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sim_vehicle.py
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sim_vehicle.py
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#!/usr/bin/env python3
"""
Framework to start a simulated vehicle and connect it to MAVProxy.
Peter Barker, April 2016
based on sim_vehicle.sh by Andrew Tridgell, October 2011
AP_FLAKE8_CLEAN
"""
from __future__ import print_function
import atexit
import datetime
import errno
import optparse
import os
import os.path
import re
import signal
import subprocess
import sys
import tempfile
import textwrap
import time
import shlex
import binascii
import math
from pysim import util
from pysim import vehicleinfo
# List of open terminal windows for macosx
windowID = []
autotest_dir = os.path.dirname(os.path.realpath(__file__))
root_dir = os.path.realpath(os.path.join(autotest_dir, '../..'))
try:
from pymavlink import mavextra
except ImportError:
sys.path.append(os.path.join(root_dir, "modules/mavlink"))
from pymavlink import mavextra
os.environ["SIM_VEHICLE_SESSION"] = binascii.hexlify(os.urandom(8)).decode()
class CompatError(Exception):
"""A custom exception class to hold state if we encounter the parse
error we are looking for"""
def __init__(self, error, opts, rargs):
Exception.__init__(self, error)
self.opts = opts
self.rargs = rargs
class CompatOptionParser(optparse.OptionParser):
"""An option parser which emulates the behaviour of the old
sim_vehicle.sh; if passed -C, the first argument not understood starts
a list of arguments that are passed straight to mavproxy
"""
class CustomFormatter(optparse.IndentedHelpFormatter):
def __init__(self, *args, **kwargs):
optparse.IndentedHelpFormatter.__init__(self, *args, **kwargs)
# taken and modified from from optparse.py's format_option
def format_option_preserve_nl(self, option):
# The help for each option consists of two parts:
# * the opt strings and metavars
# eg. ("-x", or "-fFILENAME, --file=FILENAME")
# * the user-supplied help string
# eg. ("turn on expert mode", "read data from FILENAME")
#
# If possible, we write both of these on the same line:
# -x turn on expert mode
#
# But if the opt string list is too long, we put the help
# string on a second line, indented to the same column it would
# start in if it fit on the first line.
# -fFILENAME, --file=FILENAME
# read data from FILENAME
result = []
opts = self.option_strings[option]
opt_width = self.help_position - self.current_indent - 2
if len(opts) > opt_width:
opts = "%*s%s\n" % (self.current_indent, "", opts)
else: # start help on same line as opts
opts = "%*s%-*s " % (self.current_indent, "", opt_width, opts)
result.append(opts)
if option.help:
help_text = self.expand_default(option)
tw = textwrap.TextWrapper(replace_whitespace=False,
initial_indent="",
subsequent_indent=" ",
width=self.help_width)
for line in help_text.split("\n"):
help_lines = tw.wrap(line)
for wline in help_lines:
result.extend(["%*s%s\n" % (self.help_position,
"",
wline)])
elif opts[-1] != "\n":
result.append("\n")
return "".join(result)
def format_option(self, option):
if str(option).find('frame') != -1:
return self.format_option_preserve_nl(option)
return optparse.IndentedHelpFormatter.format_option(self, option)
def __init__(self, *args, **kwargs):
formatter = CompatOptionParser.CustomFormatter()
optparse.OptionParser.__init__(self,
*args,
formatter=formatter,
**kwargs)
def error(self, error):
"""Override default error handler called by
optparse.OptionParser.parse_args when a parse error occurs;
raise a detailed exception which can be caught
"""
if error.find("no such option") != -1:
raise CompatError(error, self.values, self.rargs)
optparse.OptionParser.error(self, error)
def parse_args(self, args=None, values=None):
'''Wrap parse_args so we can catch the exception raised upon
discovering the known parameter parsing error
'''
try:
opts, args = optparse.OptionParser.parse_args(self)
except CompatError as e:
if not e.opts.sim_vehicle_sh_compatible:
print(e)
print("Perhaps you want --sim_vehicle_sh_compatible (-C)?")
