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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 00:27:35 +08:00
Improvements to SITL to make paths more flexible. (#5181)
This commit is contained in:
James Goppert
+1
-1
Submodule Tools/sitl_gazebo updated: 00dcabb1c2...9486c331a7
+44
-39
@@ -1,22 +1,29 @@
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#!/bin/bash
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rc_script=$1
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debugger=$2
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program=$3
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model=$4
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build_path=$5
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curr_dir=`pwd`
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set -e
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echo args: $@
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sitl_bin=$1
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rc_script=$2
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debugger=$3
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program=$4
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model=$5
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src_path=$6
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build_path=$7
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echo SITL ARGS
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echo sitl_bin: $sitl_bin
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echo rc_script: $rc_script
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echo debugger: $debugger
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echo program: $program
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echo model: $model
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echo src_path: $src_path
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echo build_path: $build_path
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mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
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mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
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touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
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working_dir=`pwd`
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sitl_bin=$build_path/src/firmware/posix/px4
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if [ "$chroot" == "1" ]
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then
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@@ -35,32 +42,36 @@ fi
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if [ "$#" -lt 5 ]
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then
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echo usage: sitl_run.sh rc_script debugger program model build_path
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echo usage: sitl_run.sh rc_script debugger program model devel_path
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echo ""
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exit 1
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fi
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command_exists () {
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type "$1" &> /dev/null ;
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}
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# kill process names that might stil
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# be running from last time
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pkill gazebo
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pkill px4
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jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
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if [ -n "$jmavsim_pid" ]
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pgrep gazebo && pkill gazebo
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pgrep px4 && pkill px4
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if command_exists jps
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then
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kill $jmavsim_pid
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jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
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if [ -n "$jmavsim_pid" ]
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then
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kill $jmavsim_pid
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fi
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fi
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set -e
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cd $build_path/..
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cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
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cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
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cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
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cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
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SIM_PID=0
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if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
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then
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cd Tools/jMAVSim
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cd $src_path/Tools/jMAVSim
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ant create_run_jar copy_res
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cd out/production
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java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
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@@ -71,15 +82,9 @@ then
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if [ -x "$(command -v gazebo)" ]
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then
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# Set the plugin path so Gazebo finds our model and sim
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export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
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# Set the model path so Gazebo finds the airframes
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export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
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# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
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# export GAZEBO_MODEL_DATABASE_URI=""
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export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
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make --no-print-directory gazebo_build
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gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
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source /usr/share/gazebo/setup.sh
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source $src_path/integrationtests/setup_gazebo_ros.bash ${src_path} ${build_path}
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gzserver --verbose worlds/${model}.world &
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SIM_PID=`echo $!`
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if [[ -n "$HEADLESS" ]]; then
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@@ -98,17 +103,17 @@ then
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# This is not a simulator, but a log file to replay
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# Check if we need to creat a param file to allow user to change parameters
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if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
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if ! [ -f "$rootfs/replay_params.txt" ]
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then
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touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
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touch $rootfs/replay_params.txt
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fi
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fi
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cd $build_path/src/firmware/posix
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cd $working_dir
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if [ "$logfile" != "" ]
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then
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cp $logfile rootfs/replay.px4log
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cp $logfile $rootfs/replay.px4log
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fi
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# Do not exit on failure now from here on because we want the complete cleanup
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@@ -117,18 +122,18 @@ set +e
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# Start Java simulator
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if [ "$debugger" == "lldb" ]
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then
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lldb -- px4 ../../../../${rc_script}_${program}_${model}
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lldb -- $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
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elif [ "$debugger" == "gdb" ]
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then
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gdb --args px4 ../../../../${rc_script}_${program}_${model}
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gdb --args $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
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elif [ "$debugger" == "ddd" ]
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then
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ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
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ddd --debugger gdb --args px4 $src_path $src_path/${rc_script}_${program}_${model}
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elif [ "$debugger" == "valgrind" ]
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then
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valgrind ./px4 ../../../../${rc_script}_${program}_${model}
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valgrind $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
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else
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$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
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$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${rc_script}_${program}_${model}
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fi
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if [ "$program" == "jmavsim" ]
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