fly316/PX4-Autopilot
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This commit is contained in:
Daniel Agar
2022-08-10 20:43:14 -04:00
parent 91064202f6
commit 70697cd41c
48 changed files with 17769 additions and 11297 deletions
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platforms/posix/Debug/launch_replay.json.in
+1 -4
View File
@@ -8,10 +8,7 @@
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
"-s", "etc/init.d-posix/rcS"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
platforms/posix/Debug/launch_sim.json.in
+4 -60
View File
@@ -7,9 +7,7 @@
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS",
"-t", "${workspaceFolder}/test_data"
"${workspaceFolder}/ROMFS/px4fmu_common"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
@@ -48,52 +46,7 @@
]
}
},
{
"name": "SITL (jmavsim iris)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS",
"-t", "${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "iris"
}
],
"preLaunchTask": "jmavsim",
"postDebugTask": "jmavsim kill",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
"ignoreFailures": true
}
]
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
}
},
{
"name": "SITL (shell)",
"type": "cppdbg",
@@ -145,18 +98,9 @@
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"options": [
"iris",
"typhoon_h480",
"plane",
"plane_catapult",
"plane_lidar",
"standard_vtol",
"tailsitter",
"tiltrotor",
"r1_rover",
"boat"
"x4",
],
"default": "iris"
"default": "x4"
}
]
}
platforms/posix/cmake/sitl_target.cmake
+11 -18
View File
@@ -53,7 +53,7 @@ if(parallel_jobs LESS 1)
endif()
message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
Limiting sitl_gazebo and simulation-ignition concurrent jobs to ${parallel_jobs}")
Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
# project to build sitl_gazebo if necessary
px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
@@ -73,20 +73,6 @@ ExternalProject_Add(sitl_gazebo
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
)
px4_add_git_submodule(TARGET git_ign_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation-ignition")
ExternalProject_Add(simulation-ignition
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation-ignition
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_ign_gazebo
INSTALL_COMMAND ""
DEPENDS git_ign_gazebo
USES_TERMINAL_CONFIGURE true
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
)
ExternalProject_Add(mavsdk_tests
SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
@@ -129,7 +115,6 @@ set(viewers
none
jmavsim
gazebo
ignition
)
set(debuggers
@@ -222,8 +207,6 @@ foreach(viewer ${viewers})
add_dependencies(${_targ_name} px4 sitl_gazebo)
elseif(viewer STREQUAL "jmavsim")
add_dependencies(${_targ_name} px4 git_jmavsim)
elseif(viewer STREQUAL "ignition")
add_dependencies(${_targ_name} px4 simulation-ignition)
endif()
else()
if(viewer STREQUAL "gazebo")
@@ -413,6 +396,16 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
endforeach()
endif()
# Ignition Gazebo
add_custom_target(ignition_x4
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x4 none ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS logs_symlink
)
string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
add_custom_target(list_vmd_make_targets
platforms/posix/cmake/sitl_tests.cmake
-6
View File
@@ -34,7 +34,6 @@ foreach(test_name ${tests})
add_test(NAME ${test_name_prefix}
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
@@ -62,7 +61,6 @@ foreach(test_name ${cmd_tests})
add_test(NAME ${test_name_prefix}
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
@@ -79,7 +77,6 @@ endforeach()
add_test(NAME sitl-mavlink
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_mavlink
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
@@ -93,7 +90,6 @@ sanitizer_fail_test_on_error(sitl-mavlink)
add_test(NAME sitl-imu_filtering
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_imu_filtering
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
@@ -108,7 +104,6 @@ sanitizer_fail_test_on_error(sitl-imu_filtering)
# add_test(NAME sitl-shutdown
# COMMAND $<TARGET_FILE:px4>
# -s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
# -t ${PX4_SOURCE_DIR}/test_data
# ${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
# WORKING_DIRECTORY ${SITL_WORKING_DIR}
# )
@@ -149,7 +144,6 @@ foreach(cmd_name ${test_cmds})
COMMAND $<TARGET_FILE:px4>
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated
-t ${PX4_SOURCE_DIR}/test_data
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
platforms/posix/src/px4/common/main.cpp
+4 -21
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2015-2018 PX4 Development Team. All rights reserved.
* Copyright (C) 2015-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -197,8 +197,7 @@ int main(int argc, char **argv)
/* 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 commands_file = "etc/init.d-posix/rcS";
std::string working_directory{};
int instance = 0;
@@ -206,7 +205,7 @@ int main(int argc, char **argv)
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "hdt:s:i:w:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "hds:i:w:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'h':
print_usage();
@@ -216,10 +215,6 @@ int main(int argc, char **argv)
pxh_off = true;
break;
case 't':
test_data_path = myoptarg;
break;
case 's':
commands_file = myoptarg;
break;
@@ -270,18 +265,6 @@ int main(int argc, char **argv)
return ret;
}
if (test_data_path != "") {
const std::string required_test_data_path = "./test_data";
if (!dir_exists(required_test_data_path)) {
ret = symlink(test_data_path.c_str(), required_test_data_path.c_str());
if (ret != PX4_OK) {
return ret;
}
}
}
if (!file_exists(commands_file)) {
PX4_ERR("Error opening startup file, does not exist: %s", commands_file.c_str());
return -1;
@@ -550,7 +533,7 @@ void print_usage()
{
printf("Usage for Server/daemon process: \n");
printf("\n");
printf(" px4 [-h|-d] [-s <startup_file>] [-t <test_data_directory>] [<rootfs_directory>] [-i <instance>] [-w <working_directory>]\n");
printf(" px4 [-h|-d] [-s <startup_file>] [<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(" <rootfs_directory> directory where startup files and mixers are located,\n");