bizhang_-obav/Tools/sitl_run.sh

#!/bin/bash

set -e

echo args: $@

sitl_bin=$1
rc_script=$2
debugger=$3
program=$4
model=$5
src_path=$6
build_path=$7

echo SITL ARGS

echo sitl_bin: $sitl_bin
echo rc_script: $rc_script
echo debugger: $debugger
echo program: $program
echo model: $model
echo src_path: $src_path
echo build_path: $build_path

working_dir=`pwd`
sitl_bin=$build_path/src/firmware/posix/px4

if [ "$chroot" == "1" ]
then
	chroot_enabled=-c
	sudo_enabled=sudo
else
	chroot_enabled=""
	sudo_enabled=""
fi

if [ "$model" == "" ] || [ "$model" == "none" ]
then
	echo "empty model, setting iris as default"
	model="iris"
fi

if [ "$#" -lt 5 ]
then
	echo usage: sitl_run.sh rc_script debugger program model devel_path
	echo ""
	exit 1
fi

command_exists () {
    type "$1" &> /dev/null ;
}

# kill process names that might stil
# be running from last time
pgrep gazebo && pkill gazebo
pgrep px4 && pkill px4
if command_exists jps
then
	jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
	if [ -n "$jmavsim_pid" ]
	then
		kill $jmavsim_pid
	fi
fi

cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit

SIM_PID=0

if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
then
	cd $src_path/Tools/jMAVSim
	ant create_run_jar copy_res
	cd out/production
	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
	SIM_PID=`echo $!`
	cd ../..
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
then
	if [ -x "$(command -v gazebo)" ]
	then
		# Set the plugin path so Gazebo finds our model and sim
		source /usr/share/gazebo/setup.sh
		source $src_path/integrationtests/setup_gazebo_ros.bash ${src_path} ${build_path}
		gzserver --verbose worlds/${model}.world &
		SIM_PID=`echo $!`

		if [[ -n "$HEADLESS" ]]; then
			echo "not running gazebo gui"
		else
			gzclient --verbose &
			GUI_PID=`echo $!`
		fi
	else
		echo "You need to have gazebo simulator installed!"
		exit 1
	fi
elif [ "$program" == "replay" ] && [ ! -n "$no_sim" ]
then
	echo "Replaying logfile: $logfile"
	# This is not a simulator, but a log file to replay

	# Check if we need to creat a param file to allow user to change parameters
	if ! [ -f "$rootfs/replay_params.txt" ]
		then
		touch $rootfs/replay_params.txt
	fi
fi

cd $working_dir

if [ "$logfile" != "" ]
then
	cp $logfile $rootfs/replay.px4log
fi

# Do not exit on failure now from here on because we want the complete cleanup
set +e

# Start Java simulator
if [ "$debugger" == "lldb" ]
then
	lldb -- $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
elif [ "$debugger" == "gdb" ]
then
	gdb --args $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
elif [ "$debugger" == "ddd" ]
then
	ddd --debugger gdb --args px4 $src_path $src_path/${rc_script}_${program}_${model}
elif [ "$debugger" == "valgrind" ]
then
	valgrind $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
else
	$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${rc_script}_${program}_${model}
fi

if [ "$program" == "jmavsim" ]
then
	kill -9 $SIM_PID
elif [ "$program" == "gazebo" ]
then
	kill -9 $SIM_PID
	if [[ ! -n "$HEADLESS" ]]; then
		kill -9 $GUI_PID
	fi
fi