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zr-v4/libraries/AP_HAL_SITL/SITL_cmdline.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "UARTDriver.h"
#include <AP_HAL/utility/getopt_cpp.h>
#include <AP_Logger/AP_Logger_SITL.h>
#include <SITL/SIM_Multicopter.h>
#include <SITL/SIM_Helicopter.h>
#include <SITL/SIM_SingleCopter.h>
#include <SITL/SIM_Plane.h>
#include <SITL/SIM_QuadPlane.h>
#include <SITL/SIM_Rover.h>
#include <SITL/SIM_BalanceBot.h>
#include <SITL/SIM_Sailboat.h>
#include <SITL/SIM_MotorBoat.h>
#include <SITL/SIM_CRRCSim.h>
#include <SITL/SIM_Gazebo.h>
#include <SITL/SIM_last_letter.h>
#include <SITL/SIM_JSBSim.h>
#include <SITL/SIM_Tracker.h>
#include <SITL/SIM_Balloon.h>
#include <SITL/SIM_FlightAxis.h>
#include <SITL/SIM_Calibration.h>
#include <SITL/SIM_XPlane.h>
#include <SITL/SIM_Submarine.h>
#include <SITL/SIM_SilentWings.h>
#include <SITL/SIM_Morse.h>
#include <SITL/SIM_AirSim.h>
#include <SITL/SIM_Scrimmage.h>
#include <SITL/SIM_Webots.h>
#include <signal.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
using namespace HALSITL;
using namespace SITL;
// catch floating point exceptions
static void _sig_fpe(int signum)
{
fprintf(stderr, "ERROR: Floating point exception - aborting\n");
AP_HAL::dump_stack_trace();
abort();
}
// catch segfault
static void _sig_segv(int signum)
{
fprintf(stderr, "ERROR: segmentation fault - aborting\n");
AP_HAL::dump_stack_trace();
abort();
}
void SITL_State::_usage(void)
{
printf("Options:\n"
"\t--help|-h display this help information\n"
"\t--wipe|-w wipe eeprom\n"
"\t--unhide-groups|-u parameter enumeration ignores AP_PARAM_FLAG_ENABLE\n"
"\t--speedup|-s SPEEDUP set simulation speedup\n"
"\t--rate|-r RATE set SITL framerate\n"
"\t--console|-C use console instead of TCP ports\n"
"\t--instance|-I N set instance of SITL (adds 10*instance to all port numbers)\n"
// "\t--param|-P NAME=VALUE set some param\n" CURRENTLY BROKEN!
"\t--synthetic-clock|-S set synthetic clock mode\n"
"\t--home|-O HOME set start location (lat,lng,alt,yaw)\n"
"\t--model|-M MODEL set simulation model\n"
"\t--config string set additional simulation config string\n"
"\t--fg|-F ADDRESS set Flight Gear view address, defaults to 127.0.0.1\n"
"\t--disable-fgview disable Flight Gear view\n"
"\t--gimbal enable simulated MAVLink gimbal\n"
"\t--autotest-dir DIR set directory for additional files\n"
"\t--defaults path set path to defaults file\n"
"\t--uartA device set device string for UARTA\n"
"\t--uartB device set device string for UARTB\n"
"\t--uartC device set device string for UARTC\n"
"\t--uartD device set device string for UARTD\n"
"\t--uartE device set device string for UARTE\n"
"\t--uartF device set device string for UARTF\n"
"\t--uartG device set device string for UARTG\n"
"\t--uartH device set device string for UARTH\n"
"\t--rtscts enable rtscts on serial ports (default false)\n"
"\t--base-port PORT set port num for base port(default 5670) must be before -I option\n"
"\t--rc-in-port PORT set port num for rc in\n"
"\t--sim-address ADDR set address string for simulator\n"
"\t--sim-port-in PORT set port num for simulator in\n"
"\t--sim-port-out PORT set port num for simulator out\n"
