diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 563c10a99312a14fe0029b27864150031603257c..7703b0171ba03f34d4f6dc3d2c52a4b40ffb1876 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -135,6 +135,15 @@ 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 d1057fbfa0b0d85f6755b5b97cf327283e1dd5ca..854a0b9fb138a03a03239180ac87d9d37e071a57 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -4,122 +4,137 @@ px4_posix_generate_builtin_commands(
OUT apps
MODULE_LIST ${module_libraries})
-if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
- include(fastrpc)
- include(linux_app)
+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 ${APP_NAME}
+ DEST /home/linaro)
- FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
+ elseif ("${BOARD}" STREQUAL "rpi")
- 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
- ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+ px4_add_executable(${APP_NAME}
+ ${MAIN_SRC}
apps.cpp
- LINK_LIBS
+ )
+
+ target_link_libraries(${APP_NAME}
-Wl,--start-group
${module_libraries}
+ df_driver_framework
${df_driver_libs}
- ${FASTRPC_ARM_LIBS}
pthread m rt
-Wl,--end-group
- )
-
- 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 "rpi")
+ )
- px4_add_executable(px4
- ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
- apps.cpp
- )
+ 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)
- target_link_libraries(px4
- -Wl,--start-group
- ${module_libraries}
- df_driver_framework
- ${df_driver_libs}
- pthread m rt
- -Wl,--end-group
- )
+ elseif ("${BOARD}" STREQUAL "bebop")
- 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}
- ${PX4_SOURCE_DIR}/ROMFS
- DEPENDS px4
- DEST /home/pi)
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
-elseif ("${BOARD}" STREQUAL "bebop")
+ px4_add_executable(${APP_NAME}
+ ${MAIN_SRC}
+ apps.cpp
+ )
- set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
+ if (NOT APPLE)
+ target_link_libraries(${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()
- px4_add_executable(px4
- ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
- apps.cpp
- )
+ 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)
- 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()
- px4_add_adb_push_to_bebop(OUT upload
- OS ${OS}
- BOARD ${BOARD}
- FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
- DEPENDS px4
- DEST /usr/bin)
+ px4_add_executable(${APP_NAME}
+ ${MAIN_SRC}
+ apps.cpp
+ )
-else()
+ if (NOT APPLE)
+ target_link_libraries(${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()
+ endif()
+endfunction()
- px4_add_executable(px4
- ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
- apps.cpp
+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}
)
- 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
#
@@ -152,7 +167,7 @@ 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 gdb lldb ddd valgrind)
+set(debuggers none ide 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})
@@ -171,6 +186,20 @@ 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 cef7470933706dd32ad493e2e5b640bcbe534193..d861d292b4cb72a7b1c351a735dca13e1bd78813 100644
--- a/src/platforms/posix/main.cpp
+++ b/src/platforms/posix/main.cpp
@@ -286,7 +286,13 @@ 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
new file mode 100644
index 0000000000000000000000000000000000000000..22d981b882eb80165161e3accbcaec1de728714d
--- /dev/null
+++ b/src/platforms/posix/sitl_runner_main.cpp.in
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ * 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