Revert "Improvements to SITL to make paths more flexible. (#5181)"

This reverts commit 699b6a2.

CMakeLists.txt

@@ -121,14 +121,6 @@
 # and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
-
-execute_process(
-	COMMAND Tools/check_submodules.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
 # Use clang
 #SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
 #SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -163,9 +155,6 @@ message(STATUS "${target_name}")
 # Define GNU standard installation directories
 include(GNUInstallDirs)
 
-# Add support for external project building
-include(ExternalProject)
-
 # Setup install paths
 if(NOT CMAKE_INSTALL_PREFIX)
 	if (${OS} STREQUAL "posix")
@@ -174,8 +163,12 @@ if(NOT CMAKE_INSTALL_PREFIX)
 endif()
 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
+# switch to ros CMake file if building ros
+if (${OS} STREQUAL "ros")
+	include("cmake/ros-CMakeLists.txt")
+else()  # otherwise use the rest of this file
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -206,9 +199,6 @@ if(DEFINED config_df_driver_list)
 	message("DF Drivers: ${config_df_driver_list}")
 endif()
 
-# force static lib build
-set(BUILD_SHARED_LIBS OFF)
-
 #=============================================================================
 # project definition
 #
@@ -229,22 +219,8 @@ set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "[email protected]")
 
 #=============================================================================
-# find programs and packages
+# programs
 #
-
-# see if catkin was invoked to build this
-if (CATKIN_DEVEL_PREFIX)
-	message(STATUS "catkin ENABLED")
-	find_package(catkin REQUIRED)
-	if (catkin_FOUND)
-		catkin_package()
-	else()
-		message(FATAL_ERROR "catkin not found")
-	endif()
-else()
-	message(STATUS "catkin DISABLED")
-endif()
-
 find_package(PythonInterp REQUIRED)
 
 #=============================================================================
@@ -281,7 +257,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
 add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	COMMAND git submodule deinit -f .
 	COMMAND rm -rf .git/modules/*
 	)
@@ -291,12 +267,12 @@ add_custom_target(submodule_clean
 #
 add_custom_target(check_format
 	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	)
 
 add_custom_target(config
 	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 	)
 
 #=============================================================================
@@ -345,7 +321,7 @@ add_custom_target(xml_gen
 # external projects
 #
 
-set(ep_base ${PX4_BINARY_DIR}/external)
+set(ep_base ${CMAKE_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
 # add external project install folders to build
@@ -374,7 +350,7 @@ foreach(module ${config_module_list})
 	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
+		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
 		add_subdirectory(src/${module})
 	endif()
@@ -399,7 +375,7 @@ endif()
 #=============================================================================
 # generate git version
 #
-px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
 
 #=============================================================================
 # packaging
@@ -418,14 +394,17 @@ set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
-set(CPACK_SET_DESTDIR "OFF")
 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
-	find_program(DPKG_PROGRAM dpkg)
-	if (EXISTS ${DPKG_PROGRAM})
-		list (APPEND CPACK_GENERATOR "DEB")
-	endif()
+  find_program(DPKG_PROGRAM dpkg)
+  if (EXISTS ${DPKG_PROGRAM})
+    list (APPEND CPACK_GENERATOR "DEB")
+  endif()
+endif()
+if (${OS} STREQUAL "posix")
+	set(CPACK_SET_DESTDIR "ON")
 endif()
 include(CPack)
 
+endif() # ros alternative endif
+
 # vim: set noet fenc=utf-8 ff=unix ft=cmake :

Makefile

@@ -111,23 +111,20 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
-SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
-+@(echo "PX4 CONFIG: $(BUILD_DIR)" && cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
++@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
++@Tools/check_submodules.sh
++@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
 define cmake-build-other
-+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
-+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@/Makefile ]; then rm -rf ./build_$@; fi
++@if [ ! -e ./build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@ && cd ./build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf ./build_$@); fi
++@(cd ./build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
 # create empty targets to avoid msgs for targets passed to cmake
@@ -236,8 +233,14 @@ run_sitl_ros: sitl_deprecation
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+
+gazebo_build:
+	@mkdir -p build_gazebo
+	@if [ ! -e ./build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) ../Tools/sitl_gazebo; fi
+	@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
+	@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
 