sys.exit(1)
if e.opts.mavproxy_args:
print("--mavproxy-args not permitted in compat mode")
sys.exit(1)
args = []
opts = e.opts
mavproxy_args = [str(e)[16:]] # this trims "no such option" off
mavproxy_args.extend(e.rargs)
opts.ensure_value("mavproxy_args", " ".join(mavproxy_args))
return opts, args
def cygwin_pidof(proc_name):
""" Thanks to kata198 for this:
https://github.com/kata198/cygwin-ps-misc/blob/master/pidof
"""
pipe = subprocess.Popen("ps -ea | grep " + proc_name,
shell=True,
stdout=subprocess.PIPE)
output_lines = pipe.stdout.read().decode('utf-8').replace("\r", "").split("\n")
ret = pipe.wait()
pids = []
if ret != 0:
# No results
return []
for line in output_lines:
if not line:
continue
line_split = [item for item in line.split(' ') if item]
cmd = line_split[-1].split('/')[-1]
if cmd == proc_name:
try:
pid = int(line_split[0].strip())
except Exception:
pid = int(line_split[1].strip())
if pid not in pids:
pids.append(pid)
return pids
def under_cygwin():
"""Return if Cygwin binary exist"""
return os.path.exists("/usr/bin/cygstart")
def under_macos():
return sys.platform == 'darwin'
def under_vagrant():
return os.path.isfile("/ardupilot.vagrant")
def under_wsl2():
import platform
return 'microsoft-standard-WSL2' in platform.release()
def wsl2_host_ip():
if not under_wsl2():
return None
pipe = subprocess.Popen("ip route show default | awk '{print $3}'",
shell=True,
stdout=subprocess.PIPE)
output_lines = pipe.stdout.read().decode('utf-8').strip(' \r\n')
ret = pipe.wait()
if ret != 0:
# Command exited with an error. The output it generated probably isn't what we're expecting
return None
if not output_lines:
# No output detected, maybe there's no nameserver or WSL2 has some abnormal firewalls/network settings?
return None
return str(output_lines)
def kill_tasks_cygwin(victims):
"""Shell out to ps -ea to find processes to kill"""
for victim in list(victims):
pids = cygwin_pidof(victim)
# progress("pids for (%s): %s" %
# (victim,",".join([ str(p) for p in pids])))
for apid in pids:
os.kill(apid, signal.SIGKILL)
def kill_tasks_macos():
for window in windowID:
cmd = ("osascript -e \'tell application \"Terminal\" to close "
"(window(get index of window id %s))\'" % window)
os.system(cmd)
def kill_tasks_psutil(victims):
"""Use the psutil module to kill tasks by name. Sadly, this module is
not available on Windows, but when it is we should be able to *just*
use this routine"""
import psutil
for proc in psutil.process_iter():
pdict = proc.as_dict(attrs=['environ', 'status'])
if pdict['status'] == psutil.STATUS_ZOMBIE:
continue
if pdict['environ'] is not None:
if pdict['environ'].get('SIM_VEHICLE_SESSION') == os.environ['SIM_VEHICLE_SESSION']:
proc.kill()
def kill_tasks_pkill(victims):
"""Shell out to pkill(1) to kill processed by name"""
for victim in victims: # pkill takes a single pattern, so iterate
cmd = ["pkill", victim[:15]] # pkill matches only first 15 characters
run_cmd_blocking("pkill", cmd, quiet=True)
class BobException(Exception):
"""Handle Bob's Exceptions"""
pass
def kill_tasks():
"""Clean up stray processes by name. This is a shotgun approach"""
progress("Killing tasks")
if cmd_opts.coverage:
import psutil
for proc in psutil.process_iter(['pid', 'name', 'environ']):
if proc.name() not in ["arducopter", "ardurover", "arduplane", "ardusub", "antennatracker"]:
# only kill vehicle that way
continue
if os.environ['SIM_VEHICLE_SESSION'] not in proc.environ().get('SIM_VEHICLE_SESSION'):
# only kill vehicle launched with sim_vehicle.py that way
continue
proc.terminate()
progress("Waiting SITL to exit cleanly and write coverage .gcda")
try:
proc.wait(timeout=30)
progress("Done")
except psutil.TimeoutExpired:
progress("SITL doesn't want to exit cleaning, killing ...")
