Tools: add run-shellcheck.sh to statically analyze startup scripts

Use './Tools/run-shellcheck.sh ROMFS/px4fmu_common' to run it.

ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post

@@ -1,4 +1,5 @@
 
+# shellcheck disable=SC2154
 mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local
 mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local
 

ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480.post

@@ -3,6 +3,8 @@ mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
 
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
 
+# shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
 mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -2,13 +2,17 @@
 
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
+# shellcheck disable=SC1091
 source px4-alias.sh
 
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
 #
 # Main SITL startup script
 #
 
 # check for ekf2 replay
+# shellcheck disable=SC2154
 if [ "$replay_mode" == "ekf2" ]
 then
 	sh etc/init.d-posix/rc.replay
@@ -96,11 +100,12 @@ else
 fi
 
 # multi-instance setup
-param set MAV_SYS_ID $((1+$px4_instance))
-simulator_udp_port=$((14560+$px4_instance))
-udp_offboard_port_local=$((14557+$px4_instance))
-udp_offboard_port_remote=$((14540+$px4_instance))
-udp_gcs_port_local=$((14556+$px4_instance))
+# shellcheck disable=SC2154
+param set MAV_SYS_ID $((1+px4_instance))
+simulator_udp_port=$((14560+px4_instance))
+udp_offboard_port_local=$((14557+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+udp_gcs_port_local=$((14556+px4_instance))
 
 if [ $AUTOCNF == yes ]
 then
@@ -163,6 +168,7 @@ fi
 
 # Autostart ID
 autostart_file_match="etc/init.d-posix/$(param show -q SYS_AUTOSTART)_*"
+# shellcheck disable=SC2206
 autostart_files=( $autostart_file_match )
 autostart_file="${autostart_files[0]}" # use first match, but there should really only be one
 if [ ! -e "$autostart_file" ]; then

Tools/run-shellcheck.sh

@@ -0,0 +1,41 @@
+#!/bin/bash
+
+# Script to run ShellCheck (a static analysis tool for shell scripts) over a
+# script directory
+
+if [ -z "$1" ]; then
+	echo "usage: $0 <directory>"
+	echo ""
+	echo "  <directory>     Directory to search for scripts"
+	exit -1
+fi
+search_directory="$1"
+
+command -v shellcheck >/dev/null 2>&1 || { echo -e >&2 \
+"Error: shellcheck required but it's not installed. On Ubuntu use:\n sudo apt-get install shellcheck\n\nAborting."; exit 1; }
+
+scripts="$(find "$search_directory" -type f ! -name '*.txt' ! -name '*.mix')"
+
+echo "Running shellcheck in '$search_directory'."
+
+# Disabled rules:
+# SC2121: allow 'set' as assignment (NuttX-style)
+# SC1008: unrecognized shebang
+# SC2086: double quote to prevent globbing and word splitting
+# SC2166: allow the form [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
+# SC2148: allow files w/o shebang
+shellcheck -a -x -e SC2121 -e SC1008 -e SC2086 -e SC2166 -e SC2148 \
+	$scripts
+ret=$?
+if [ $ret -ne 0 ]; then
+	echo "Please fix the above script problems."
+	echo "If an error is raised that should be ignored, \
+add the following right before the offending line:"
+	echo "# shellcheck disable=SCxxxx"
+	echo ""
+	echo "Re-run the script with '$0 $@'"
+	exit $ret
+fi
+
+echo "No problems found."
+exit 0