"\t--irlock-port PORT set port num for irlock\n"
);
}
static const struct {
const char *name;
Aircraft *(*constructor)(const char *frame_str);
} model_constructors[] = {
{ "quadplane", QuadPlane::create },
{ "xplane", XPlane::create },
{ "firefly", QuadPlane::create },
{ "+", MultiCopter::create },
{ "quad", MultiCopter::create },
{ "copter", MultiCopter::create },
{ "x", MultiCopter::create },
{ "bfx", MultiCopter::create },
{ "djix", MultiCopter::create },
{ "cwx", MultiCopter::create },
{ "hexa", MultiCopter::create },
{ "octa", MultiCopter::create },
{ "dodeca-hexa", MultiCopter::create },
{ "tri", MultiCopter::create },
{ "y6", MultiCopter::create },
{ "heli", Helicopter::create },
{ "heli-dual", Helicopter::create },
{ "heli-compound", Helicopter::create },
{ "singlecopter", SingleCopter::create },
{ "coaxcopter", SingleCopter::create },
{ "rover", SimRover::create },
{ "balancebot", BalanceBot::create },
{ "sailboat", Sailboat::create },
{ "motorboat", MotorBoat::create },
{ "crrcsim", CRRCSim::create },
{ "jsbsim", JSBSim::create },
{ "flightaxis", FlightAxis::create },
{ "gazebo", Gazebo::create },
{ "last_letter", last_letter::create },
{ "tracker", Tracker::create },
{ "balloon", Balloon::create },
{ "plane", Plane::create },
{ "calibration", Calibration::create },
{ "vectored", Submarine::create },
{ "silentwings", SilentWings::create },
{ "morse", Morse::create },
{ "airsim", AirSim::create},
{ "scrimmage", Scrimmage::create },
{ "webots", Webots::create },
};
void SITL_State::_set_signal_handlers(void) const
{
struct sigaction sa_fpe = {};
sigemptyset(&sa_fpe.sa_mask);
sa_fpe.sa_handler = _sig_fpe;
sigaction(SIGFPE, &sa_fpe, nullptr);
struct sigaction sa_pipe = {};
sigemptyset(&sa_pipe.sa_mask);
sa_pipe.sa_handler = SIG_IGN; /* No-op SIGPIPE handler */
sigaction(SIGPIPE, &sa_pipe, nullptr);
struct sigaction sa_segv = {};
sigemptyset(&sa_segv.sa_mask);
sa_segv.sa_handler = _sig_segv;
sigaction(SIGSEGV, &sa_segv, nullptr);
}
void SITL_State::_parse_command_line(int argc, char * const argv[])
{
int opt;
float speedup = 1.0f;
_instance = 0;
_synthetic_clock_mode = false;
// default to CMAC
const char *home_str = nullptr;
const char *model_str = nullptr;
_use_fg_view = true;
char *autotest_dir = nullptr;
_fg_address = "127.0.0.1";
const char* config = "";
const int BASE_PORT = 5760;
const int RCIN_PORT = 5501;
const int FG_VIEW_PORT = 5503;
_base_port = BASE_PORT;
_rcin_port = RCIN_PORT;
_fg_view_port = FG_VIEW_PORT;
const int SIM_IN_PORT = 9003;
const int SIM_OUT_PORT = 9002;
const int IRLOCK_PORT = 9005;
const char * simulator_address = "127.0.0.1";
uint16_t simulator_port_in = SIM_IN_PORT;
uint16_t simulator_port_out = SIM_OUT_PORT;
_irlock_port = IRLOCK_PORT;
enum long_options {
CMDLINE_GIMBAL = 1,
CMDLINE_FGVIEW,
CMDLINE_AUTOTESTDIR,
CMDLINE_DEFAULTS,
CMDLINE_UARTA,
CMDLINE_UARTB,
CMDLINE_UARTC,
CMDLINE_UARTD,
CMDLINE_UARTE,
CMDLINE_UARTF,
CMDLINE_UARTG,
CMDLINE_UARTH,
CMDLINE_RTSCTS,
CMDLINE_BASE_PORT,
CMDLINE_RCIN_PORT,
CMDLINE_SIM_ADDRESS,
CMDLINE_SIM_PORT_IN,
CMDLINE_SIM_PORT_OUT,
CMDLINE_IRLOCK_PORT,
};
const struct GetOptLong::option options[] = {
{"help", false, 0, 'h'},
{"wipe", false, 0, 'w'},
{"unhide-groups", false, 0, 'u'},
