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Tools: Use a single MAVProxy instance in sim_vehicle #15728

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Tools: Use a single MAVProxy instance in sim_vehicle #15728

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ad81295
Tools: Use a single MAVProxy instance in sim_vehicle
Oct 28, 2020
b56bf51
Tools: Fix mcast handling
Oct 29, 2021
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54 changes: 24 additions & 30 deletions Tools/autotest/sim_vehicle.py
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Expand Up @@ -722,6 +722,28 @@ def start_mavproxy(opts, stuff):
else:
cmd.append("mavproxy.py")

if opts.mcast:
cmd.extend(["--master", "mcast:"])

for i in instances:
if not opts.no_extra_ports:
ports = [p + 10 * i for p in [14550, 14551]]
for port in ports:
if os.path.isfile("/ardupilot.vagrant"):
# We're running inside of a vagrant guest; forward our
# mavlink out to the containing host OS
cmd.extend(["--out", "10.0.2.2:" + str(port)])
else:
cmd.extend(["--out", "127.0.0.1:" + str(port)])

if not opts.mcast:
if opts.udp:
cmd.extend(["--master", ":" + str(5760 + 10 * i)])
else:
cmd.extend(["--master", "tcp:127.0.0.1:" + str(5760 + 10 * i)])
if stuff["sitl-port"] and not opts.no_rcin:
cmd.extend(["--sitl", "127.0.0.1:" + str(5501 + 10 * i)])

if opts.tracker:
cmd.extend(["--load-module", "tracker"])
global tracker_uarta
Expand Down Expand Up @@ -802,36 +824,8 @@ def start_mavproxy(opts, stuff):
if old is not None:
env['PYTHONPATH'] += os.path.pathsep + old

old_dir = os.getcwd()
for i, i_dir in zip(instances, instance_dir):
c = []

if not opts.no_extra_ports:
ports = [p + 10 * i for p in [14550, 14551]]
for port in ports:
if os.path.isfile("/ardupilot.vagrant"):
# We're running inside of a vagrant guest; forward our
# mavlink out to the containing host OS
c.extend(["--out", "10.0.2.2:" + str(port)])
else:
c.extend(["--out", "127.0.0.1:" + str(port)])

if True:
if opts.mcast:
c.extend(["--master", "mcast:"])
elif opts.udp:
c.extend(["--master", ":" + str(5760 + 10 * i)])
else:
c.extend(["--master", "tcp:127.0.0.1:" + str(5760 + 10 * i)])
if stuff["sitl-port"] and not opts.no_rcin:
c.extend(["--sitl", "127.0.0.1:" + str(5501 + 10 * i)])

os.chdir(i_dir)
if i == instances[-1]:
run_cmd_blocking("Run MavProxy", cmd + c, env=env)
else:
run_in_terminal_window("Run MavProxy", cmd + c, env=env)
os.chdir(old_dir)
run_cmd_blocking("Run MavProxy", cmd, env=env)
progress("MAVProxy exited")


vehicle_options_string = '|'.join(vinfo.options.keys())
Expand Down