Improvements to SITL to make paths more flexible. (#5181)

src/firmware/nuttx/CMakeLists.txt

@@ -10,7 +10,7 @@ add_executable(firmware_nuttx
 	builtin_commands.c)
 
 
-set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
 
 set(link_libs
 	romfs apps nuttx m gcc
@@ -20,7 +20,7 @@ if(NOT ${BOARD} STREQUAL "sim")
 	list(APPEND link_libs nosys)
 	set(main_link_flags
 		"-T${nuttx_export_dir}/build/ld.script"
-		"-Wl,-Map=${CMAKE_BINARY_DIR}/${BOARD}/main.map"
+		"-Wl,-Map=${PX4_BINARY_DIR}/${BOARD}/main.map"
 		)
 	px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
 	set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
@@ -43,12 +43,12 @@ add_custom_target(check_weak
 if(NOT ${BOARD} STREQUAL "sim")
 
 	if (config_io_board)
-		set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
+		set(extras "${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
 	endif()
 	
 	set(romfs_dir "ROMFS/px4fmu_common")
 	if (${BOARD} STREQUAL "tap-v1")
-	set(romfs_dir "ROMFS/tap_common")
+		set(romfs_dir "ROMFS/tap_common")
 	endif()
 	if (${BOARD} STREQUAL "px4fmu-v2" AND ${LABEL} STREQUAL "test")
 	    set(romfs_dir "ROMFS/px4fmu_test")
@@ -68,8 +68,8 @@ if(NOT ${BOARD} STREQUAL "sim")
 	px4_nuttx_add_firmware(OUT ${fw_file}
 		BOARD ${BOARD}
 		EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
-		PARAM_XML ${CMAKE_BINARY_DIR}/parameters.xml
-		AIRFRAMES_XML ${CMAKE_BINARY_DIR}/airframes.xml
+		PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
+		AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
 		)
 
 	configure_file(gdbinit.in .gdbinit)
@@ -94,21 +94,21 @@ if(NOT ${BOARD} STREQUAL "sim")
 
 	add_custom_target(debug_io
 		COMMAND ${GDB}
-			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+			${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)
 
 	add_custom_target(debug_io_tui
 		COMMAND ${GDBTUI}
-			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+			${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)
 
 	add_custom_target(debug_io_ddd
 		COMMAND ${DDD} --debugger ${GDB}
-			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+			${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)

src/firmware/nuttx/gdbinit.in

@@ -4,4 +4,4 @@ attach 1
 monitor vector_catch disable hard
 set mem inaccessible-by-default off
 set print pretty
-source ${CMAKE_SOURCE_DIR}/Debug/PX4
+source ${PX4_SOURCE_DIR}/Debug/PX4

src/firmware/posix/CMakeLists.txt

@@ -18,7 +18,7 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
 		APPS_DEST "/home/linaro"
 		SOURCES
 			px4muorb_stub.c
-			${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+			${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
 			apps.h
 		LINK_LIBS
 			-Wl,--start-group
@@ -33,14 +33,14 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
 			 OS ${OS}
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
-				 ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
+				 ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
 			 DEPENDS px4
 			 DEST /home/linaro)
 
 elseif ("${BOARD}" STREQUAL "rpi")
 
 	add_executable(px4
-		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+		${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
 		apps.h
 		)
 
@@ -57,7 +57,7 @@ elseif ("${BOARD}" STREQUAL "rpi")
 			 OS ${OS}
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
-				 ${CMAKE_SOURCE_DIR}/posix-configs/rpi/px4.config
+				 ${PX4_SOURCE_DIR}/posix-configs/rpi/px4.config
 			 DEPENDS px4
 			 DEST /home/pi)
 
@@ -67,7 +67,7 @@ elseif ("${BOARD}" STREQUAL "bebop")
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
 
 	add_executable(px4
-		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+		${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
 		apps.h
 		)
 
