mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-28 18:54:06 +08:00
a9070ce6e6
It seems that the oneline to find the process ID of any running jMAVSim instance was not working correctly. 1. On Linux, the name of the process does not contain Simulator but jmavsim_run.jar. Also, it triggers incorrectly, if you have opened Simulator.java using the command line :). 2. The cutting to get the PID at the end does not work as intenteded and gives the username instead of PID, at least on Arch Linux. Using awk should fix this.
157 lines
3.4 KiB
Bash
Executable File
157 lines
3.4 KiB
Bash
Executable File
#!/bin/bash
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set -e
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sitl_bin="$1"
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debugger="$2"
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program="$3"
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model="$4"
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src_path="$5"
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build_path="$6"
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echo SITL ARGS
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echo sitl_bin: $sitl_bin
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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: $build_path
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rootfs="$build_path/tmp/rootfs" # this is the working directory
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mkdir -p "$rootfs"
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# To disable user input
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if [[ -n "$NO_PXH" ]]; then
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no_pxh=-d
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else
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no_pxh=""
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fi
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if [ "$model" == "" ] || [ "$model" == "none" ]
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then
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echo "empty model, setting iris as default"
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model="iris"
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fi
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if [ "$#" -lt 6 ]
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then
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echo usage: sitl_run.sh sitl_bin debugger program model src_path build_path
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echo ""
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exit 1
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fi
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# kill process names that might stil
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# be running from last time
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pkill -x gazebo || true
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pkill -x px4 || true
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pkill -x px4_$model || true
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jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
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if [ -n "$jmavsim_pid" ]
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then
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kill $jmavsim_pid
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fi
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cp $src_path/Tools/posix_lldbinit $rootfs/.lldbinit
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cp $src_path/Tools/posix.gdbinit $rootfs/.gdbinit
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SIM_PID=0
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if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
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then
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# Start Java simulator
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$src_path/Tools/jmavsim_run.sh -r 500 &
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SIM_PID=`echo $!`
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elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
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then
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if [ -x "$(command -v gazebo)" ]
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then
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if [[ -z "$DONT_RUN" ]]
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then
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# Set the plugin path so Gazebo finds our model and sim
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source $src_path/Tools/setup_gazebo.bash ${src_path} ${build_path}
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gzserver --verbose ${src_path}/Tools/sitl_gazebo/worlds/${model}.world &
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SIM_PID=`echo $!`
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if [[ -n "$HEADLESS" ]]; then
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echo "not running gazebo gui"
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else
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# gzserver needs to be running to avoid a race. Since the launch
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# is putting it into the background we need to avoid it by backing off
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sleep 3
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nice -n 20 gzclient --verbose &
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GUI_PID=`echo $!`
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fi
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fi
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else
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echo "You need to have gazebo simulator installed!"
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exit 1
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fi
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fi
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pushd "$rootfs" >/dev/null
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# Do not exit on failure now from here on because we want the complete cleanup
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set +e
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if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
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sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_test -s ${src_path}/posix-configs/SITL/init/test/${model} -t $src_path/test_data"
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else
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sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
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fi
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echo SITL COMMAND: $sitl_command
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export PX4_SIM_MODEL=${model}
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if [[ -n "$DONT_RUN" ]]
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then
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echo "Not running simulation (\$DONT_RUN is set)."
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elif [ "$debugger" == "lldb" ]
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then
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lldb -- $sitl_command
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elif [ "$debugger" == "gdb" ]
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then
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gdb --args $sitl_command
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elif [ "$debugger" == "ddd" ]
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then
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ddd --debugger gdb --args $sitl_command
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elif [ "$debugger" == "valgrind" ]
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then
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valgrind --track-origins=yes --leak-check=full -v $sitl_command
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elif [ "$debugger" == "callgrind" ]
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then
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valgrind --tool=callgrind -v $sitl_command
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elif [ "$debugger" == "ide" ]
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then
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echo "######################################################################"
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echo
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echo "PX4 simulator not started, use your IDE to start PX4_${model} target."
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echo "Hit enter to quit..."
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echo
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echo "######################################################################"
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read
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else
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eval $sitl_command
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fi
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popd >/dev/null
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if [[ -z "$DONT_RUN" ]]
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then
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if [ "$program" == "jmavsim" ]
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then
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pkill -9 -P $SIM_PID
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kill -9 $SIM_PID
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elif [ "$program" == "gazebo" ]
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then
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kill -9 $SIM_PID
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if [[ ! -n "$HEADLESS" ]]; then
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kill -9 $GUI_PID
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fi
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fi
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fi
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