From 1926c7bca716fbd41f9636674bc5d663bfd80254 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 12 Dec 2016 22:32:34 +0100
Subject: [PATCH] Revert "Implement the way to run posix simulator directly
from IDE without the need to reconfigure command lines, but use runner
created via CMake"
This reverts commit fff493474356f34c32075cc4f67e50d787efa7a2.
---
Tools/sitl_run.sh | 9 -
src/firmware/posix/CMakeLists.txt | 219 +++++++++-----------
src/platforms/posix/main.cpp | 6 -
src/platforms/posix/sitl_runner_main.cpp.in | 53 -----
4 files changed, 95 insertions(+), 192 deletions(-)
delete mode 100644 src/platforms/posix/sitl_runner_main.cpp.in
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 7703b0171b..563c10a993 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -135,15 +135,6 @@ then
elif [ "$debugger" == "valgrind" ]
then
valgrind $sitl_command
-elif [ "$debugger" == "ide" ]
-then
- echo "######################################################################"
- echo
- echo "PX4 simulator not started, use your IDE to start PX4_${model} target."
- echo "Hit enter to quit..."
- echo
- echo "######################################################################"
- read
else
$sitl_command
fi
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 854a0b9fb1..d1057fbfa0 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -4,137 +4,122 @@ px4_posix_generate_builtin_commands(
OUT apps
MODULE_LIST ${module_libraries})
+if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
-function(px4_add_sitl_app)
- px4_parse_function_args(
- NAME px4_add_sitl_app
- ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME
- REQUIRED APP_NAME MAIN_SRC
- ARGN ${ARGN})
-
- if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
-
- include(fastrpc)
- include(linux_app)
-
- FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
-
- set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
- LINUX_APP(
- APP_NAME ${APP_NAME}
- IDL_NAME px4muorb
- APPS_DEST "/home/linaro"
- SOURCES
- px4muorb_stub.c
- ${MAIN_SRC}
- apps.cpp
- LINK_LIBS
- -Wl,--start-group
- ${module_libraries}
- ${df_driver_libs}
- ${FASTRPC_ARM_LIBS}
- pthread m rt
- -Wl,--end-group
- )
-
- px4_add_adb_push(OUT ${UPLOAD_NAME}
- OS ${OS}
- BOARD ${BOARD}
- FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
- ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
- DEPENDS ${APP_NAME}
- DEST /home/linaro)
+ include(fastrpc)
+ include(linux_app)
- elseif ("${BOARD}" STREQUAL "rpi")
+ FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
- px4_add_executable(${APP_NAME}
- ${MAIN_SRC}
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
+ LINUX_APP(
+ APP_NAME px4
+ IDL_NAME px4muorb
+ APPS_DEST "/home/linaro"
+ SOURCES
+ px4muorb_stub.c
+ ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.cpp
- )
-
- target_link_libraries(${APP_NAME}
+ LINK_LIBS
-Wl,--start-group
${module_libraries}
- df_driver_framework
${df_driver_libs}
+ ${FASTRPC_ARM_LIBS}
pthread m rt
-Wl,--end-group
- )
+ )
- file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
- px4_add_scp_push(OUT ${UPLOAD_NAME}
- OS ${OS}
- BOARD ${BOARD}
- FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
- ${RPI_CONFIG_FILES}
- ${PX4_SOURCE_DIR}/ROMFS
- DEPENDS ${APP_NAME}
- DEST /home/pi)
+ px4_add_adb_push(OUT upload
+ OS ${OS}
+ BOARD ${BOARD}
+ FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
+ ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
+ DEPENDS px4
+ DEST /home/linaro)
- elseif ("${BOARD}" STREQUAL "bebop")
+elseif ("${BOARD}" STREQUAL "rpi")
- set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
+ px4_add_executable(px4
+ ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+ apps.cpp
+ )
- px4_add_executable(${APP_NAME}
- ${MAIN_SRC}
- apps.cpp
- )
+ target_link_libraries(px4
+ -Wl,--start-group
+ ${module_libraries}
+ df_driver_framework
+ ${df_driver_libs}
+ pthread m rt
+ -Wl,--end-group
+ )
- if (NOT APPLE)
- target_link_libraries(${APP_NAME}
- -Wl,--start-group
- ${module_libraries}
- ${df_driver_libs}
- pthread m rt
- -Wl,--end-group
- )
- else()
- target_link_libraries(${APP_NAME}
- ${module_libraries}
- ${df_driver_libs}
- pthread m
- )
- endif()
+ file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
+ px4_add_scp_push(OUT upload
+ OS ${OS}
+ BOARD ${BOARD}
+ FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
