mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Michal Podhradsky
190 lines
8.4 KiB
Python
Executable File
190 lines
8.4 KiB
Python
Executable File
#! /usr/bin/env python
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# Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
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#
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# This file is part of Paparazzi.
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#
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# Paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# Paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with Paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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from __future__ import print_function
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import sys
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import os
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import subprocess
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from optparse import OptionParser, OptionGroup, OptionValueError
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def spektrum_callback(option, opt_str, value, parser):
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if not os.path.exists(value):
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raise OptionValueError("Spektrum device %s not found" % value)
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else:
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parser.values.spektrum_dev = value
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def main():
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usage = "usage: %prog -a <ac_name> -t <sim_type> [sim arguments]\nRun %prog --help to list the options."
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parser = OptionParser(usage)
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parser.add_option("-a", "--aircraft", dest="ac_name",
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action="store", metavar="NAME",
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help="Aircraft name to use")
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parser.add_option("-t", "--type", dest="simtype",
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type='choice', choices=['sim', 'nps','hitl'],
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action="store", default=None,
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help="Simulator type to start: sim or nps")
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parser.add_option("-b", "--ivy_bus", dest="ivy_bus", action="store",
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metavar="BUS", help="Ivy Bus broadcast address (127.255.255.255)")
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parser.add_option("-f", "--fg_host", dest="fg_host", action="store", metavar="HOST",
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help="Host for FlightGear visualization (e.g. 127.0.0.1)")
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parser.add_option("-v", "--verbose",
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action="store_true", dest="verbose")
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parser.add_option("--norc", dest="norc", action="store_true",
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help="Hide the simulated RC")
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# special options for the fixedwing OCaml sim
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ocamlsim_opts = OptionGroup(parser, "Simple fixedwing OCaml Simulator Options",
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"These are only relevant to the simple fixedwing OCaml sim")
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ocamlsim_opts.add_option("--boot", dest="boot", action="store_true",
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help="Boot the aircraft on start")
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#ocamlsim_opts.add_option("--norc", dest="norc", action="store_true",
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# help="Hide the simulated RC")
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ocamlsim_opts.add_option("--noground", dest="noground", action="store_true",
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help="Disable ground detection")
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ocamlsim_opts.add_option("--launch", dest="launch", action="store_true",
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help="Launch the aircraft on startup")
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# special options for NPS
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nps_opts = OptionGroup(parser, "NPS Options", "These are only relevant to the NPS sim")
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nps_opts.add_option("-p", "--fg_port", dest="fg_port", metavar="PORT",
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type="int", default=5501, action="store",
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help="Port on FlightGear host to connect to (Default: %default)")
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nps_opts.add_option("-P", "--fg_port_in", dest="fg_port_in", metavar="PORT_IN",
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type="int", default=5502, action="store",
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help="Port to receive from FlightGear host (Default: %default)")
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nps_opts.add_option("--fg_time_offset", type="int", action="store", metavar="SEC",
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help="FlightGear time offset in seconds (e.g. 21600 for 6h)")
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nps_opts.add_option("-j", "--js_dev", dest="js_dev", metavar="IDX",
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type="int", default=-1, action="store",
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help="Use joystick with specified index (e.g. 0)")
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nps_opts.add_option("--spektrum_dev", type="string", action="callback",
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callback=spektrum_callback, metavar="DEV",
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help="Spektrum device to use (e.g. /dev/ttyUSB0)")
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nps_opts.add_option("--rc_script", type="int", action="store", metavar="NO",
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help="Number of RC script to use")
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nps_opts.add_option("--time_factor", type="float", action="store", metavar="factor",
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help="Time factor (default 1.0)")
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nps_opts.add_option("--fg_fdm", action="store_true",
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help="Use FlightGear native-fdm protocol instead of native-gui")
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nps_opts.add_option("--nodisplay", dest="nodisplay", action="store_true",
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help="Don't send NPS Ivy messages")
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parser.add_option_group(ocamlsim_opts)
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parser.add_option_group(nps_opts)
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(options, args) = parser.parse_args()
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if not options.ac_name:
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parser.error("Please specify the aircraft name.")
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# get environment
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paparazzi_home = os.environ['PAPARAZZI_HOME']
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if not paparazzi_home:
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paparazzi_home = os.getcwd()
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if options.verbose:
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print("Using "+paparazzi_home+" as Paparazzi home dir.")
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ac_dir = os.path.join(paparazzi_home, "var", "aircrafts", options.ac_name)
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# if sim type not explicitly specified: check which one is built
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if options.simtype is None:
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nps_sitl = os.path.join(ac_dir, "nps", "simsitl")
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nps_sitl = nps_sitl if os.path.isfile(nps_sitl) else None
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sim_sitl = os.path.join(ac_dir, "sim", "simsitl")
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sim_sitl = sim_sitl if os.path.isfile(sim_sitl) else None
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if nps_sitl and sim_sitl:
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print("Error: Both sim and nps targets built for aircraft " + options.ac_name + ". Please specify sim type to use...")
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sys.exit(1)
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elif nps_sitl is None and sim_sitl is None:
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print("Error: No simulator target (sim or nps) built for aircraft " + options.ac_name)
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sys.exit(1)
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else:
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options.simtype = "nps" if nps_sitl is not None else "sim"
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simargs = []
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if options.simtype == "sim":
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if options.boot:
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simargs.append("-boot")
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if options.norc:
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simargs.append("-norc")
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if options.noground:
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simargs.append("-noground")
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if options.launch:
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simargs.append("-launch")
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if options.ivy_bus:
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simargs.append("-b")
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simargs.append(options.ivy_bus)
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if options.fg_host:
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simargs.append("-fg")
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simargs.append(options.fg_host)
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elif (options.simtype == "nps") or (options.simtype == "hitl"):
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if options.fg_host:
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simargs.append("--fg_host")
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simargs.append(options.fg_host)
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simargs.append("--fg_port")
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simargs.append(str(options.fg_port))
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simargs.append("--fg_port_in")
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simargs.append(str(options.fg_port_in))
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if options.fg_time_offset:
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simargs.append("--fg_time_offset")
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simargs.append(str(options.fg_time_offset))
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if options.js_dev is not -1:
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simargs.append("--js_dev")
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simargs.append(str(options.js_dev))
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if options.spektrum_dev:
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simargs.append("--spektrum_dev")
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simargs.append(options.spektrum_dev)
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if options.rc_script:
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simargs.append("--rc_script")
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simargs.append(options.rc_script)
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if options.norc:
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simargs.append("--norc")
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if options.ivy_bus:
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simargs.append("--ivy_bus")
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simargs.append(options.ivy_bus)
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if options.time_factor:
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simargs.append("--time_factor")
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simargs.append(str(options.time_factor))
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if options.fg_fdm:
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simargs.append("--fg_fdm")
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if options.nodisplay:
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simargs.append("--nodisplay")
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else:
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parser.error("Please specify a valid sim type.")
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# pass additional args through to the sim
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simargs += args
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simsitl = os.path.join(ac_dir, options.simtype, "simsitl")
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if not os.path.isfile(simsitl):
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print("Error: " + simsitl + " is missing. Is target " + options.simtype + " built for aircraft " + options.ac_name + "?")
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sys.exit(1)
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if options.verbose:
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print("Launching "+options.simtype+" simulator with arguments: "+' '.join(simargs))
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# start the simulator, replacing this process
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os.execv(simsitl, [simsitl] + simargs)
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if __name__ == "__main__":
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main()
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