 		/* Server/daemon apps need to parse the command line arguments. */
-
 		std::string data_path{};
-		std::string commands_file = "etc/init.d/rcS";
-		std::string test_data_path{};
 		std::string working_directory{};
+		std::string test_data_path{};
+		std::string commands_file{};
+
+		bool working_directory_default = false;
+
 		int instance = 0;
+		bool instance_provided = false;
 
 		int myoptind = 1;
 		int ch;
@@ -226,6 +229,7 @@ int main(int argc, char **argv)
 
 			case 'i':
 				instance = strtoul(myoptarg, nullptr, 10);
+				instance_provided = true;
 				break;
 
 			case 'w':
@@ -239,17 +243,6 @@ int main(int argc, char **argv)
 			}
 		}
 
-		PX4_DEBUG("instance: %i", instance);
-
-		// change the CWD befre setting up links and other directories
-		if (!working_directory.empty()) {
-			int ret = change_directory(working_directory);
-
-			if (ret != PX4_OK) {
-				return ret;
-			}
-		}
-
 		if (myoptind < argc) {
 			std::string optional_arg = argv[myoptind];
 
@@ -258,6 +251,54 @@ int main(int argc, char **argv)
 			} // else: ROS argument (in the form __<name>:=<value>)
 		}
 
+		if (instance_provided) {
+			PX4_INFO("instance: %i", instance);
+		}
+
+#if defined(PX4_BINARY_DIR)
+
+		// data_path & working_directory: if no commands specified or in current working directory),
+		//  rootfs, or working directory specified then default to build directory (if it still exists)
+		if (commands_file.empty() && data_path.empty() && working_directory.empty()
+		    && dir_exists(PX4_BINARY_DIR"/etc")
+		   ) {
+			data_path = PX4_BINARY_DIR"/etc";
+			working_directory = PX4_BINARY_DIR"/rootfs";
+
+			working_directory_default = true;
+		}
+
+#endif // PX4_BINARY_DIR
+
+#if defined(PX4_SOURCE_DIR)
+
+		// test_data_path: default to build source test_data directory (if it exists)
+		if (test_data_path.empty() && dir_exists(PX4_SOURCE_DIR"/test_data")) {
+			test_data_path = PX4_SOURCE_DIR"/test_data";
+		}
+
+#endif // PX4_SOURCE_DIR
+
+		if (commands_file.empty()) {
+			commands_file = "etc/init.d-posix/rcS";
+		}
+
+		// change the CWD befre setting up links and other directories
+		if (!working_directory.empty()) {
+
+			// if instance specified, but
+			if (instance_provided && working_directory_default) {
+				working_directory += "/" + std::to_string(instance);
+				PX4_INFO("working directory %s", working_directory.c_str());
+			}
+
+			int ret = change_directory(working_directory);
+
+			if (ret != PX4_OK) {
+				return ret;
+			}
+		}
+
 		if (is_server_running(instance, true)) {
 			// allow running multiple instances, but the server is only started for the first
 			PX4_INFO("PX4 daemon already running for instance %i (%s)", instance, strerror(errno));
@@ -362,7 +403,7 @@ int create_symlinks_if_needed(std::string &data_path)
 
 	}
 
-	PX4_INFO_RAW("Creating symlink %s -> %s\n", src_path.c_str(), dest_path.c_str());
+	PX4_DEBUG("Creating symlink %s -> %s\n", src_path.c_str(), dest_path.c_str());
 
 	// create sym-link
 	int ret = symlink(src_path.c_str(), dest_path.c_str());
@@ -517,7 +558,7 @@ int run_startup_script(const std::string &commands_file, const std::string &abso
 	}
 
 
-	PX4_INFO("Calling startup script: %s", shell_command.c_str());
+	PX4_INFO("startup script: %s", shell_command.c_str());
 
 	int ret = 0;
 
@@ -552,7 +593,7 @@ void print_usage()
 	printf("\n");
 	printf("    px4 [-h|-d] [-s <startup_file>] [-t <test_data_directory>] [<rootfs_directory>] [-i <instance>] [-w <working_directory>]\n");
 	printf("\n");
-	printf("    -s <startup_file>      shell script to be used as startup (default=etc/init.d/rcS)\n");
+	printf("    -s <startup_file>      shell script to be used as startup (default=etc/init.d-posix/rcS)\n");
 	printf("    <rootfs_directory>     directory where startup files and mixers are located,\n");
 	printf("                           (if not given, CWD is used)\n");
 	printf("    -i <instance>          px4 instance id to run multiple instances [0...N], default=0\n");