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35 lines
911 B
35 lines
911 B
#!/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 |
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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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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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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" -s etc/init.d-posix/rcS >out.log 2>err.log & |
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popd &>/dev/null |
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n=$(($n + 1)) |
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done
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