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[sim] moving the old ocaml simulator to NPS (#3167)

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- the exact same basic model is now a NPS FDM
- sim target still woks, it is just an alias to NPS with the proper FDM
- the old ocaml files are removed
- AHRS and INS are bypassed, since the accelerations are not well calculated by the model
This commit is contained in:
Gautier Hattenberger
2023-11-07 10:21:12 +01:00
committed by GitHub
parent dfb08fa733
commit 41451d5422
52 changed files with 376 additions and 2304 deletions
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tests/sim/01_Microjet.t
-87
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@@ -1,87 +0,0 @@
#!/usr/bin/perl -w
use Test::More tests => 7;
use lib "$ENV{'PAPARAZZI_SRC'}/tests/lib";
use Program;
use Proc::Background;
$|++;
####################
# Make the airframe
my $make_compile_options = "AIRCRAFT=Microjet clean_ac sim";
my $compile_output = run_program(
"Attempting to build the sim firmware.",
$ENV{'PAPARAZZI_SRC'},
"make $make_compile_options",
0,1);
unlike($compile_output, '/Aircraft \'Microjet\' not found in/', "The compile output does not contain the message \"Aircraft \'Microjet\' not found in\"");
unlike($compile_output, '/\bError\b/i', "The compile output does not contain the word \"Error\"");
# Start the server process
my $server_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/server";
my @server_options = qw(-n);
my $server = Proc::Background->new($server_command, @server_options);
sleep 2; # The service should die in this time if there's an error
ok($server->alive(), "The server process started successfully");
# Start the pprzsim-launch process
my $pprzsim_command = "$ENV{'PAPARAZZI_HOME'}/sw/simulator/pprzsim-launch";
my @pprzsim_options = qw(-a Microjet --boot --norc);
sleep 2; # The service should die in this time if there's an error
my $pprzsim = Proc::Background->new($pprzsim_command, @pprzsim_options);
ok($pprzsim->alive(), "The pprzsim-launch process started successfully");
# Open the Ivy bus and read from it...
SKIP : {
skip "Skipping testing of the simulator since we can't load the Ivy module. Please install IO::Socket::Multicast", 1 unless eval("use Ivy; 1");
ok(1, "We can load the Ivy module.");
# TODO: learn how to read and write to the Ivy bus
}
# Shutdown the server and pprzsim-launch processes
ok($server->die(), "The server process shutdown successfully.");
ok($pprzsim->die(), "The pprzsim-launch process shutdown successfully.");
################################################################################
# functions used by this test script.
sub run_program
{
my $message = shift;
my $dir = shift;
my $command = shift;
my $verbose = shift;
my $dont_fail_on_error = shift;
warn "$message\n" if $verbose;
if (defined $dir)
{
$command = "cd $dir;" . $command;
}
my $prog = new Program("bash");
my $fh = $prog->open("-c \"$command\"");
warn "Running command: \"". $prog->last_command() ."\"\n" if $verbose;
$fh->autoflush(1);
my @output;
while (<$fh>)
{
warn $_ if $verbose;
chomp $_;
push @output, $_;
}
$fh->close;
my $exit_status = $?/256;
unless ($exit_status == 0)
{
if ($dont_fail_on_error)
{
warn "Error: The command \"". $prog->last_command() ."\" failed to complete successfully. Exit status: $exit_status\n" if $verbose;
}
else
{
die "Error: The command \"". $prog->last_command() ."\" failed to complete successfully. Exit status: $exit_status\n";
}
}
return wantarray ? @output : join "\n", @output;
}