{"speedup", true, 0, 's'},
{"rate", true, 0, 'r'},
{"console", false, 0, 'C'},
{"instance", true, 0, 'I'},
{"param", true, 0, 'P'},
{"synthetic-clock", false, 0, 'S'},
{"home", true, 0, 'O'},
{"model", true, 0, 'M'},
{"config", true, 0, 'c'},
{"fg", true, 0, 'F'},
{"gimbal", false, 0, CMDLINE_GIMBAL},
{"disable-fgview", false, 0, CMDLINE_FGVIEW},
{"autotest-dir", true, 0, CMDLINE_AUTOTESTDIR},
{"defaults", true, 0, CMDLINE_DEFAULTS},
{"uartA", true, 0, CMDLINE_UARTA},
{"uartB", true, 0, CMDLINE_UARTB},
{"uartC", true, 0, CMDLINE_UARTC},
{"uartD", true, 0, CMDLINE_UARTD},
{"uartE", true, 0, CMDLINE_UARTE},
{"uartF", true, 0, CMDLINE_UARTF},
{"uartG", true, 0, CMDLINE_UARTG},
{"uartH", true, 0, CMDLINE_UARTH},
{"rtscts", false, 0, CMDLINE_RTSCTS},
{"base-port", true, 0, CMDLINE_BASE_PORT},
{"rc-in-port", true, 0, CMDLINE_RCIN_PORT},
{"sim-address", true, 0, CMDLINE_SIM_ADDRESS},
{"sim-port-in", true, 0, CMDLINE_SIM_PORT_IN},
{"sim-port-out", true, 0, CMDLINE_SIM_PORT_OUT},
{"irlock-port", true, 0, CMDLINE_IRLOCK_PORT},
{0, false, 0, 0}
};
if (asprintf(&autotest_dir, SKETCHBOOK "/Tools/autotest") <= 0) {
AP_HAL::panic("out of memory");
}
_set_signal_handlers();
setvbuf(stdout, (char *)0, _IONBF, 0);
setvbuf(stderr, (char *)0, _IONBF, 0);
GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:",
options);
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'w':
AP_Param::erase_all();
unlink(AP_Logger_SITL::filename);
break;
case 'u':
AP_Param::set_hide_disabled_groups(false);
break;
case 's':
speedup = strtof(gopt.optarg, nullptr);
char speedup_string[18];
snprintf(speedup_string, sizeof(speedup_string), "SIM_SPEEDUP=%s", gopt.optarg);
_set_param_default(speedup_string);
break;
case 'r':
_framerate = (unsigned)atoi(gopt.optarg);
break;
case 'C':
HALSITL::UARTDriver::_console = true;
break;
case 'I': {
_instance = atoi(gopt.optarg);
if (_base_port == BASE_PORT) {
_base_port += _instance * 10;
}
if (_rcin_port == RCIN_PORT) {
_rcin_port += _instance * 10;
}
if (_fg_view_port == FG_VIEW_PORT) {
_fg_view_port += _instance * 10;
}
if (simulator_port_in == SIM_IN_PORT) {
simulator_port_in += _instance * 10;
}
if (simulator_port_out == SIM_OUT_PORT) {
simulator_port_out += _instance * 10;
}
if (_irlock_port == IRLOCK_PORT) {
_irlock_port += _instance * 10;
}
}
break;
case 'P':
_set_param_default(gopt.optarg);
break;
case 'S':
_synthetic_clock_mode = true;
break;
case 'O':
home_str = gopt.optarg;
break;
case 'M':
model_str = gopt.optarg;
break;
case 'c':
config = gopt.optarg;
break;
case 'F':
_fg_address = gopt.optarg;
break;
case CMDLINE_GIMBAL:
enable_gimbal = true;
break;
case CMDLINE_FGVIEW:
_use_fg_view = false;
break;
case CMDLINE_AUTOTESTDIR:
autotest_dir = strdup(gopt.optarg);
break;
case CMDLINE_DEFAULTS:
defaults_path = strdup(gopt.optarg);
break;
case CMDLINE_UARTA:
case CMDLINE_UARTB:
case CMDLINE_UARTC:
case CMDLINE_UARTD:
case CMDLINE_UARTE:
case CMDLINE_UARTF:
case CMDLINE_UARTG:
case CMDLINE_UARTH:
_uart_path[opt - CMDLINE_UARTA] = gopt.optarg;
break;
case CMDLINE_RTSCTS:
_use_rtscts = true;
break;
case CMDLINE_BASE_PORT:
_base_port = atoi(gopt.optarg);
break;
case CMDLINE_RCIN_PORT:
_rcin_port = atoi(gopt.optarg);
break;
