mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-30 00:20:06 +08:00
1f484eef07
Make MAVLink, uXRCE-DDS, and simulator_mavlink tolerate Windows socket and daemon semantics while preserving the existing POSIX transport behavior. Update Gazebo Classic integration, SIH defaults, and multi-instance simulation scripts needed by the native Windows SITL workflow.
51 lines
1.5 KiB
Bash
Executable File
51 lines
1.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Run multiple instances of the 'px4' binary, without starting an external simulator.
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# It assumes px4 is already built with the specified build target.
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#
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# Usage: ./Tools/simulation/sitl_multiple_run.sh [num_instances] [model] [build_target]
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# Examples:
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# ./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih
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# ./Tools/simulation/sitl_multiple_run.sh 2 gazebo-classic_iris px4_sitl_default
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# ./Tools/simulation/sitl_multiple_run.sh # defaults: 2 instances, gazebo-classic_iris, px4_sitl_default
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#
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# Pass 0 instances to just stop everything currently running:
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# ./Tools/simulation/sitl_multiple_run.sh 0
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sitl_num=${1:-2}
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sim_model=${2:-gazebo-classic_iris}
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build_target=${3:-px4_sitl_default}
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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src_path="$SCRIPT_DIR/../../"
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build_path=${src_path}/build/${build_target}
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# Pick px4 vs px4.exe so this script also runs from Git Bash on Windows.
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px4_bin="$build_path/bin/px4"
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[ -x "$px4_bin.exe" ] && px4_bin="$px4_bin.exe"
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echo "killing running instances"
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if command -v pkill >/dev/null 2>&1; then
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pkill -x px4 || true
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fi
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if command -v taskkill >/dev/null 2>&1; then
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taskkill //IM px4.exe //F >/dev/null 2>&1 || true
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fi
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sleep 1
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export PX4_SIM_MODEL=${sim_model}
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n=0
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while [ $n -lt $sitl_num ]; do
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working_dir="$build_path/instance_$n"
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[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
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pushd "$working_dir" &>/dev/null
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echo "starting instance $n in $(pwd)"
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"$px4_bin" -i $n -d "$build_path/etc" >out.log 2>err.log &
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popd &>/dev/null
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n=$(($n + 1))
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done
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