+ ${RPI_CONFIG_FILES}
+ ${PX4_SOURCE_DIR}/ROMFS
+ DEPENDS px4
+ DEST /home/pi)
- px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
- OS ${OS}
- BOARD ${BOARD}
- FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
- DEPENDS ${APP_NAME}
- DEST /usr/bin)
+elseif ("${BOARD}" STREQUAL "bebop")
- else()
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
- px4_add_executable(${APP_NAME}
- ${MAIN_SRC}
- apps.cpp
- )
+ px4_add_executable(px4
+ ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+ apps.cpp
+ )
- if (NOT APPLE)
- target_link_libraries(${APP_NAME}
- -Wl,--start-group
- ${module_libraries}
- ${df_driver_libs}
- pthread m rt
- -Wl,--end-group
- )
- else()
- target_link_libraries(${APP_NAME}
- ${module_libraries}
- ${df_driver_libs}
- pthread m
- )
- endif()
+ if (NOT APPLE)
+ target_link_libraries(px4
+ -Wl,--start-group
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m rt
+ -Wl,--end-group
+ )
+ else()
+ target_link_libraries(px4
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m
+ )
endif()
-endfunction()
-SET(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
-px4_add_sitl_app(APP_NAME px4
- UPLOAD_NAME upload
- MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
+ px4_add_adb_push_to_bebop(OUT upload
+ OS ${OS}
+ BOARD ${BOARD}
+ FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
+ DEPENDS px4
+ DEST /usr/bin)
+
+else()
+
+ px4_add_executable(px4
+ ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+ apps.cpp
)
+ if (NOT APPLE)
+ target_link_libraries(px4
+ -Wl,--start-group
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m rt
+ -Wl,--end-group
+ )
+ else()
+ target_link_libraries(px4
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m
+ )
+ endif()
+endif()
+
#=============================================================================
# sitl run targets
#
@@ -167,7 +152,7 @@ set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
# create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo replay)
-set(debuggers none ide gdb lldb ddd valgrind)
+set(debuggers none gdb lldb ddd valgrind)
set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
set(all_posix_vmd_make_targets)
foreach(viewer ${viewers})
@@ -186,20 +171,6 @@ foreach(viewer ${viewers})
set(_targ_name "${viewer}_${model}_${debugger}")
endif()
endif()
-
- if (debugger STREQUAL "ide" AND viewer STREQUAL "gazebo")
- SET(SITL_RUNNER_SOURCE_DIR ${PX4_SOURCE_DIR})
- SET(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
- SET(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
-
- CONFIGURE_FILE(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
-
- px4_add_sitl_app(APP_NAME px4_${model}
- UPLOAD_NAME upload_${model}
- MAIN_SRC ${CMAKE_CURRENT_BINARY_DIR}/sitl_runner_main_${model}.cpp
- )
- endif()
-
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
diff --git a/src/platforms/posix/main.cpp b/src/platforms/posix/main.cpp
index d861d292b4..cef7470933 100644
--- a/src/platforms/posix/main.cpp
+++ b/src/platforms/posix/main.cpp
@@ -286,13 +286,7 @@ static void set_cpu_scaling()
#endif
}
-#ifdef __PX4_SITL_MAIN_OVERRIDE
-int SITL_MAIN(int argc, char **argv);
-
-int SITL_MAIN(int argc, char **argv)
-#else
int main(int argc, char **argv)
-#endif
{
bool daemon_mode = false;
bool chroot_on = false;
diff --git a/src/platforms/posix/sitl_runner_main.cpp.in b/src/platforms/posix/sitl_runner_main.cpp.in
deleted file mode 100644
index 22d981b882..0000000000
--- a/src/platforms/posix/sitl_runner_main.cpp.in
+++ /dev/null
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2015 Anton Matosov. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file sitl_runner_main.cpp
- * Basic shell to execute px4 with specific model
- *
- * @author Anton Matosov <anton.matosov@gmail.com>
- */
-
-#include <unistd.h>
-
-#define __PX4_SITL_MAIN_OVERRIDE
-#include "@SITL_RUNNER_MAIN_CPP@"
-
-int main(int argc, const char **argv)
-{
- if (chdir("@SITL_RUNNER_WORKING_DIRECTORY@") != 0) {
- PX4_ERR("Failed to change current directory to @SITL_RUNNER_WORKING_DIRECTORY@. error %i", errno);
- return errno;
- }
- const char *argsOverride[] = {argv[0], "@SITL_RUNNER_SOURCE_DIR@", "@SITL_RUNNER_MODEL_FILE@"};
- return SITL_MAIN(sizeof(argsOverride) / sizeof(argsOverride[0]), (char**)argsOverride);
-}
\ No newline at end of file
--
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