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fix(px4): refine multi-instance work_dir defaults

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Tighten the auto per-instance work_dir behavior to match Linux defaults
for single-daemon launches:

- Trigger only when -i N (N >= 1) is explicitly given. The primary
  instance (-i 0 or no -i) now stays in the launch cwd, matching the
  historical PX4 SITL single-daemon convention.

- Resolve commands_file robustly when data_path is itself a rootfs
  ending in /etc (the typical Windows / multi-instance launcher
  convention). The default "etc/init.d-posix/rcS" now combines with
  data_path either as-is or with its leading "etc/" stripped, picking
  whichever exists. Falls back to launch_cwd-relative for non-default
  scripts.

Signed-off-by: Nuno Marques <n.marques21@hotmail.com>
This commit is contained in:
Nuno Marques
2026-05-05 23:50:04 -07:00
parent 7808aa2498
commit c4d1167658
1 changed files with 38 additions and 18 deletions
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platforms/posix/src/px4/common/main.cpp
+38 -18
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@@ -423,18 +423,23 @@ int main(int argc, char **argv)
commands_file = "etc/init.d-posix/rcS";
}
// Sister-isolation: when -i N is given but neither -w nor a platform
// default (PX4_INSTALL_PREFIX rootfs, PX4_BINARY_DIR/rootfs) supplied a
// working_directory, derive a per-instance "instance_<N>/" under the
// launch cwd. Without this, multiple daemons in the same cwd (a common
// ad-hoc / IDE launch pattern) clobber each other's parameters.bson,
// dataman, and log/ files: a sister daemon can boot, load another
// instance's saved parameters (e.g. MAV_SYS_ID), and a mavlink client
// connecting to the shared port can land arm/mission commands on the
// wrong vehicle. sitl_multiple_run.sh already does this externally;
// promoting it to the binary default closes the footgun for direct
// launches. Explicit -w still wins.
if (instance_provided && working_directory.empty()) {
// Sister-isolation: when -i N (N >= 1) is given but neither -w nor a
// platform default (PX4_INSTALL_PREFIX rootfs, PX4_BINARY_DIR/rootfs)
// supplied a working_directory, derive a per-instance "instance_<N>/"
// under the launch cwd. Without this, multiple daemons in the same
// cwd (a common ad-hoc / IDE launch pattern) clobber each other's
// parameters.bson, dataman, and log/ files: a sister daemon can
// boot, load another instance's saved parameters (e.g. MAV_SYS_ID),
// and a mavlink client connecting to the shared port can land
// arm/mission commands on the wrong vehicle. sitl_multiple_run.sh
// already does this externally; promoting it to the binary default
// closes the footgun for direct multi-instance launches.
//
// The primary instance (-i 0 or no -i) keeps the bare-cwd behavior
// to match the historical Linux default for single-daemon dev runs;
// only -i N >= 1 signals multi-instance intent. Explicit -w still
// wins for either case.
if (instance > 0 && working_directory.empty()) {
working_directory = "instance_" + std::to_string(instance);
PX4_INFO("auto work_dir: %s (use -w to override)", working_directory.c_str());
}
@@ -461,13 +466,28 @@ int main(int argc, char **argv)
if (!commands_file.empty() && !is_absolute_path(commands_file)) {
// Prefer rebasing onto data_path (which now is absolute) so the
// rcS default resolves even when the work_dir has no `etc`
// symlink. Fall back to launch_cwd for non-default scripts.
const std::string via_data = !data_path.empty()
? data_path + "/" + commands_file
: std::string();
// symlink. data_path may itself end in /etc (the typical
// Windows / multi-instance launcher convention passes
// <build>/etc as the rootfs), in which case the default
// commands_file = "etc/init.d-posix/rcS" must drop its
// leading "etc/" before combining or the result is double-
// prefixed. Try the as-is form first, then the stripped form,
// then fall back to launch_cwd for non-default scripts.
const std::string as_is = !data_path.empty()
? data_path + "/" + commands_file
: std::string();
if (!via_data.empty() && file_exists(via_data)) {
commands_file = via_data;
std::string stripped;
if (!data_path.empty() && commands_file.compare(0, 4, "etc/") == 0) {
stripped = data_path + "/" + commands_file.substr(4);
}
if (!as_is.empty() && file_exists(as_is)) {
commands_file = as_is;
} else if (!stripped.empty() && file_exists(stripped)) {
commands_file = stripped;
} else {
commands_file = launch_cwd + "/" + commands_file;