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373 lines
12 KiB
373 lines
12 KiB
{ |
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// See https://go.microsoft.com/fwlink/?LinkId=733558 |
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// for the documentation about the tasks.json format |
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"version": "2.0.0", |
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"tasks": [ |
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{ |
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"label": "build", |
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"type": "shell", |
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"command": "/bin/bash", |
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"args": [ |
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"-c", |
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"${command:cmake.tasksBuildCommand}" |
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], |
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"options": { |
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"cwd": "${command:cmake.buildDirectory}" |
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}, |
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"group": { |
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"kind": "build", |
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"isDefault": true, |
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}, |
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"problemMatcher": { |
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"base": "$gcc", |
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"fileLocation": ["relative", "${command:cmake.buildDirectory}"] |
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}, |
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"presentation":{ |
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"echo": false, |
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"showReuseMessage": false, |
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"clear": true, |
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"panel": "shared", |
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"group": "build" |
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} |
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}, |
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{ |
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"label": "test", |
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"type": "shell", |
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"command": "make tests", |
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"options": { |
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"cwd": "${workspaceFolder}" |
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}, |
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"group": { |
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"kind": "test", |
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"isDefault": true, |
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}, |
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"presentation":{ |
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"echo": true, |
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"showReuseMessage": false, |
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"clear": false, |
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"panel": "shared", |
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"group": "test" |
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} |
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}, |
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{ |
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"label": "jmavsim build", |
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"type": "shell", |
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"command": "ant create_run_jar copy_res", |
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"options": { |
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"cwd": "${workspaceFolder}/Tools/jMAVSim" |
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}, |
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"problemMatcher": [], |
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"presentation":{ |
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"echo": true, |
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"reveal": "never", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false, |
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} |
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}, |
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{ |
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"label": "jmavsim", |
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"type": "shell", |
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"dependsOn": "jmavsim build", |
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"command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc", |
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"options": { |
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"cwd": "${workspaceFolder}/Tools/jMAVSim/out/production", |
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"env": { |
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"PX4_SIM_SPEED_FACTOR": "1" |
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} |
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}, |
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"isBackground": true, |
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"presentation": { |
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"echo": true, |
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"reveal": "never", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [ |
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{ |
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"pattern": [ |
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{ |
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"regexp": ".", |
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"file": 1, |
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"location": 2, |
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"message": 3 |
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} |
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], |
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"background": { |
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"activeOnStart": true, |
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"beginsPattern": ".", |
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"endsPattern": ".", |
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} |
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} |
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] |
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}, |
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{ |
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"label": "jmavsim kill", |
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"type": "shell", |
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"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')", |
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"presentation": { |
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"echo": false, |
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"reveal": "never", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [] |
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}, |
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{ |
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"label": "gazebo build", |
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"type": "shell", |
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"command": "make px4_sitl_default sitl_gazebo", |
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"options": { |
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"cwd": "${workspaceFolder}" |
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}, |
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"problemMatcher": [], |
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"presentation":{ |
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"echo": true, |
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"reveal": "always", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false, |
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} |
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}, |
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{ |
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"label": "gazebo start", |
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"type": "shell", |
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"dependsOn": "gazebo build", |
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"options": { |
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"cwd": "${workspaceFolder}", |
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"env": { |
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"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo", |
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"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models", |
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"PX4_SIM_SPEED_FACTOR": "1" |
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} |
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}, |
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"command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world", |
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"isBackground": true, |
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"presentation": { |
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"echo": true, |
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"reveal": "never", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [ |
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{ |
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"pattern": [ |
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{ |
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"regexp": ".", |
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"file": 1, |
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"location": 2, |
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"message": 3 |
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} |
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], |
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"background": { |
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"activeOnStart": true, |
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"beginsPattern": ".", |
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"endsPattern": ".", |
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} |
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} |
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] |
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}, |
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{ |
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"label": "gazebo", |
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"type": "shell", |
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"dependsOn": "gazebo start", |
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"options": { |
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"cwd": "${workspaceFolder}", |
