public async Task StartSwarmSeperate(Firmwares firmware)
{
var max = 10;
if (InputBox.Show("how many?", "how many?", ref max) != DialogResult.OK)
{
return;
}
// kill old session
try
{
simulator.ForEach(a =>
{
try
{
a.Kill();
}
catch { }
});
}
catch
{
}
Task <string> exepath;
string model = "";
if (firmware == Firmwares.ArduPlane)
{
exepath = CheckandGetSITLImage("ArduPlane.elf");
model = "plane";
}
else
if (firmware == Firmwares.ArduRover)
{
exepath = CheckandGetSITLImage("ArduRover.elf");
model = "rover";
}
else // (firmware == Firmwares.ArduCopter2)
{
exepath = CheckandGetSITLImage("ArduCopter.elf");
model = "+";
}
var config = await GetDefaultConfig(model);
max--;
for (int a = (int)max; a >= 0; a--)
{
var extra = " --disable-fgview -r50 ";
if (!string.IsNullOrEmpty(config))
{
extra += @" --defaults """ + config + @",identity.parm"" -P SERIAL0_PROTOCOL=2 -P SERIAL1_PROTOCOL=2 ";
}
var home = new PointLatLngAlt(markeroverlay.Markers[0].Position).newpos((double)NUM_heading.Value, a * 4);
if (max == a)
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --uartA tcp:0 {1} -P SYSID_THISMAV={2} ",
a, "", a + 1, BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
else
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --uartA tcp:0 {1} -P SYSID_THISMAV={2} ",
a, "" /*"--uartD tcpclient:127.0.0.1:" + (5770 + 10 * a)*/, a + 1,
BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
string simdir = sitldirectory + model + (a + 1) + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
File.WriteAllText(simdir + "identity.parm", String.Format(@"SERIAL0_PROTOCOL=2
SERIAL1_PROTOCOL=2
SYSID_THISMAV={0}
SIM_TERRAIN=0
TERRAIN_ENABLE=0
SCHED_LOOP_RATE=50
SIM_RATE_HZ=400
SIM_DRIFT_SPEED=0
SIM_DRIFT_TIME=0
", a + 1));
string path = Environment.GetEnvironmentVariable("PATH");
Environment.SetEnvironmentVariable("PATH", sitldirectory + ";" + simdir + ";" + path,
EnvironmentVariableTarget.Process);
Environment.SetEnvironmentVariable("HOME", simdir, EnvironmentVariableTarget.Process);
ProcessStartInfo exestart = new ProcessStartInfo();
exestart.FileName = await exepath;
exestart.Arguments = extra;
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
simulator.Add(System.Diagnostics.Process.Start(exestart));
await Task.Delay(100);
}
await Task.Delay(2000);
MainV2.View.ShowScreen(MainV2.View.screens[0].Name);
try
{
Parallel.For(0, max + 1, (a) =>
//for (int a = (int)max; a >= 0; a--)
{
var mav = new MAVLinkInterface();
var client = new Comms.TcpSerial();
client.client = new TcpClient("127.0.0.1", 5760 + (10 * (a)));
mav.BaseStream = client;
//SITLSEND = new UdpClient("127.0.0.1", 5501);
Thread.Sleep(200);
this.InvokeIfRequired(() => { MainV2.instance.doConnect(mav, "preset", "5760", false); });
lock (this)
MainV2.Comports.Add(mav);
try
{
_ = mav.getParamListMavftpAsync((byte)mav.sysidcurrent, (byte)mav.compidcurrent);
}
catch
{
}
}
);
return;
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance +
ex.InnerException?.Message, Strings.ERROR);
return;
}
}