bharathr
8 years ago
committed by
Lorenz Meier
1 changed files with 273 additions and 0 deletions
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#!/bin/bash |
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################################################################################################# |
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# |
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# This script loads PX4 binaries to the Snapdragon Flight target and does a quick on-target sanity test. |
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# |
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# Pre-requisites: |
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# - Snapdragon Flight board connected to the host computer via USB cable |
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# - Snapdragon Flight board must have the latest platform BSP and flight controller addon installed" |
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# - mini-dm installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp) |
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# - PX4 software was built and binaries are in their usual locations in the Firmware tree. |
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# |
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# This script supports two modes: |
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# - Default mode (supported by PX4 community) |
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# - Legacy mode (uses proprietary drivers for ESC and RC Receiver, supported by Qualcomm) |
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# |
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# For help and cmd line options, run the script with the -h option |
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# |
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################################################################################################# |
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# Halt on error |
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set -e |
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# Verbose mode |
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## set -x |
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# Mode of operation |
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readonly MODE_DEFAULT=0 |
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readonly MODE_LEGACY=1 |
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readonly MODE_MAX=$MODE_LEGACY |
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readonly RESULT_PASS=0 |
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readonly RESULT_FAIL=3 |
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readonly EXIT_ERROR=3 |
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# List of expected strings from the apps proc |
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declare -a appsproc_strings_present=( |
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"on udp port 14556 remote port 14550" |
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) |
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# List of unexpected strings from the apps proc |
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declare -a appsproc_strings_absent=( |
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"ERROR" |
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"Getting Bulk data from fastRPC link" |
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"Segmentation fault" |
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) |
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# List of expected strings from the DSP |
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declare -a dsp_strings_present=( |
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"EKF alignment complete" |
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"AdspCoreSvc: Started successfully" |
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"loading BLSP configuration" |
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) |
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# List of unexpected strings from the DSP |
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declare -a dsp_strings_absent=( |
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"Segmentation fault" |
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) |
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install=0 |
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test=0 |
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mode=0 |
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result=$RESULT_PASS |
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# Default mini-dm path (needs to be installed in this location or overriden through cmd line |
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minidmPath=~/Qualcomm/Hexagon_SDK/3.0/tools/debug/mini-dm/Linux_Debug |
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# Default workspace path (parent directory of the script location) |
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workspace=`pwd`/.. |
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verifypx4test() { |
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echo -e "Verifying test results..." |
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# verify the presence of expected stings in the apps proc console log |
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for lineString in "${appsproc_strings_present[@]}" |
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do |
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if ! grep -Fq "$lineString" px4.log |
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then |
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# code if not found |
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echo -e "[ERROR] Missing expected string in apps proc log: $lineString" |
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result=$RESULT_FAIL |
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fi |
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done |
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# verify the absence of unexpected stings in the apps proc console log |
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for lineString in "${appsproc_strings_absent[@]}" |
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do |
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if grep -Fq "$lineString" px4.log |
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then |
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# code if not found |
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echo -e "[ERROR] Found unexpected string in apps proc log: $lineString" |
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result=$RESULT_FAIL |
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fi |
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done |
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# verify the presence of expected stings in the DSP console log |
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for lineString in "${dsp_strings_present[@]}" |
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do |
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if ! grep -Fq "$lineString" minidm.log |
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then |
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# code if not found |
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echo -e "[ERROR] Missing expected string in DSP log: $lineString" |
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result=$RESULT_FAIL |
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fi |
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done |
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# verify the absence of unexpected stings in the DSP console log |
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for lineString in "${dsp_strings_absent[@]}" |
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do |
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if grep -Fq "$lineString" minidm.log |
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then |
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# code if not found |
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echo -e "[ERROR] Found unexpected string in DSP log: $lineString" |
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result=$RESULT_FAIL |
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fi |
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done |
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echo -e "Verification complete." |
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if [ $result -eq $RESULT_FAIL ]; then |
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echo -e "PX4 test result: FAIL" |
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else |
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echo -e "PX4 test result: PASS" |
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fi |
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} |
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installpx4() { |
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if [ $install -eq 0 ]; then |
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echo -e "SKIPPING install" |
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return 0; |
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fi |
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# Reboot the target before beginning the installation |
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echo -e "Rebooting the target..." |