proc.kill()
try:
victim_names = {
'JSBSim',
'lt-JSBSim',
'ArduPlane.elf',
'ArduCopter.elf',
'ArduSub.elf',
'Rover.elf',
'AntennaTracker.elf',
'JSBSIm.exe',
'MAVProxy.exe',
'runsim.py',
'AntennaTracker.elf',
'scrimmage',
'ardurover',
'arduplane',
'arducopter'
}
for vehicle in vinfo.options:
for frame in vinfo.options[vehicle]["frames"]:
frame_info = vinfo.options[vehicle]["frames"][frame]
if "waf_target" not in frame_info:
continue
exe_name = os.path.basename(frame_info["waf_target"])
victim_names.add(exe_name)
if under_cygwin():
return kill_tasks_cygwin(victim_names)
if under_macos() and os.environ.get('DISPLAY'):
# use special macos kill routine if Display is on
return kill_tasks_macos()
try:
kill_tasks_psutil(victim_names)
except ImportError:
kill_tasks_pkill(victim_names)
except Exception as e:
progress("kill_tasks failed: {}".format(str(e)))
def progress(text):
"""Display sim_vehicle progress text"""
print("SIM_VEHICLE: " + text)
def wait_unlimited():
"""Wait until signal received"""
while True:
time.sleep(600)
vinfo = vehicleinfo.VehicleInfo()
def do_build(opts, frame_options):
"""Build sitl using waf"""
progress("WAF build")
old_dir = os.getcwd()
os.chdir(root_dir)
waf_light = os.path.join(root_dir, "modules/waf/waf-light")
configure_target = frame_options.get('configure_target', 'sitl')
cmd_configure = [waf_light, "configure", "--board", configure_target]
if opts.debug:
cmd_configure.append("--debug")
if opts.coverage:
cmd_configure.append("--coverage")
if opts.enable_onvif and 'antennatracker' in frame_options["waf_target"]:
cmd_configure.append("--enable-onvif")
if opts.OSD:
cmd_configure.append("--enable-sfml")
cmd_configure.append("--sitl-osd")
if opts.OSDMSP:
cmd_configure.append("--osd")
if opts.rgbled:
cmd_configure.append("--enable-sfml")
cmd_configure.append("--sitl-rgbled")
if opts.tonealarm:
cmd_configure.append("--enable-sfml-audio")
if opts.math_check_indexes:
cmd_configure.append("--enable-math-check-indexes")
if opts.enable_ekf2:
cmd_configure.append("--enable-EKF2")
if opts.disable_ekf3:
cmd_configure.append("--disable-EKF3")
if opts.postype_single:
cmd_configure.append("--postype-single")
if opts.ekf_double:
cmd_configure.append("--ekf-double")
if opts.ekf_single:
cmd_configure.append("--ekf-single")
if opts.force_32bit:
cmd_configure.append("--force-32bit")
if opts.ubsan:
cmd_configure.append("--ubsan")
if opts.ubsan_abort:
cmd_configure.append("--ubsan-abort")
if opts.num_aux_imus:
cmd_configure.append("--num-aux-imus=%s" % opts.num_aux_imus)
for nv in opts.define:
cmd_configure.append("--define=%s" % nv)
if opts.enable_dds:
cmd_configure.append("--enable-dds")
if opts.disable_networking:
cmd_configure.append("--disable-networking")
if opts.enable_ppp:
cmd_configure.append("--enable-PPP")
if opts.enable_networking_tests:
cmd_configure.append("--enable-networking-tests")
pieces = [shlex.split(x) for x in opts.waf_configure_args]
for piece in pieces:
cmd_configure.extend(piece)
if not cmd_opts.no_configure:
run_cmd_blocking("Configure waf", cmd_configure, check=True)
if opts.clean:
run_cmd_blocking("Building clean", [waf_light, "clean"])
print(frame_options)
cmd_build = [waf_light, "build", "--target", frame_options["waf_target"]]
if opts.jobs is not None:
cmd_build += ['-j', str(opts.jobs)]
pieces = [shlex.split(x) for x in opts.waf_build_args]
for piece in pieces:
cmd_build.extend(piece)
_, sts = run_cmd_blocking("Building", cmd_build)
if sts != 0: # build failed
if opts.rebuild_on_failure:
progress("Build failed; cleaning and rebuilding")
run_cmd_blocking("Building clean", [waf_light, "clean"])
_, sts = run_cmd_blocking("Building", cmd_build)
if sts != 0:
progress("Build failed")
sys.exit(1)
else:
progress("Build failed")
sys.exit(1)
os.chdir(old_dir)
def do_build_parameters(vehicle):
# build succeeded
# now build parameters
progress("Building fresh parameter descriptions")
param_parse_path = os.path.join(
autotest_dir, "param_metadata/param_parse.py")
cmd_param_build = ["python", param_parse_path, '--vehicle', vehicle]
_, sts = run_cmd_blocking("Building fresh params", cmd_param_build)
if sts != 0:
progress("Parameter build failed")
sys.exit(1)
def get_user_locations_path():
'''The user locations.txt file is located by default in
$XDG_CONFIG_DIR/ardupilot/locations.txt. If $XDG_CONFIG_DIR is
not defined, we look in $HOME/.config/ardupilot/locations.txt. If
$HOME is not defined, we look in ./.config/ardupilot/locations.txt.'''
config_dir = os.environ.get(
'XDG_CONFIG_DIR',
os.path.join(os.environ.get('HOME', '.'), '.config'))
user_locations_path = os.path.join(
config_dir, 'ardupilot', 'locations.txt')
return user_locations_path
def find_offsets(instances, file_path):
offsets = {}
swarminit_filepath = os.path.join(autotest_dir, "swarminit.txt")
comment_regex = re.compile(r"\s*#.*")
for path in [file_path, swarminit_filepath]:
if os.path.isfile(path):
with open(path, 'r') as fd:
for line in fd:
line = re.sub(comment_regex, "", line)
line = line.rstrip("\n")
if len(line) == 0:
continue
(instance, offset) = line.split("=")
instance = (int)(instance)
if (instance not in offsets) and (instance in instances):
offsets[instance] = [(float)(x) for x in offset.split(",")]
continue
if len(offsets) == len(instances):
return offsets
if len(offsets) == len(instances):
return offsets
for instance in instances:
if instance not in offsets:
offsets[instance] = [90.0, 20.0 * instance, 0.0, None]
return offsets
def find_geocoder_location(locname):
'''find a location using geocoder and SRTM'''
try:
import geocoder
except ImportError:
print("geocoder not installed")
return None
j = geocoder.osm(locname)
if j is None or not hasattr(j, 'lat') or j.lat is None:
print("geocoder failed to find '%s'" % locname)
return None
lat = j.lat
lon = j.lng
from MAVProxy.modules.mavproxy_map import srtm
downloader = srtm.SRTMDownloader()
downloader.loadFileList()
start = time.time()
alt = None
while time.time() - start < 5:
tile = downloader.getTile(int(math.floor(lat)), int(math.floor(lon)))
if tile:
alt = tile.getAltitudeFromLatLon(lat, lon)
break
if alt is None:
print("timed out getting altitude for '%s'" % locname)
return None
return [lat, lon, alt, 0.0]
def find_location_by_name(locname):
"""Search locations.txt for locname, return GPS coords"""
locations_userpath = os.environ.get('ARDUPILOT_LOCATIONS',
get_user_locations_path())
locations_filepath = os.path.join(autotest_dir, "locations.txt")
comment_regex = re.compile(r"\s*#.*")
for path in [locations_userpath, locations_filepath]:
if not os.path.isfile(path):
continue
with open(path, 'r') as fd:
for line in fd:
line = re.sub(comment_regex, "", line)
line = line.rstrip("\n")
if len(line) == 0:
continue
(name, loc) = line.split("=")