@@ -91,14 +91,14 @@ elseif ("${BOARD}" STREQUAL "bebop")
 			 OS ${OS}
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
-						 ${CMAKE_SOURCE_DIR}/posix-configs/bebop/px4.config
+						 ${PX4_SOURCE_DIR}/posix-configs/bebop/px4.config
 			 DEPENDS px4
 			 DEST /usr/bin)
 
 else()
 
 	add_executable(px4
-		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+		${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
 		apps.h
 		)
 	if (NOT APPLE)
@@ -118,17 +118,43 @@ else()
 	endif()
 endif()
 
+#=============================================================================
+# sitl run targets
+#
+
+set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
+file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
+
 add_custom_target(run_config
-	COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
-	"${config_sitl_viewer}" "${config_sitl_model}" "${CMAKE_BINARY_DIR}"
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	COMMAND Tools/sitl_run.sh
+	"$<TARGET_FILE:px4>"
+	"${config_sitl_rcS}"
+	"${config_sitl_debugger}"
+	"${config_sitl_viewer}"
+	"${config_sitl_model}" 
+	"${PX4_SOURCE_DIR}"
+	"${PX4_BINARY_DIR}"
+	WORKING_DIRECTORY ${SITL_WORKING_DIR}
 	USES_TERMINAL
 	)
 add_dependencies(run_config px4)
 
-foreach(viewer none jmavsim gazebo replay)
-	foreach(debugger none gdb lldb ddd valgrind)
-		foreach(model none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
+# project to build sitl_gazebo if necessary
+ExternalProject_Add(sitl_gazebo
+	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
+	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
+	INSTALL_COMMAND ""
+	)
+set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
+
+# create targets for each viewer/model/debugger combination
+set(viewers none jmavsim gazebo replay)
+set(debuggers none gdb lldb ddd valgrind)
+set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
+foreach(viewer ${viewers})
+	foreach(debugger ${debuggers})
+		foreach(model ${models})
 			if (debugger STREQUAL "none")
 				if (model STREQUAL "none")
 					set(_targ_name "${viewer}")
@@ -143,13 +169,20 @@ foreach(viewer none jmavsim gazebo replay)
 				endif()
 			endif()
 			add_custom_target(${_targ_name}
-				COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
-				"${debugger}"
-				"${viewer}" "${model}" "${CMAKE_BINARY_DIR}"
-				WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+				COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
+				$<TARGET_FILE:px4>
+				${config_sitl_rcS}
+				${debugger}
+				${viewer}
+				${model}
+				${PX4_SOURCE_DIR}
+				${PX4_BINARY_DIR}
+				WORKING_DIRECTORY ${SITL_WORKING_DIR}
 				USES_TERMINAL
 				)
-			add_dependencies(${_targ_name} px4)
+			if (viewer STREQUAL "gazebo")
+				add_dependencies(${_targ_name} sitl_gazebo)
+			endif()
 		endforeach()
 	endforeach()
 endforeach()
@@ -158,8 +191,25 @@ endforeach()
 # install
 #
 
-install(TARGETS px4 DESTINATION bin)
+install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
 
+#=============================================================================
+# tests
+#
+
+add_test(NAME rcS_tests
+	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
+		$<TARGET_FILE:px4>
+		posix-configs/SITL/init/rcS_tests
+		none
+		none
+		none
+		${PX4_SOURCE_DIR}
+		${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${SITL_WORKING_DIR})
+set_tests_properties(rcS_tests PROPERTIES
+	PASS_REGULAR_EXPRESSION "All tests passed")
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/firmware/qurt/CMakeLists.txt

@@ -1,4 +1,4 @@
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(fastrpc)
 include(qurt_lib)
 
@@ -7,7 +7,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
 
 px4_qurt_generate_builtin_commands(
-	OUT ${CMAKE_BINARY_DIR}/apps.h
+	OUT ${PX4_BINARY_DIR}/apps.h
 	MODULE_LIST ${module_libraries})
 