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"env": { |
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"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo", |
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"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models", |
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"PX4_SIM_SPEED_FACTOR": "1" |
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} |
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}, |
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"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83", |
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"isBackground": false, |
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"presentation": { |
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"echo": true, |
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"reveal": "never", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [ |
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{ |
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"pattern": [ |
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{ |
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"regexp": ".", |
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"file": 1, |
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"location": 2, |
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"message": 3 |
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} |
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], |
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"background": { |
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"activeOnStart": true, |
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"beginsPattern": ".", |
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"endsPattern": ".", |
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} |
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} |
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] |
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}, |
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{ |
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"label": "gazebo client", |
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"type": "shell", |
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"dependsOn": "gazebo build", |
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"options": { |
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"cwd": "${workspaceFolder}", |
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"env": { |
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"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo", |
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"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models", |
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"PX4_SIM_SPEED_FACTOR": "1" |
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} |
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}, |
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"command": "gzclient --verbose", |
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"isBackground": true, |
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"presentation": { |
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"echo": true, |
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"reveal": "never", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [ |
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{ |
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"pattern": [ |
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{ |
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"regexp": ".", |
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"file": 1, |
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"location": 2, |
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"message": 3 |
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} |
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], |
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"background": { |
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"activeOnStart": true, |
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"beginsPattern": ".", |
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"endsPattern": ".", |
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} |
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} |
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] |
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}, |
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{ |
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"label": "gazebo kill", |
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"type": "shell", |
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"command": "killall gzserver", |
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"presentation": { |
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"echo": true, |
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"reveal": "silent", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [], |
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"dependsOn":["px4_sitl_cleanup"] |
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}, |
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{ |
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"label": "px4_sitl_cleanup", |
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"type": "shell", |
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"command": "rm -rfv /tmp/px4*", |
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"presentation": { |
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"echo": true, |
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"reveal": "silent", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [], |
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"dependsOn":["px4_kill"] |
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}, |
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{ |
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"label": "px4_kill", |
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"type": "shell", |
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"command": "killall px4 || true", |
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"presentation": { |
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"echo": true, |
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"reveal": "silent", |
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"focus": false, |
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"panel": "shared", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [] |
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}, |
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{ |
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"label": "mavlink shell", |
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"type": "shell", |
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"command": "./Tools/mavlink_shell.py", |
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"options": { |
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"cwd": "${workspaceFolder}" |
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}, |
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"presentation": { |
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"echo": true, |
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"reveal": "always", |
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"focus": true, |
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"panel": "new", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [] |
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}, |
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{ |
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"label": "miniterm.py", |
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"type": "shell", |
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"command": "miniterm.py --raw - 57600", |
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"options": { |
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"cwd": "${workspaceFolder}" |
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}, |
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"presentation": { |
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"echo": true, |
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"reveal": "always", |
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"focus": true, |
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"panel": "new", |
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"showReuseMessage": false, |
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"clear": false |
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}, |
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"problemMatcher": [] |
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} |
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], |
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"inputs": [ |
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{ |
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"type": "pickString", |
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"id": "vehicleModel", |
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"description": "gazebo model", |
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"options": [ |
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"iris", |
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"typhoon_h480", |
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"plane", |
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"plane_catapult", |
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"plane_lidar", |
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"standard_vtol", |
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"tailsitter", |
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"tiltrotor", |
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"r1_rover", |
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"boat" |
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], |
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"default": "iris" |
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}, |
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{ |
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"type": "pickString", |
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"id": "gazeboWorld", |
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"description": "gazebo world", |
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"options": [ |
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"baylands", |
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"empty", |
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"ksql_airport", |
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"mcmillan_airfield", |
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"sonoma_raceway", |
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"warehouse", |
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"windy", |
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"yosemite" |
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], |
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"default": "empty" |
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} |
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] |
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}
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