if name == locname:
return [(float)(x) for x in loc.split(",")]
# fallback to geocoder if available
loc = find_geocoder_location(locname)
if loc is None:
sys.exit(1)
return loc
def find_spawns(loc, offsets):
lat, lon, alt, heading = loc
spawns = {}
for k in offsets:
(x, y, z, head) = offsets[k]
if head is None:
head = heading
g = mavextra.gps_offset(lat, lon, x, y)
spawns[k] = ",".join([str(g[0]), str(g[1]), str(alt+z), str(head)])
return spawns
def progress_cmd(what, cmd):
"""Print cmd in a way a user could cut-and-paste to get the same effect"""
progress(what)
shell_text = "%s" % (" ".join(['"%s"' % x for x in cmd]))
progress(shell_text)
def run_cmd_blocking(what, cmd, quiet=False, check=False, **kw):
if not quiet:
progress_cmd(what, cmd)
try:
p = subprocess.Popen(cmd, **kw)
ret = os.waitpid(p.pid, 0)
except Exception as e:
print("[%s] An exception has occurred with command: '%s'" % (what, (' ').join(cmd)))
print(e)
sys.exit(1)
_, sts = ret
if check and sts != 0:
progress("(%s) exited with code %d" % (what, sts,))
sys.exit(1)
return ret
def run_in_terminal_window(name, cmd, **kw):
"""Execute the run_in_terminal_window.sh command for cmd"""
global windowID
runme = [os.path.join(autotest_dir, "run_in_terminal_window.sh"), name]
runme.extend(cmd)
progress_cmd("Run " + name, runme)
if under_macos() and os.environ.get('DISPLAY'):
# on MacOS record the window IDs so we can close them later
out = subprocess.Popen(runme, stdout=subprocess.PIPE, **kw).communicate()[0]
out = out.decode('utf-8')
p = re.compile('tab 1 of window id (.*)')
tstart = time.time()
while time.time() - tstart < 5:
tabs = p.findall(out)
if len(tabs) > 0:
break
time.sleep(0.1)
# sleep for extra 2 seconds for application to start
time.sleep(2)
if len(tabs) > 0:
windowID.append(tabs[0])
else:
progress("Cannot find %s process terminal" % name)
else:
subprocess.Popen(runme, **kw)
tracker_serial0 = None # blemish
def start_antenna_tracker(opts):
"""Compile and run the AntennaTracker, add tracker to mavproxy"""
global tracker_serial0
progress("Preparing antenna tracker")
tracker_home = find_location_by_name(opts.tracker_location)
vehicledir = os.path.join(autotest_dir, "../../" + "AntennaTracker")
options = vinfo.options["AntennaTracker"]
tracker_default_frame = options["default_frame"]
tracker_frame_options = options["frames"][tracker_default_frame]
do_build(opts, tracker_frame_options)
tracker_instance = 1
oldpwd = os.getcwd()
os.chdir(vehicledir)
tracker_serial0 = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
binary_basedir = "build/sitl"
exe = os.path.join(root_dir,
binary_basedir,
"bin/antennatracker")
run_in_terminal_window("AntennaTracker",
["nice",
exe,
"-I" + str(tracker_instance),
"--model=tracker",
"--home=" + ",".join([str(x) for x in tracker_home])])
os.chdir(oldpwd)
def start_CAN_Periph(opts, frame_info):
"""Compile and run the sitl_periph"""
progress("Preparing sitl_periph_universal")
options = vinfo.options["sitl_periph_universal"]['frames']['universal']
defaults_path = frame_info.get('periph_params_filename', None)
if defaults_path is None:
defaults_path = options.get('default_params_filename', None)
if not isinstance(defaults_path, list):
defaults_path = [defaults_path]
# add in path and make a comma separated list
defaults_path = ','.join([util.relcurdir(os.path.join(autotest_dir, p)) for p in defaults_path])