 FASTRPC_STUB_GEN(px4muorb.idl)
@@ -20,8 +20,8 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
                 ${FASTRPC_DSP_INCLUDES}
                 )
 	add_executable(px4
-		${CMAKE_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
-		${CMAKE_BINARY_DIR}/apps.h)
+		${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
+		${PX4_BINARY_DIR}/apps.h)
 
 	target_link_libraries(px4
 		-Wl,--start-group
@@ -40,7 +40,7 @@ else()
 	QURT_LIB(LIB_NAME px4
 		IDL_NAME px4muorb
 		SOURCES
-			${CMAKE_BINARY_DIR}/apps.h
+			${PX4_BINARY_DIR}/apps.h
 		LINK_LIBS
 			${module_libraries}
 			${target_libraries}
@@ -54,7 +54,7 @@ else()
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/libpx4.so
 				 ${CMAKE_CURRENT_BINARY_DIR}/libpx4muorb_skel.so
-				 ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
+				 ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
 			 DEPENDS px4 px4muorb_skel
 			 DEST /usr/share/data/adsp)
 endif()

src/lib/rc/rc_tests/CMakeLists.txt

@@ -40,4 +40,5 @@ px4_add_module(
 	DEPENDS
 		platforms__common
 	)
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/lib/rc/rc_tests/RCTest.cpp

@@ -16,7 +16,7 @@
 #if !defined(CONFIG_ARCH_BOARD_SITL)
 #define TEST_DATA_PATH "/fs/microsd"
 #else
-#define TEST_DATA_PATH "../../../../src/lib/rc/rc_tests/test_data/"
+#define TEST_DATA_PATH "./src/lib/rc/rc_tests/test_data/"
 #endif
 
 extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);
@@ -51,8 +51,8 @@ bool RCTest::dsmTest(void)
 	FILE *fp;
 	fp = fopen(filepath, "rt");
 
+	warnx("loading data from: %s", filepath);
 	ut_test(fp != nullptr);
-	//warnx("loading data from: %s", filepath);
 
 	float f;
 	unsigned x;

src/modules/muorb/krait/CMakeLists.txt

@@ -30,10 +30,10 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)
 
-include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
+include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
 include_directories(${HEXAGON_SDK_INCLUDES})
 
 px4_add_module(

src/modules/param/CMakeLists.txt

@@ -34,8 +34,8 @@
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 px4_generate_parameters_source(OUT param_files
-	XML ${CMAKE_BINARY_DIR}/parameters.xml
-	SCOPE ${CMAKE_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
+	XML ${PX4_BINARY_DIR}/parameters.xml
+	SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
 	DEPS xml_gen
 	)
 

src/modules/px4iofirmware/CMakeLists.txt

@@ -63,7 +63,7 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
 
 include_directories(
 	${include_dirs}
-	${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
+	${PX4_BINARY_DIR}/src/modules/systemlib/mixer
 	.
 	)
 link_directories(${link_dirs})
@@ -117,10 +117,10 @@ add_dependencies(${fw_io_name}
 	mixer_gen
 	)
 
-set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
+set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
 set(main_link_flags
 	"-T${nuttx_export_dir}/build/ld.script"
-	"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
+	"-Wl,-Map=${PX4_BINARY_DIR}/${config_io_board}/main.map"
 	)
 px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
 set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})

src/modules/systemlib/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 # for generated files
-include_directories(${CMAKE_BINARY_DIR}/src/modules/param)
+include_directories(${PX4_BINARY_DIR}/src/modules/param)
 
 set(SRCS
 	perf_counter.c

src/modules/uavcan/uavcan_servers.hpp

@@ -70,7 +70,7 @@
 /**
  * A UAVCAN Server Sub node.
  */
-class UavcanServers
+class __EXPORT UavcanServers
 {
 	static constexpr unsigned NumIfaces = 1;  // UAVCAN_STM32_NUM_IFACES
 

src/platforms/posix/main.cpp

@@ -50,6 +50,7 @@
 #include "px4_middleware.h"
 #include "DriverFramework.hpp"
 #include <termios.h>
+#include <sys/stat.h>
 
 namespace px4
 {
@@ -62,6 +63,12 @@ typedef int (*px4_main_t)(int argc, char *argv[]);
 