 uavcan_firmware:
 ifeq ($(VECTORCONTROL),1)
@@ -299,7 +302,11 @@ unittest: posix_sitl_default
 	@(cd build_unittest && ctest -j2 --output-on-failure)
 
 run_tests_posix: posix_sitl_default
-	@(cd build_posix_sitl_default/ && ctest -V)
+	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
+	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
+	@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
+	@(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
+	@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)
 
 tests: check_unittest run_tests_posix
 

Tools/sitl_run.sh

@@ -1,29 +1,22 @@
 #!/bin/bash
 
-set -e
-
-echo args: $@
-
-sitl_bin=$1
-rc_script=$2
-debugger=$3
-program=$4
-model=$5
-src_path=$6
-build_path=$7
+rc_script=$1
+debugger=$2
+program=$3
+model=$4
+build_path=$5
+curr_dir=`pwd`
 
 echo SITL ARGS
-
-echo sitl_bin: $sitl_bin
 echo rc_script: $rc_script
 echo debugger: $debugger
 echo program: $program
 echo model: $model
-echo src_path: $src_path
 echo build_path: $build_path
 
-working_dir=`pwd`
-sitl_bin=$build_path/src/firmware/posix/px4
+mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
+mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
+touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
 
 if [ "$chroot" == "1" ]
 then
@@ -42,36 +35,32 @@ fi
 
 if [ "$#" -lt 5 ]
 then
-	echo usage: sitl_run.sh rc_script debugger program model devel_path
+	echo usage: sitl_run.sh rc_script debugger program model build_path
 	echo ""
 	exit 1
 fi
 
-command_exists () {
-    type "$1" &> /dev/null ;
-}
-
 # kill process names that might stil
 # be running from last time
-pgrep gazebo && pkill gazebo
-pgrep px4 && pkill px4
-if command_exists jps
+pkill gazebo
+pkill px4
+jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
+if [ -n "$jmavsim_pid" ]
 then
-	jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
-	if [ -n "$jmavsim_pid" ]
-	then
-		kill $jmavsim_pid
-	fi
+	kill $jmavsim_pid
 fi
 
-cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
-cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
+set -e
+
+cd $build_path/..
+cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
+cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
 
 SIM_PID=0
 
 if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
 then
-	cd $src_path/Tools/jMAVSim
+	cd Tools/jMAVSim
 	ant create_run_jar copy_res
 	cd out/production
 	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
@@ -82,9 +71,15 @@ then
 	if [ -x "$(command -v gazebo)" ]
 	then
 		# Set the plugin path so Gazebo finds our model and sim
-		source /usr/share/gazebo/setup.sh
-		source $src_path/integrationtests/setup_gazebo_ros.bash ${src_path} ${build_path}
-		gzserver --verbose worlds/${model}.world &
+		export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
+		# Set the model path so Gazebo finds the airframes
+		export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
+		# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
+		# export GAZEBO_MODEL_DATABASE_URI=""
+		export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
+		make --no-print-directory gazebo_build
+
+		gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
 		SIM_PID=`echo $!`
 
 		if [[ -n "$HEADLESS" ]]; then
@@ -103,17 +98,17 @@ then
 	# This is not a simulator, but a log file to replay
 
 	# Check if we need to creat a param file to allow user to change parameters
-	if ! [ -f "$rootfs/replay_params.txt" ]
+	if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
 		then
-		touch $rootfs/replay_params.txt
+		touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
 	fi
 fi
 
-cd $working_dir
+cd $build_path/src/firmware/posix
 
 if [ "$logfile" != "" ]
 then
-	cp $logfile $rootfs/replay.px4log
+	cp $logfile rootfs/replay.px4log
 fi
 
 # Do not exit on failure now from here on because we want the complete cleanup
@@ -122,18 +117,18 @@ set +e
 # Start Java simulator
 if [ "$debugger" == "lldb" ]
 then
-	lldb -- $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+	lldb -- px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "gdb" ]
 then
-	gdb --args $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+	gdb --args px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "ddd" ]
 then
-	ddd --debugger gdb --args px4 $src_path $src_path/${rc_script}_${program}_${model}
+	ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "valgrind" ]
 then
-	valgrind $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+	valgrind ./px4 ../../../../${rc_script}_${program}_${model}
 else
-	$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${rc_script}_${program}_${model}
+	$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
 fi
 
 if [ "$program" == "jmavsim" ]