case CMDLINE_SIM_ADDRESS:
simulator_address = gopt.optarg;
break;
case CMDLINE_SIM_PORT_IN:
simulator_port_in = atoi(gopt.optarg);
break;
case CMDLINE_SIM_PORT_OUT:
simulator_port_out = atoi(gopt.optarg);
break;
case CMDLINE_IRLOCK_PORT:
_irlock_port = atoi(gopt.optarg);
break;
default:
_usage();
exit(1);
}
}
if (!model_str) {
printf("You must specify a vehicle model\n");
exit(1);
}
for (uint8_t i=0; i < ARRAY_SIZE(model_constructors); i++) {
if (strncasecmp(model_constructors[i].name, model_str, strlen(model_constructors[i].name)) == 0) {
// printf("Creating model %f,%f,%f,%f at speed %.1f\n", opos.lat, opos.lng, opos.alt, opos.hdg, speedup);
sitl_model = model_constructors[i].constructor(model_str);
if (home_str != nullptr) {
Location home;
float home_yaw;
if (!parse_home(home_str, home, home_yaw)) {
::printf("Failed to parse home string (%s). Should be LAT,LON,ALT,HDG e.g. 37.4003371,-122.0800351,0,353\n", home_str);
exit(1);
}
sitl_model->set_start_location(home, home_yaw);
}
sitl_model->set_interface_ports(simulator_address, simulator_port_in, simulator_port_out);
sitl_model->set_speedup(speedup);
sitl_model->set_instance(_instance);
sitl_model->set_autotest_dir(autotest_dir);
sitl_model->set_config(config);
_synthetic_clock_mode = true;
break;
}
}
if (sitl_model == nullptr) {
printf("Vehicle model (%s) not found\n", model_str);
exit(1);
}
fprintf(stdout, "Starting sketch '%s'\n", SKETCH);
if (strcmp(SKETCH, "ArduCopter") == 0) {
_vehicle = ArduCopter;
if (_framerate == 0) {
_framerate = 200;
}
} else if (strcmp(SKETCH, "APMrover2") == 0) {
_vehicle = APMrover2;
if (_framerate == 0) {
_framerate = 50;
}
// set right default throttle for rover (allowing for reverse)
pwm_input[2] = 1500;
} else if (strcmp(SKETCH, "ArduSub") == 0) {
_vehicle = ArduSub;
for(uint8_t i = 0; i < 8; i++) {
pwm_input[i] = 1500;
}
} else {
_vehicle = ArduPlane;
if (_framerate == 0) {
_framerate = 50;
}
}
_sitl_setup(home_str);
}
/*
parse a home string into a location and yaw
*/
bool SITL_State::parse_home(const char *home_str, Location &loc, float &yaw_degrees)
{
char *saveptr = nullptr;
char *s = strdup(home_str);
if (!s) {
free(s);
::printf("No home string supplied\n");
return false;
}
char *lat_s = strtok_r(s, ",", &saveptr);
if (!lat_s) {
free(s);
::printf("Failed to parse latitude\n");
return false;
}
char *lon_s = strtok_r(nullptr, ",", &saveptr);
if (!lon_s) {
free(s);
::printf("Failed to parse longitude\n");
return false;
}
char *alt_s = strtok_r(nullptr, ",", &saveptr);
if (!alt_s) {
free(s);
::printf("Failed to parse altitude\n");
return false;
}
char *yaw_s = strtok_r(nullptr, ",", &saveptr);
if (!yaw_s) {
free(s);
::printf("Failed to parse yaw\n");
return false;
}
loc = {};
loc.lat = static_cast<int32_t>(strtod(lat_s, nullptr) * 1.0e7);
loc.lng = static_cast<int32_t>(strtod(lon_s, nullptr) * 1.0e7);
loc.alt = static_cast<int32_t>(strtod(alt_s, nullptr) * 1.0e2);
if (loc.lat == 0 && loc.lng == 0) {
// default to CMAC instead of middle of the ocean. This makes
// SITL in MissionPlanner a bit more useful
loc.lat = -35.363261*1e7;
loc.lng = 149.165230*1e7;
loc.alt = 584*100;
}
yaw_degrees = strtof(yaw_s, nullptr);
free(s);
return true;
}
#endif