From 9eb1e286c01b525484c11847a80944570ea9a922 Mon Sep 17 00:00:00 2001
From: Jaeyoung-Lim <jalim@ethz.ch>
Date: Fri, 12 Feb 2021 01:16:20 +0100
Subject: [PATCH] Add helper script for running HITL

Fix
---
 Tools/hitl_run.sh | 155 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 155 insertions(+)
 create mode 100755 Tools/hitl_run.sh

diff --git a/Tools/hitl_run.sh b/Tools/hitl_run.sh
new file mode 100755
index 0000000000..e624a15908
--- /dev/null
+++ b/Tools/hitl_run.sh
@@ -0,0 +1,155 @@
+#!/usr/bin/env bash
+
+set -e
+
+if [ "$1" == "-h" ] || [ "$1" == "--help" ]
+then
+	echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-w <world>] [-s <script>]"
+	echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
+	exit 1
+fi
+
+while getopts n:m:w:s:t: option
+do
+	case "${option}"
+	in
+		b) BAUDRATE=${OPTARG};;
+		d) DEVICE=${OPTARG};;
+		s) SIMULATOR=${OPTARG};;
+		t) VEHICLE_MODEL=${OPTARG};;
+		t) WORLD=${OPTARG};;
+	esac
+done
+
+device={DEVICE:="/dev/ttyACM0"}
+baudrate={BAUDRATE:=921600}
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+src_path="$SCRIPT_DIR/.."
+build_path="$SCRIPT_DIR/build/px4_sitl_default"
+
+# To disable user input
+if [[ -n "$VERBOSE_SIM" ]]; then
+	verbose="--verbose"
+else
+	verbose=""
+fi
+
+program=${SIMULATOR:=gazebo}
+if [ "$program" == "jmavsim" ]; then
+	jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
+	if [ -n "$jmavsim_pid" ]; then
+		kill $jmavsim_pid
+	fi
+fi
+
+if [ "$model" == "" ] || [ "$model" == "none" ]; then
+	if [ "$program" == "jsbsim" ]; then
+		echo "empty model, setting rascal as default for jsbsim"
+		model="rascal"
+	else
+		echo "empty model, setting iris as default"
+		model="iris"
+	fi
+fi
+
+export PX4_SIM_MODEL=${model}
+world=${WORLD:=empty}
+
+# kill process names that might stil
+# be running from last time
+pkill -x gazebo || true
+
+SIM_PID=0
+
+if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
+	# Start Java simulator
+	"$src_path"/Tools/jmavsim_run.sh -r 250 -l &
+	SIM_PID=$!
+elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
+	if [ -x "$(command -v gazebo)" ]; then
+		# Set the plugin path so Gazebo finds our model and sim
+		source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
+		if [ -z $PX4_SITL_WORLD ]; then
+			#Spawn predefined world
+			if [ "$world" == "none" ]; then
+				if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
+					echo "empty world, default world ${model}.world for model found"
+					world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
+				else
+					echo "empty world, setting empty.world as default"
+					world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
+				fi
+			else
+				#Spawn empty world if world with model name doesn't exist
+				world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
+			fi
+		else
+			if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+				# Spawn world by name if exists in the worlds directory from environment variable
+				world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+			else
+				# Spawn world from environment variable with absolute path
+				world_path="$PX4_SITL_WORLD"
+			fi
+		fi
+		gzserver $verbose $world_path &
+		SIM_PID=$!
+
+		python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${model}/${model}.sdf.jinja ${src_path}/Tools/sitl_gazebo --serial_enabled 1 --serial_device ${device} --serial_baudrate ${baudrate} --hil_mode 1 --output-file /tmp/${model}.sdf
+
+		while gz model --verbose --spawn-file="/tmp/${model}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
+			echo "gzserver not ready yet, trying again!"
+			sleep 1
+		done
+
+		if [[ -n "$HEADLESS" ]]; then
+			echo "not running gazebo gui"
+		else
+			# gzserver needs to be running to avoid a race. Since the launch
+			# is putting it into the background we need to avoid it by backing off
+			sleep 3
+			echo "shiiit"
+			nice -n 20 gzclient --verbose --gui-client-plugin libgazebo_user_camera_plugin.so &
+			GUI_PID=$!
+		fi
+	else
+		echo "You need to have gazebo simulator installed!"
+		exit 1
+	fi
+elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
+	source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
+	if [[ -n "$HEADLESS" ]]; then
+		echo "not running flightgear gui"
+	else
+		fgfs --fdm=null \
+			--native-fdm=socket,in,60,,5550,udp \
+			--aircraft=$JSBSIM_AIRCRAFT_MODEL \
+			--airport=${world} \
+			--disable-hud \
+			--disable-ai-models &> /dev/null &
+		FGFS_PID=$!
+	fi
+	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -d ${device} -b ${baudrate} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
+	JSBSIM_PID=$!
+fi
+
+pushd "$rootfs" >/dev/null
+
+# Do not exit on failure now from here on because we want the complete cleanup
+set +e
+
+popd >/dev/null
+
+if [ "$program" == "jmavsim" ]; then
+	pkill -9 -P $SIM_PID
+	kill -9 $SIM_PID
+elif [ "$program" == "gazebo" ]; then
+	kill -9 $SIM_PID
+	if [[ ! -n "$HEADLESS" ]]; then
+		kill -9 $GUI_PID
+	fi
+elif [ "$program" == "jsbsim" ]; then
+	kill $JSBSIM_PID
+	kill $FGFS_PID
+fi