 #define CMD_BUFF_SIZE	100
 
+#ifdef PATH_MAX
+const unsigned path_max_len = PATH_MAX;
+#else
+const unsigned path_max_len = 1024;
+#endif
+
 static bool _ExitFlag = false;
 
 static struct termios orig_term;
@@ -85,6 +92,96 @@ extern "C" {
 	}
 }
 
+static inline bool fileExists(const string &name)
+{
+	struct stat buffer;
+	return (stat(name.c_str(), &buffer) == 0);
+}
+
+static inline bool dirExists(const string &path)
+{
+	struct stat info;
+
+	if (stat(path.c_str(), &info) != 0) {
+		return false;
+
+	} else if (info.st_mode & S_IFDIR) {
+		return true;
+
+	} else {
+		return false;
+	}
+}
+
+static inline void touch(const string &name)
+{
+	fstream fs;
+	fs.open(name, ios::out);
+	fs.close();
+}
+
+static int mkpath(const char *path, mode_t mode);
+
+static int do_mkdir(const char *path, mode_t mode)
+{
+	struct stat             st;
+	int             status = 0;
+
+	if (stat(path, &st) != 0) {
+		/* Directory does not exist. EEXIST for race condition */
+		if (mkdir(path, mode) != 0 && errno != EEXIST) {
+			status = -1;
+		}
+
+	} else if (!S_ISDIR(st.st_mode)) {
+		errno = ENOTDIR;
+		status = -1;
+	}
+
+	return (status);
+}
+
+/**
+** mkpath - ensure all directories in path exist
+** Algorithm takes the pessimistic view and works top-down to ensure
+** each directory in path exists, rather than optimistically creating
+** the last element and working backwards.
+*/
+static int mkpath(const char *path, mode_t mode)
+{
+	char           *pp;
+	char           *sp;
+	int             status;
+	char           *copypath = strdup(path);
+
+	status = 0;
+	pp = copypath;
+
+	while (status == 0 && (sp = strchr(pp, '/')) != 0) {
+		if (sp != pp) {
+			/* Neither root nor double slash in path */
+			*sp = '\0';
+			status = do_mkdir(copypath, mode);
+			*sp = '/';
+		}
+
+		pp = sp + 1;
+	}
+
+	if (status == 0) {
+		status = do_mkdir(path, mode);
+	}
+
+	free(copypath);
+	return (status);
+}
+
+static string pwd()
+{
+	char temp[path_max_len];
+	return (getcwd(temp, path_max_len) ? string(temp) : string(""));
+}
+
 static void print_prompt()
 {
 	cout.flush();
@@ -134,12 +231,13 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silen
 static void usage()
 {
 
-	cout << "./px4 [-d] [startup_config] -h" << std::endl;
+	cout << "./px4 [-d] data_directory startup_config [-h]" << endl;
 	cout << "   -d            - Optional flag to run the app in daemon mode and does not listen for user input." <<
-	     std::endl;
-	cout << "                   This is needed if px4 is intended to be run as a upstart job on linux" << std::endl;
-	cout << "<startup_config> - config file for starting/stopping px4 modules" << std::endl;
-	cout << "   -h            - help/usage information" << std::endl;
+	     endl;
+	cout << "                   This is needed if px4 is intended to be run as a upstart job on linux" << endl;
+	cout << "<data_directory> - directory where romfs and posix-configs are located" << endl;
+	cout << "<startup_config> - config file for starting/stopping px4 modules" << endl;
+	cout << "   -h            - help/usage information" << endl;
 }
 
 static void process_line(string &line, bool exit_on_fail)
@@ -202,52 +300,131 @@ int main(int argc, char **argv)
 	set_cpu_scaling();
 
 	int index = 1;
-	char *commands_file = nullptr;
+	string  commands_file = "";
+	int positional_arg_count = 0;
+	string data_path = "";
+	string node_name = "";
 
