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merge px4_sitl_ign into px4_sitl_default (#20188)

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- for convenience merge px4_sitl_ign into px4_sitl_default, but allow simulator_ignition_bridge to quietly skip inclusion if ignition-transport isn't available
 - simulator_ignition_bridge only try setting the system clock in
lockstep builds
 - this simplifies usage and CI system dependencies
This commit is contained in:
Daniel Agar
2022-09-10 16:18:02 -04:00
committed by GitHub
parent 34d8bd7988
commit b8fb5dfa51
11 changed files with 162 additions and 230 deletions
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src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt
+56 -51
View File
@@ -31,71 +31,76 @@
#
############################################################################
add_compile_options(-frtti -fexceptions)
# Find the Ignition_Transport library
find_package(ignition-transport
REQUIRED COMPONENTS core
#REQUIRED COMPONENTS core
NAMES
ignition-transport8
ignition-transport10
ignition-transport11
#QUIET
)
set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
px4_add_module(
MODULE modules__simulation__ignition_bridge
MAIN simulator_ignition_bridge
COMPILE_FLAGS
${MAX_CUSTOM_OPT_LEVEL}
SRCS
SimulatorIgnitionBridge.cpp
SimulatorIgnitionBridge.hpp
DEPENDS
mixer_module
px4_work_queue
ignition-transport${IGN_TRANSPORT_VER}::core
MODULE_CONFIG
module.yaml
)
if(ignition-transport_FOUND)
file(GLOB ign_models
LIST_DIRECTORIES true
RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models
CONFIGURE_DEPENDS
${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/*
)
add_compile_options(-frtti -fexceptions)
file(GLOB ign_worlds
CONFIGURE_DEPENDS
${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
)
set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
foreach(model ${ign_models})
foreach(world ${ign_worlds})
px4_add_module(
MODULE modules__simulation__ignition_bridge
MAIN simulator_ignition_bridge
COMPILE_FLAGS
${MAX_CUSTOM_OPT_LEVEL}
SRCS
SimulatorIgnitionBridge.cpp
SimulatorIgnitionBridge.hpp
DEPENDS
mixer_module
px4_work_queue
ignition-transport${IGN_TRANSPORT_VER}::core
MODULE_CONFIG
module.yaml
)
get_filename_component("world_name" ${world} NAME_WE)
file(GLOB ign_models
LIST_DIRECTORIES true
RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models
CONFIGURE_DEPENDS
${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/*
)
if(world_name MATCHES "default")
add_custom_target(ign_${model}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4
)
else()
add_custom_target(ign_${model}_${world_name}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4
)
endif()
file(GLOB ign_worlds
CONFIGURE_DEPENDS
${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
)
foreach(model ${ign_models})
foreach(world ${ign_worlds})
get_filename_component("world_name" ${world} NAME_WE)
if(world_name MATCHES "default")
add_custom_target(ign_${model}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4
)
else()
add_custom_target(ign_${model}_${world_name}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4
)
endif()
endforeach()
endforeach()
endforeach()
# TODO: PX4_IGN_MODELS_PATH
# PX4_IGN_WORLDS_PATH
configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)
# TODO: PX4_IGN_MODELS_PATH
# PX4_IGN_WORLDS_PATH
configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)
endif()
src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
+3
View File
@@ -237,6 +237,7 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t tv_nsec)
{
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
struct timespec ts;
ts.tv_sec = tv_sec;
ts.tv_nsec = tv_nsec;
@@ -246,6 +247,8 @@ bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t
return true;
}
#endif // ENABLE_LOCKSTEP_SCHEDULER
return false;
}