mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
f387fe7e65
launch script for jmavsim failed to start if there were any spaces in paths, string handling in paths was improved and tested.
165 lines
3.6 KiB
Bash
Executable File
165 lines
3.6 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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# 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 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" != none ]; 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" ]
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then
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kill $jmavsim_pid
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fi
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fi
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if [ "$model" == "" ] || [ "$model" == "none" ]
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then
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echo "empty model, setting iris as default"
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model="iris"
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fi
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if [ "$#" -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_$model || true
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cp "$src_path/Tools/posix_lldbinit" "$rootfs/.lldbinit"
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cp "$src_path/Tools/posix.gdbinit" "$rootfs/.gdbinit"
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shift 6
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for file in "$@"; 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 "$no_sim" ]
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then
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# Start Java simulator
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"$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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