+	// parse arguments
 	while (index < argc) {
+		//cout << "arg: " << index << " : " << argv[index] << endl;
+
 		if (argv[index][0] == '-') {
 			// the arg starts with -
-			if (strcmp(argv[index], "-d") == 0) {
+			if (strncmp(argv[index], "-d", 2) == 0) {
 				daemon_mode = true;
 
-			} else if (strcmp(argv[index], "-h") == 0) {
+			} else if (strncmp(argv[index], "-h", 2) == 0) {
 				usage();
 				return 0;
 
-			} else if (strcmp(argv[index], "-c") == 0) {
+			} else if (strncmp(argv[index], "-c", 2) == 0) {
 				chroot_on = true;
 
 			} else {
-				PX4_WARN("Unknown/unhandled parameter: %s", argv[index]);
+				PX4_ERR("Unknown/unhandled parameter: %s", argv[index]);
 				return 1;
 			}
 
+		} else if (!strncmp(argv[index], "__", 2)) {
+			//cout << "ros argument" << endl;
+
+			// ros arguments
+			if (!strncmp(argv[index], "__name:=", 8)) {
+				string name_arg = argv[index];
+				node_name = name_arg.substr(8);
+				cout << "node name: " << node_name << endl;
+			}
+
 		} else {
-			// this is an argument that does not have '-' prefix; treat it like a file name
-			ifstream infile(argv[index]);
+			//cout << "positional argument" << endl;
 
-			if (infile.good()) {
-				infile.close();
+			positional_arg_count += 1;
+
+			if (positional_arg_count == 1) {
+				data_path = argv[index];
+				cout << "data path: " << data_path << endl;
+
+			} else if (positional_arg_count == 2) {
 				commands_file = argv[index];
-
-			} else {
-				PX4_WARN("Error opening file: %s", argv[index]);
-				return -1;
+				cout << "commands file: " << commands_file << endl;
 			}
 		}
 
 		++index;
 	}
 
+	if (positional_arg_count != 2) {
+		PX4_ERR("Error expected 2 position arguments, got %d", positional_arg_count);
+		usage();
+		return -1;
+	}
 
+	if (commands_file.size() < 1) {
+		PX4_ERR("Error commands file not specified");
+		return -1;
+	}
+
+	if (!fileExists(commands_file)) {
+		PX4_ERR("Error opening commands file, does not exist: %s", commands_file.c_str());
+		return -1;
+	}
+
+	// create sym-links
+	vector<string> path_sym_links;
+	path_sym_links.push_back("ROMFS");
+	path_sym_links.push_back("posix-configs");
+	path_sym_links.push_back("src");
+
+	for (int i = 0; i < path_sym_links.size(); i++) {
+		string path_sym_link = path_sym_links[i];
+		//cout << "path sym link: " << path_sym_link << endl;
+		string src_path = data_path + "/" + path_sym_link;
+		string dest_path =  pwd() + "/" +  path_sym_link;
+
+		PX4_DEBUG("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
+
+		if (dirExists(path_sym_link)) { continue; }
+
+		// create sym-links
+		int ret = symlink(src_path.c_str(), dest_path.c_str());
+
+		if (ret != 0) {
+			PX4_ERR("Error creating symlink %s -> %s",
+				src_path.c_str(), dest_path.c_str());
+			return ret;
+
+		} else {
+			PX4_DEBUG("Successfully created symlink %s -> %s",
+				  src_path.c_str(), dest_path.c_str());
+		}
+	}
+
+	// setup rootfs
+	const string eeprom_path = "./rootfs/eeprom/";
+	const string microsd_path = "./rootfs/fs/microsd/";
+
+	if (!fileExists(eeprom_path + "parameters")) {
+		cout << "creating new parameters file" << endl;
+		mkpath(eeprom_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
+		touch(eeprom_path + "parameters");
+	}
+
+	if (!fileExists(microsd_path + "dataman")) {
+		cout << "creating new dataman file" << endl;
+		mkpath(microsd_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
+		touch(microsd_path + "dataman");
+	}
+
+	// initialize
 	DriverFramework::Framework::initialize();
 	px4::init_once();
 
 	px4::init(argc, argv, "px4");
 