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adb shell reboot |
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sleep 45 |
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echo -e "Now installing PX4 binaries..." |
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# Copy binaries to the target |
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if [ $mode == 0 ]; then |
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# copy default binaries |
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adb push $workspace/build_qurt_eagle_legacy_driver_default/src/firmware/qurt/libpx4.so /usr/share/data/adsp |
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adb push $workspace/build_qurt_eagle_legacy_driver_default/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp |
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adb push $workspace/build_posix_eagle_legacy_driver_default/src/firmware/posix/px4 /home/linaro |
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adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp |
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adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro |
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else |
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# copy legacy binaries |
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adb push $workspace/build_qurt_eagle_default/src/firmware/qurt/libpx4.so /usr/share/data/adsp |
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adb push $workspace/build_qurt_eagle_default/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp |
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adb push $workspace/build_posix_eagle_legacy_driver_default/src/firmware/posix/px4 /home/linaro |
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adb push $workspace/posix-configs/eagle/200qx/px4.config /usr/share/data/adsp |
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adb push $workspace/posix-configs/eagle/200qx/mainapp.config /home/linaro |
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fi |
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echo -e "Installation complete." |
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} |
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testpx4() { |
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if [ $test -eq 0 ]; then |
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echo -e "SKIPPING test" |
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return 0; |
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fi |
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echo -e "Starting PX4 test..." |
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# Remove previous instances of the file |
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rm px4.log | true |
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rm minidm.log | true |
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# Start mini-dm |
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${minidmPath}/mini-dm > minidm.log & |
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sleep 5 |
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# Verify that mini-dm is running |
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checkProc=$(ps -aef | grep mini-dm | grep -v grep) |
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if [ -z "${checkProc}" ]; then |
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echo "[ERROR] Unable to start mini-dm from path: ${minidmPath}" |
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exit $EXIT_ERROR |
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fi |
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# Start PX4 |
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adb shell "/home/linaro/px4 /home/linaro/mainapp.config" > px4.log 2>&1 & |
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sleep 20 |
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# Verify that PX4 is still running |
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checkProc=$(adb shell "ps -aef | grep px4 | grep -v grep") |
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if [ -z "${checkProc}" ]; then |
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echo "[ERROR] PX4 is not running on target!" |
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exit $EXIT_ERROR |
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fi |
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# Stop the PX4 process on target |
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adb shell "ps -eaf | grep px4 | grep -v grep | awk '{print $2}' | tr -s ' ' | cut -d' ' -f2 | xargs kill" |
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sleep 5 |
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# Stop the mini-dm |
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killall mini-dm |
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echo -e "PX4 test complete." |
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# Verify the results |
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verifypx4test |
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echo -e "For more information, see px4.log and minidm.log." |
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} |
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usage() { |
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echo -e "\nThis script can copy PX4 binaries to the Snapdragon Flight target and do a quick on-target sanity test.\n" |
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echo -e "Pre-requisites:" |
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echo -e "- Snapdragon Flight board must be connected to host computer via USB" |
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echo -e "- Snapdragon Flight board must have the latest platform BSP and flight controller addon installed" |
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echo -e "- mini-dm must be installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)" |
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echo -e "- PX4 software was built and binaries are in their usual locations in the tree\n" |
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echo -e "USAGE:\n ${0} [-m mode] [-i] [-t] [-l <minidm-path>]" |
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echo -e " -m --> Build mode (0 = default mode, 1 = legacy mode)" |
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echo -e " -i --> Install the PX4 binaries" |
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echo -e " -t --> Test PX4 on target" |
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echo -e " -l --> location of the mini-dm executable (Default: ${minidmPath})" |
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echo -e " -h --> Display this help information" |
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} |
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# Parse the command line options |
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while getopts "m:l:ith" opt; |
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do |
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case $opt in |
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m) |
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if [ $OPTARG -gt $MODE_MAX ]; then |
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echo "Invalid mode: $OPTARG (max allowed is $MODE_MAX)" |
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exit $EXIT_ERROR |
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fi |
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mode=$OPTARG |
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echo "Will run the script in mode $mode." |
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;; |
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i) |
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install=1 |
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;; |
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t) |
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test=1 |
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;; |
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l) |
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minidmPath=$OPTARG |
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;; |
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h) |
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usage |
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exit 0 |
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;; |
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:) |
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echo "Option -$OPTARG requires an argument" >&2 |
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exit 1;; |
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?) |
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echo "Unknown arg $opt" |
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usage |
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exit 1 |
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;; |
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esac |
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done |
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# Install the PX4 binaries |
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installpx4 |
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# Run the sanity test |
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testpx4 |
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exit $result |
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