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Anton Matosov
6d3116e30b
Steps to debug: * Run gazebo (or any other sim) server and client viewers via the terminal: `make posix_sitl_default gazebo_none_ide` * In your IDE select `px4_<mode>` target you want to debug (e.g. `px4_iris`) * Start debug session directly from IDE This approach significantly reduces the debug cycle time because simulator (e.g. gazebo) is always running in background and you only re-run px4 process which is very light.
53 lines
2.3 KiB
Plaintext
53 lines
2.3 KiB
Plaintext
/****************************************************************************
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*
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* Copyright (C) 2015 Anton Matosov. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file sitl_runner_main.cpp
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* Basic shell to execute px4 with specific model
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*
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* @author Anton Matosov <anton.matosov@gmail.com>
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*/
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#include <unistd.h>
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#define __PX4_SITL_MAIN_OVERRIDE
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#include "@SITL_RUNNER_MAIN_CPP@"
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int main(int argc, const char **argv)
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{
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if (chdir("@SITL_RUNNER_WORKING_DIRECTORY@") != 0) {
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PX4_ERR("Failed to change current directory to @SITL_RUNNER_WORKING_DIRECTORY@. error %i", errno);
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return errno;
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}
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const char *argsOverride[] = {argv[0], "@SITL_RUNNER_SOURCE_DIR@", "@SITL_RUNNER_MODEL_FILE@"};
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return SITL_MAIN(sizeof(argsOverride) / sizeof(argsOverride[0]), (char**)argsOverride);
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} |