From 4f2918ee3b0d193fafd7dc02f4204d237b2f7e81 Mon Sep 17 00:00:00 2001
From: Ramon Roche <mrpollo@gmail.com>
Date: Thu, 5 Mar 2026 14:48:25 -0800
Subject: [PATCH] feat(sim): add SIH SITL build target and multi-instance args

- Add boards/px4/sitl/sih.px4board disabling Gazebo bridge/msgs/plugins
- Update sitl_multiple_run.sh to accept model and build target arguments
- Add openjdk@17 to macOS setup script for jMAVSim display-only mode

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
---
 Tools/setup/macos.sh                  |  7 +++++++
 Tools/simulation/sitl_multiple_run.sh | 23 +++++++++++++----------
 boards/px4/sitl/sih.px4board          |  3 +++
 3 files changed, 23 insertions(+), 10 deletions(-)
 create mode 100644 boards/px4/sitl/sih.px4board

diff --git a/Tools/setup/macos.sh b/Tools/setup/macos.sh
index 8218b4e9ab..7cffb6ed3d 100755
--- a/Tools/setup/macos.sh
+++ b/Tools/setup/macos.sh
@@ -79,6 +79,13 @@ if [[ $INSTALL_SIM == "--sim-tools" ]]; then
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim
 	fi
+
+	# jMAVSim requires a JDK (Java 17 LTS recommended)
+	if ! brew ls --versions openjdk@17 > /dev/null; then
+		echo "[macos.sh] Installing OpenJDK 17 (required for jMAVSim)"
+		brew install openjdk@17
+		sudo ln -sfn $(brew --prefix openjdk@17)/libexec/openjdk.jdk /Library/Java/JavaVirtualMachines/openjdk-17.jdk
+	fi
 fi
 
 echo "[macos.sh] All set! The PX4 Autopilot toolchain was installed."
diff --git a/Tools/simulation/sitl_multiple_run.sh b/Tools/simulation/sitl_multiple_run.sh
index 6b95de44cf..a5c1c98d29 100755
--- a/Tools/simulation/sitl_multiple_run.sh
+++ b/Tools/simulation/sitl_multiple_run.sh
@@ -1,25 +1,28 @@
 #!/bin/bash
-# run multiple instances of the 'px4' binary, but w/o starting the simulator.
-# It assumes px4 is already built, with 'make px4_sitl_default'
+# Run multiple instances of the 'px4' binary, without starting an external simulator.
+# It assumes px4 is already built with the specified build target.
+#
+# Usage: ./Tools/simulation/sitl_multiple_run.sh [num_instances] [model] [build_target]
+# Examples:
+#   ./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih
+#   ./Tools/simulation/sitl_multiple_run.sh 2 gazebo-classic_iris px4_sitl_default
+#   ./Tools/simulation/sitl_multiple_run.sh     # defaults: 2 instances, gazebo-classic_iris, px4_sitl_default
 
-# 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/simulation/jmavsim/jmavsim_run.sh -p 4561 -l
-
-sitl_num=2
-[ -n "$1" ] && sitl_num="$1"
+sitl_num=${1:-2}
+sim_model=${2:-gazebo-classic_iris}
+build_target=${3:-px4_sitl_default}
 
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/../../"
 
-build_path=${src_path}/build/px4_sitl_default
+build_path=${src_path}/build/${build_target}
 
 echo "killing running instances"
 pkill -x px4 || true
 
 sleep 1
 
-export PX4_SIM_MODEL=gazebo-classic_iris
+export PX4_SIM_MODEL=${sim_model}
 
 n=0
 while [ $n -lt $sitl_num ]; do
diff --git a/boards/px4/sitl/sih.px4board b/boards/px4/sitl/sih.px4board
new file mode 100644
index 0000000000..7bdc63a069
--- /dev/null
+++ b/boards/px4/sitl/sih.px4board
@@ -0,0 +1,3 @@
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=n
+CONFIG_MODULES_SIMULATION_GZ_MSGS=n
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=n