mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
4f2918ee3b
- Add boards/px4/sitl/sih.px4board disabling Gazebo bridge/msgs/plugins - Update sitl_multiple_run.sh to accept model and build target arguments - Add openjdk@17 to macOS setup script for jMAVSim display-only mode Signed-off-by: Ramon Roche <mrpollo@gmail.com>
39 lines
1.1 KiB
Bash
Executable File
39 lines
1.1 KiB
Bash
Executable File
#!/bin/bash
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# Run multiple instances of the 'px4' binary, without starting an external simulator.
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# It assumes px4 is already built with the specified build target.
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#
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# Usage: ./Tools/simulation/sitl_multiple_run.sh [num_instances] [model] [build_target]
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# Examples:
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# ./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih
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# ./Tools/simulation/sitl_multiple_run.sh 2 gazebo-classic_iris px4_sitl_default
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# ./Tools/simulation/sitl_multiple_run.sh # defaults: 2 instances, gazebo-classic_iris, px4_sitl_default
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sitl_num=${1:-2}
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sim_model=${2:-gazebo-classic_iris}
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build_target=${3:-px4_sitl_default}
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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src_path="$SCRIPT_DIR/../../"
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build_path=${src_path}/build/${build_target}
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echo "killing running instances"
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pkill -x px4 || true
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sleep 1
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export PX4_SIM_MODEL=${sim_model}
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n=0
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while [ $n -lt $sitl_num ]; do
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working_dir="$build_path/instance_$n"
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[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
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pushd "$working_dir" &>/dev/null
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echo "starting instance $n in $(pwd)"
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$build_path/bin/px4 -i $n -d "$build_path/etc" >out.log 2>err.log &
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popd &>/dev/null
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n=$(($n + 1))
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done
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