PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

#!/bin/sh
# shellcheck disable=SC2154

# Simulator IMU data provided at 250 Hz
param set-default IMU_INTEG_RATE 250

if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then

	if simulator_sih start; then

		sensor_baro_sim start
		sensor_gps_sim start
		sensor_mag_sim start

	else
		echo "ERROR  [init] simulator_sih failed to start"
		exit 1
	fi

elif [ "$PX4_SIMULATOR" = "gz" ]; then

	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
	if [ -f gazebo_env.sh ]; then
		. ./gazebo_env.sh
	elif [ -f ../gazebo_env.sh ]; then
		. ../gazebo_env.sh
	fi

# shellcheck disable=SC2236
	if [ ! -z $PX4_GZ_VERBOSE ]; then
		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
			gz_verbose=$PX4_GZ_VERBOSE
		else
			gz_verbose=4
			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
		fi
		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
	else
		gz_verbose=1
		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
	fi

	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
	
	gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
	gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
	gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')

	if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
		echo "INFO  [init] using latest version of MultiCopterMotor plugin."
	else
		echo "WARN  [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
		if [ "$PX4_SIM_MODEL" = "x500" ]; then
			PX4_SIM_MODEL="x500-Legacy"
			echo "WARN  [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
		fi
	fi

	if [ -z $gz_world ]; then

		# starting ign gazebo with ${PX4_GZ_WORLD} world
		echo "INFO  [init] starting ign gazebo"
# shellcheck disable=SC2153
		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &

		if [ -z $HEADLESS ]; then
			# HEADLESS not set, starting ign gazebo gui
			ign gazebo -g &
		fi
	else
		echo "INFO  [init] ign gazebo already running world: $gz_world"
		PX4_GZ_WORLD=$gz_world
	fi

# shellcheck disable=SC2236
	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then

# shellcheck disable=SC2236
		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
			# Clean potential input line formatting.
			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
		else
			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
			model_pose="0,0,0,0,0,0"
		fi
		# start gz bridge with pose arg.
		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
			sensor_baro_sim start
			sensor_gps_sim start
			sensor_mag_sim start
		else
			echo "ERROR  [init] ign gazebo failed to start"
			exit 1
		fi
	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
			sensor_baro_sim start
			sensor_gps_sim start
			sensor_mag_sim start
		else
			echo "ERROR  [init] ign gazebo failed to start"
			exit 1
		fi
	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
			sensor_baro_sim start
			sensor_gps_sim start
			sensor_mag_sim start
		else
			echo "ERROR  [init] ign gazebo failed to start"
			exit 1
		fi

	else
		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
		exit 1
	fi

else
	# otherwise start simulator (mavlink) module
	simulator_tcp_port=$((4560+px4_instance))

	# Check if PX4_SIM_HOSTNAME environment variable is empty
	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
	# If both are empty use localhost for simulator
	if [ -z "${PX4_SIM_HOSTNAME}" ]; then

		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
			echo "PX4 SIM HOST: localhost"
			simulator_mavlink start -c $simulator_tcp_port
		else
			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
		fi

	else
		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
	fi

fi