if not cmd_opts.no_rebuild:
do_build(opts, options)
exe = os.path.join(root_dir, 'build/sitl_periph_universal', 'bin/AP_Periph')
cmd = ["nice"]
cmd_name = "sitl_periph_universal"
if opts.valgrind:
cmd_name += " (valgrind)"
cmd.append("valgrind")
# adding this option allows valgrind to cope with the overload
# of operator new
cmd.append("--soname-synonyms=somalloc=nouserintercepts")
cmd.append("--track-origins=yes")
if opts.gdb or opts.gdb_stopped:
cmd_name += " (gdb)"
cmd.append("gdb")
gdb_commands_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
atexit.register(os.unlink, gdb_commands_file.name)
gdb_commands_file.write("set pagination off\n")
if not opts.gdb_stopped:
gdb_commands_file.write("r\n")
gdb_commands_file.close()
cmd.extend(["-x", gdb_commands_file.name])
cmd.append("--args")
cmd.append(exe)
if defaults_path is not None:
cmd.append("--defaults")
cmd.append(defaults_path)
run_in_terminal_window(cmd_name, cmd)
def start_vehicle(binary, opts, stuff, spawns=None):
"""Run the ArduPilot binary"""
cmd_name = opts.vehicle
cmd = []
if opts.valgrind:
cmd_name += " (valgrind)"
cmd.append("valgrind")
# adding this option allows valgrind to cope with the overload
# of operator new
cmd.append("--soname-synonyms=somalloc=nouserintercepts")
cmd.append("--track-origins=yes")
if opts.callgrind:
cmd_name += " (callgrind)"
cmd.append("valgrind")
cmd.append("--tool=callgrind")
if opts.gdb or opts.gdb_stopped:
cmd_name += " (gdb)"
cmd.append("gdb")
gdb_commands_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
atexit.register(os.unlink, gdb_commands_file.name)
for breakpoint in opts.breakpoint:
gdb_commands_file.write("b %s\n" % (breakpoint,))
if opts.disable_breakpoints:
gdb_commands_file.write("disable\n")
gdb_commands_file.write("set pagination off\n")
if not opts.gdb_stopped:
gdb_commands_file.write("r\n")
gdb_commands_file.close()
cmd.extend(["-x", gdb_commands_file.name])
cmd.append("--args")
elif opts.lldb or opts.lldb_stopped:
cmd_name += " (lldb)"
cmd.append("lldb")
lldb_commands_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
atexit.register(os.unlink, lldb_commands_file.name)
for breakpoint in opts.breakpoint:
lldb_commands_file.write("b %s\n" % (breakpoint,))
if not opts.lldb_stopped:
lldb_commands_file.write("process launch\n")
lldb_commands_file.close()
cmd.extend(["-s", lldb_commands_file.name])
cmd.append("--")
if opts.strace:
cmd_name += " (strace)"
cmd.append("strace")
strace_options = ['-o', binary + '.strace', '-s', '8000', '-ttt']
cmd.extend(strace_options)
cmd.append(binary)
cmd.append("-S")
if opts.wipe_eeprom:
cmd.append("-w")
cmd.extend(["--model", stuff["model"]])
cmd.extend(["--speedup", str(opts.speedup)])
if opts.sysid is not None:
cmd.extend(["--sysid", str(opts.sysid)])
if opts.slave is not None:
cmd.extend(["--slave", str(opts.slave)])
if opts.enable_fgview:
cmd.extend(["--enable-fgview"])
if opts.sitl_instance_args:
# this could be a lot better:
cmd.extend(opts.sitl_instance_args.split(" "))
if opts.mavlink_gimbal:
cmd.append("--gimbal")
path = None
if "default_params_filename" in stuff:
paths = stuff["default_params_filename"]
if not isinstance(paths, list):
paths = [paths]
paths = [util.relcurdir(os.path.join(autotest_dir, x)) for x in paths]
for x in paths:
if not os.path.isfile(x):
print("The parameter file (%s) does not exist" % (x,))
sys.exit(1)