 	// if commandfile is present, process the commands from the file
-	if (commands_file != nullptr) {
-		ifstream infile(commands_file);
+	if (commands_file.size() != 0) {
+		ifstream infile(commands_file.c_str());
 
 		if (infile.is_open()) {
 			for (string line; getline(infile, line, '\n');) {
@@ -261,7 +438,7 @@ int main(int argc, char **argv)
 			}
 
 		} else {
-			PX4_WARN("Error opening file: %s", commands_file);
+			PX4_ERR("Error opening commands file: %s", commands_file.c_str());
 		}
 	}
 
@@ -270,12 +447,6 @@ int main(int argc, char **argv)
 		// this is not an attempt to secure the environment,
 		// rather, to replicate a deployed file system.
 
-#ifdef PATH_MAX
-		const unsigned path_max_len = PATH_MAX;
-#else
-		const unsigned path_max_len = 1024;
-#endif
-
 		char pwd_path[path_max_len];
 		const char *folderpath = "/rootfs/";
 
@@ -419,3 +590,5 @@ int main(int argc, char **argv)
 
 	return OK;
 }
+
+/* vim: set noet fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/platforms/posix/px4_layer/CMakeLists.txt

@@ -32,10 +32,10 @@
 ############################################################################
 
 if("${CONFIG_SHMEM}" STREQUAL "1")
-	set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+	set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 	include(hexagon_sdk)
 
-	include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
+	include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
 	include_directories(${HEXAGON_SDK_INCLUDES})
 	list(APPEND SHMEM_SRCS
 		shmem_posix.c

src/platforms/qurt/px4_layer/CMakeLists.txt

@@ -30,7 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)
 
 include_directories(${HEXAGON_8074_INCLUDES})

src/systemcmds/tests/test_mixer.cpp

@@ -90,7 +90,7 @@ int test_mixer(int argc, char *argv[])
 #if !defined(CONFIG_ARCH_BOARD_SITL)
 	const char *filename = "/etc/mixers/IO_pass.mix";
 #else
-	const char *filename = "../../../../ROMFS/px4fmu_test/mixers/IO_pass.mix";
+	const char *filename = "ROMFS/px4fmu_test/mixers/IO_pass.mix";
 #endif
 
 	//PX4_INFO("loading: %s", filename);
@@ -400,7 +400,7 @@ int test_mixer(int argc, char *argv[])
 #if !defined(CONFIG_ARCH_BOARD_SITL)
 	filename = "/etc/mixers/quad_test.mix";
 #else
-	filename = "../../../../ROMFS/px4fmu_test/mixers/quad_test.mix";
+	filename = "ROMFS/px4fmu_test/mixers/quad_test.mix";
 #endif
 
 	load_mixer_file(filename, &buf[0], sizeof(buf));

src/systemcmds/topic_listener/CMakeLists.txt

@@ -32,14 +32,14 @@
 ############################################################################
 
 add_custom_command(OUTPUT topic_listener.cpp
-                COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
+                COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
                 DEPENDS msg_gen
                 )
 
 add_custom_target(generate_topic_listener
 	DEPENDS
 		topic_listener.cpp
-		${CMAKE_SOURCE_DIR}/Tools/generate_listener.py)
+		${PX4_SOURCE_DIR}/Tools/generate_listener.py)
 
 px4_add_module(
 	MODULE systemcmds__topic_listener