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SIH in SITL with lockstep (#19028)

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* sih: Move sih out of work queue
This reverts commit bb7dd0cf00.

* sih-sim: Enable sih in sitl, together with lockstep

* sih-sim: new files for sih: quadx and airplane

* sih: Added tailsitter for sih-sitl simulation

* sitl_target: Added seperate target loop for sih

* jmavsim_run: Allow jmavsim to run in UDP mode

* lockstep: Post semaphore on last lockstep component removed

* sih-sim: Added display for effectively achieved speed

* sih: increase stack size

* sih-sim: Improved sleep time computation, fixes bug of running too fast

* sitl_target: place omnicopter in alphabethic order

Co-authored-by: romain-chiap <romain.chiap@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Thomas Debrunner
2022-06-09 09:52:34 +02:00
committed by GitHub
co-authored by romain-chiap Matthias Grob
parent a7e11464c1
commit 46c9d1e288
16 changed files with 379 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/posix/cmake/sitl_target.cmake
+65 -2
View File
@@ -9,7 +9,6 @@ add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
)
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}
@@ -159,6 +158,7 @@ set(models
iris_rplidar
iris_vision
nxp_cupcar
omnicopter
plane
plane_cam
plane_catapult
@@ -177,7 +177,6 @@ set(models
typhoon_h480_ctrlalloc
uuv_bluerov2_heavy
uuv_hippocampus
omnicopter
)
set(worlds
@@ -325,6 +324,70 @@ foreach(debugger ${debuggers})
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
platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp
+1 -1
View File
@@ -84,7 +84,7 @@ void LockstepComponents::unregister_component(int component)
int components_used_bitset = _components_used_bitset;
if (_components_progress_bitset == components_used_bitset && components_used_bitset != 0) {
if (_components_progress_bitset == components_used_bitset) {
_components_progress_bitset = 0;
px4_sem_post(&_components_sem);
}