path = ",".join(paths)
if cmd_opts.count > 1 or opts.auto_sysid:
# we are in a subdirectory when using -n
path = os.path.join("..", path)
progress("Using defaults from (%s)" % (path,))
if opts.flash_storage:
cmd.append("--set-storage-flash-enabled 1")
cmd.append("--set-storage-posix-enabled 0")
elif opts.fram_storage:
cmd.append("--set-storage-fram-enabled 1")
cmd.append("--set-storage-posix-enabled 0")
if opts.add_param_file:
for file in opts.add_param_file:
if not os.path.isfile(file):
print("The parameter file (%s) does not exist" %
(file,))
sys.exit(1)
if path is not None:
path += "," + str(file)
else:
path = str(file)
progress("Adding parameters from (%s)" % (str(file),))
if opts.OSDMSP:
path += "," + os.path.join(root_dir, "libraries/AP_MSP/Tools/osdtest.parm")
path += "," + os.path.join(autotest_dir, "default_params/msposd.parm")
subprocess.Popen([os.path.join(root_dir, "libraries/AP_MSP/Tools/msposd.py")])
if path is not None and len(path) > 0:
cmd.extend(["--defaults", path])
if cmd_opts.start_time is not None:
# Parse start_time into a double precision number specifying seconds since 1900.
try:
start_time_UTC = time.mktime(datetime.datetime.strptime(cmd_opts.start_time, '%Y-%m-%d-%H:%M').timetuple())
except Exception:
print("Incorrect start time format - require YYYY-MM-DD-HH:MM (given %s)" % cmd_opts.start_time)
sys.exit(1)
cmd.append("--start-time=%d" % start_time_UTC)
cmd.append("--sim-address=%s" % cmd_opts.sim_address)
old_dir = os.getcwd()
for i, i_dir in zip(instances, instance_dir):
c = ["-I" + str(i)]
if spawns is not None:
c.extend(["--home", spawns[i]])
if opts.mcast:
c.extend(["--serial0", "mcast:"])
elif opts.udp:
c.extend(["--serial0", "udpclient:127.0.0.1:" + str(5760+i*10)])
if opts.auto_sysid:
if opts.sysid is not None:
raise ValueError("Can't use auto-sysid and sysid together")
sysid = i + 1
# Take 0-based logging into account
if sysid < 1 or sysid > 255:
raise ValueError("Invalid system id %d" % sysid)
c.extend(["--sysid", str(sysid)])
os.chdir(i_dir)
run_in_terminal_window(cmd_name, cmd + c)
os.chdir(old_dir)
def start_mavproxy(opts, stuff):
"""Run mavproxy"""
# FIXME: would be nice to e.g. "mavproxy.mavproxy(....).run"
# rather than shelling out
extra_cmd = ""
cmd = []
if under_cygwin():
cmd.append("/usr/bin/cygstart")
cmd.append("-w")
cmd.append("mavproxy.exe")
else:
cmd.append("mavproxy.py")
if opts.mcast:
cmd.extend(["--master", "mcast:"])
# returns a valid IP of the host windows computer if we're WSL2.
# This is run before the loop so it only runs once
wsl2_host_ip_str = wsl2_host_ip()
for i in instances:
if not opts.no_extra_ports:
ports = [14550 + 10 * i]
for port in ports:
if under_vagrant():
# We're running inside of a vagrant guest; forward our
# mavlink out to the containing host OS
cmd.extend(["--out", "10.0.2.2:" + str(port)])
elif wsl2_host_ip_str:
# We're running WSL2; forward our
# mavlink out to the containing host Windows OS
cmd.extend(["--out", str(wsl2_host_ip_str) + ":" + str(port)])
else:
cmd.extend(["--out", "127.0.0.1:" + str(port)])
if not opts.mcast:
if opts.udp:
cmd.extend(["--master", ":" + str(5760 + 10 * i)])
else:
cmd.extend(["--master", "tcp:127.0.0.1:" + str(5760 + 10 * i)])
if stuff["sitl-port"] and not opts.no_rcin:
cmd.extend(["--sitl", "127.0.0.1:" + str(5501 + 10 * i)])
if opts.tracker:
cmd.extend(["--load-module", "tracker"])
