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simulation organization and cleanup

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- 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
2022-08-25 09:10:03 -04:00
parent 6b2509cbba
commit 4040e4cdf2
200 changed files with 1778 additions and 2806 deletions
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platforms/posix/src/px4/common/main.cpp
+58 -17
View File
@@ -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");