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#!/bin/bash
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# run multiple instances of the 'px4' binary, but w/o starting the simulator.
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# It assumes px4 is already built, with 'make px4_sitl_default'
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# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
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# For example jmavsim can be run like this:
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#./Tools/jmavsim_run.sh -p 4561 -l
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sitl_num=2
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[ -n "$1" ] && sitl_num="$1"
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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src_path="$SCRIPT_DIR/.."
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build_path=${src_path}/build/px4_sitl_default
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mavlink_udp_port=14560
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mavlink_tcp_port=4560
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world="empty"
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echo "killing running instances"
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pkill -x px4 || true
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sleep 1
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export PX4_SIM_MODEL=iris
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echo "Starting gazebo"
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gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
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sleep 5
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n=0
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while [ $n -lt $sitl_num ]; do
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working_dir="$build_path/instance_$n"
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[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
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pushd "$working_dir" &>/dev/null
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echo "starting instance $n in $(pwd)"
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../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -w sitl_iris_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
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python3 ${src_path}/Tools/sitl_gazebo/scripts/xacro.py ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro rotors_description_dir:=${src_path}/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(($mavlink_udp_port+$n)) mavlink_tcp_port:=$(($mavlink_tcp_port+$n)) -o /tmp/${PX4_SIM_MODEL}_${n}.urdf
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echo "Spawning ${PX4_SIM_MODEL}_${n}"
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gz model --spawn-file=/tmp/${PX4_SIM_MODEL}_${n}.urdf --model-name=${PX4_SIM_MODEL}_${n} -x 0.0 -y ${n} -z 0.0
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popd &>/dev/null
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n=$(($n + 1))
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done
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echo "Starting gazebo client"
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gzclient
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