global tracker_serial0
# tracker_serial0 is set when we start the tracker...
extra_cmd += ("module load map;"
"tracker set port %s; "
"tracker start; "
"tracker arm;" % (tracker_serial0,))
if opts.mavlink_gimbal:
cmd.extend(["--load-module", "gimbal"])
if "extra_mavlink_cmds" in stuff:
extra_cmd += " " + stuff["extra_mavlink_cmds"]
# Parsing the arguments to pass to mavproxy, split args on space
# and "=" signs and ignore those signs within quotation marks
if opts.mavproxy_args:
# It would be great if this could be done with regex
mavargs = opts.mavproxy_args.split(" ")
# Find the arguments with '=' in them and split them up
for i, x in enumerate(mavargs):
if '=' in x:
mavargs[i] = x.split('=')[0]
mavargs.insert(i+1, x.split('=')[1])
# Use this flag to tell if parsing character inbetween a pair
# of quotation marks
inString = False
beginStringIndex = []
endStringIndex = []
# Iterate through the arguments, looking for the arguments
# that begin with a quotation mark and the ones that end with
# a quotation mark
for i, x in enumerate(mavargs):
if not inString and x[0] == "\"":
beginStringIndex.append(i)
mavargs[i] = x[1:]
inString = True
elif inString and x[-1] == "\"":
endStringIndex.append(i)
inString = False
mavargs[i] = x[:-1]
# Replace the list items with one string to be passed into mavproxy
for begin, end in zip(beginStringIndex, endStringIndex):
replacement = " ".join(mavargs[begin:end+1])
mavargs[begin] = replacement
mavargs = mavargs[0:begin+1] + mavargs[end+1:]
cmd.extend(mavargs)
# compatibility pass-through parameters (for those that don't want
# to use -C :-)
for out in opts.out:
cmd.extend(['--out', out])
if opts.map:
cmd.append('--map')
if opts.console:
cmd.append('--console')
if opts.aircraft is not None:
cmd.extend(['--aircraft', opts.aircraft])
if opts.moddebug:
cmd.append('--moddebug=%u' % opts.moddebug)
if opts.mavcesium:
cmd.extend(["--load-module", "cesium"])
if opts.fresh_params:
# these were built earlier:
path = os.path.join(os.getcwd(), "apm.pdef.xml")
cmd.extend(['--load-module', 'param:{"xml-filepath":"%s"}' % path])
if len(extra_cmd):
cmd.extend(['--cmd', extra_cmd])
# add Tools/mavproxy_modules to PYTHONPATH in autotest so we can
# find random MAVProxy helper modules like sitl_calibration
local_mp_modules_dir = os.path.abspath(
os.path.join(__file__, '..', '..', 'mavproxy_modules'))
env = dict(os.environ)
old = env.get('PYTHONPATH', None)
env['PYTHONPATH'] = local_mp_modules_dir
if old is not None:
env['PYTHONPATH'] += os.path.pathsep + old
run_cmd_blocking("Run MavProxy", cmd, env=env)
progress("MAVProxy exited")
if opts.gdb:
# in the case that MAVProxy exits (as opposed to being
# killed), restart it if we are running under GDB. This
# allows ArduPilot to stop (eg. via a very early panic call)
# and have you debugging session not be killed.
while True:
progress("Running under GDB; restarting MAVProxy")
run_cmd_blocking("Run MavProxy", cmd, env=env)
progress("MAVProxy exited; sleeping 10")
time.sleep(10)