mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
c5486ca47e
This commit removes the readarray command from the Tools/sitl_run.sh. This fixes the issue where SITL was not able to run due to readarray not being available on macOS
249 lines
6.9 KiB
Bash
Executable File
249 lines
6.9 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -e
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if [ "$#" -lt 7 ]; then
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echo usage: sitl_run.sh sitl_bin debugger program model world src_path build_path
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exit 1
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fi
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if [[ -n "$DONT_RUN" ]]; then
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echo "Not running simulation (DONT_RUN is set)."
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exit 0
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fi
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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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world="$5"
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src_path="$6"
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build_path="$7"
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# The rest of the arguments are files to copy into the working dir.
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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 world: $world
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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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# To disable user input
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if [[ -n "$VERBOSE_SIM" ]]; then
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verbose="--verbose"
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else
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verbose=""
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fi
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if [ "$program" == "jmavsim" ]; then
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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" ]; then
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kill $jmavsim_pid
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fi
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fi
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if [ "$model" == "" ] || [ "$model" == "none" ]; then
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if [ "$program" == "jsbsim" ]; then
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echo "empty model, setting rascal as default for jsbsim"
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model="rascal"
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else
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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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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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# Do NOT kill PX4 if debug in ide
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if [ "$debugger" != "ide" ]; then
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pkill -x px4 || true
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pkill -x px4_$model || true
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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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shift 7
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for file in "$@"; do
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cp "$file" $rootfs/
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done
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SIM_PID=0
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if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
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# Start Java simulator
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"$src_path"/Tools/jmavsim_run.sh -r 250 -l &
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SIM_PID=$!
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elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
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if [ -x "$(command -v gazebo)" ]; then
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# Get the model name
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model_name="${model}"
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# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
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if [ -f "${src_path}/Tools/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
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model_name="${model}-gen"
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fi
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# Set the plugin path so Gazebo finds our model and sim
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source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
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if [ -z $PX4_SITL_WORLD ]; then
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#Spawn predefined world
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if [ "$world" == "none" ]; then
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if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
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echo "empty world, default world ${model}.world for model found"
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
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else
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echo "empty world, setting empty.world as default"
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world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
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fi
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else
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#Spawn empty world if world with model name doesn't exist
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
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fi
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else
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if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
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# Spawn world by name if exists in the worlds directory from environment variable
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
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else
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# Spawn world from environment variable with absolute path
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world_path="$PX4_SITL_WORLD"
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fi
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fi
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gzserver $verbose $world_path &
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SIM_PID=$!
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# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
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IFS_bak=$IFS
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IFS=":"
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for possible_model_path in ${GAZEBO_MODEL_PATH}; do
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if [ -z $possible_model_path ]; then
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continue
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fi
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# trim \r from path
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possible_model_path=$(echo $possible_model_path | tr -d '\r')
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if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
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modelpath=$possible_model_path
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break
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fi
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done
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IFS=$IFS_bak
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if [ -z $modelpath ]; then
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echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
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exit 1
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else
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echo "Using: ${modelpath}/${model}/${model}.sdf"
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fi
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while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
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echo "gzserver not ready yet, trying again!"
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sleep 1
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done
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if [[ -n "$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=$!
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fi
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else
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echo "You need to have gazebo simulator installed!"
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exit 1
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fi
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elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
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echo "FG setup"
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cd "${src_path}/Tools/flightgear_bridge/"
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"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0
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"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
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FG_BRIDGE_PID=$!
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elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
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source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
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if [[ -n "$HEADLESS" ]]; then
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echo "not running flightgear gui"
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else
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fgfs --fdm=null \
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--native-fdm=socket,in,60,,5550,udp \
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--aircraft=$JSBSIM_AIRCRAFT_MODEL \
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--airport=${world} \
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--disable-hud \
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--disable-ai-models &> /dev/null &
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FGFS_PID=$!
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fi
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"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
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JSBSIM_PID=$!
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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\" $no_pxh \"$build_path\"/etc -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 [ "$debugger" == "lldb" ]; then
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eval lldb -- $sitl_command
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elif [ "$debugger" == "gdb" ]; then
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eval gdb --args $sitl_command
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elif [ "$debugger" == "ddd" ]; then
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eval ddd --debugger gdb --args $sitl_command
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elif [ "$debugger" == "valgrind" ]; then
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eval valgrind --track-origins=yes --leak-check=full -v $sitl_command
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elif [ "$debugger" == "callgrind" ]; then
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eval valgrind --tool=callgrind -v $sitl_command
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elif [ "$debugger" == "ide" ]; 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 $sitl_command
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fi
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popd >/dev/null
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if [ "$program" == "jmavsim" ]; 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" ]; then
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kill -9 $SIM_PID
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if [[ ! -n "$HEADLESS" ]]; then
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kill -9 $GUI_PID
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fi
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elif [ "$program" == "flightgear" ]; then
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kill $FG_BRIDGE_PID
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kill -9 `cat /tmp/px4fgfspid_0`
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elif [ "$program" == "jsbsim" ]; then
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kill $JSBSIM_PID
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kill $FGFS_PID
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fi
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