private void StartSITL(string exepath, string model, string homelocation, string extraargs = "", int speedup = 1)
{
if (String.IsNullOrEmpty(homelocation))
{
CustomMessageBox.Show(Strings.Invalid_home_location, Strings.ERROR);
return;
}
// override default model
if (cmb_model.Text != "")
{
model = cmb_model.Text;
}
string simdir = sitldirectory + model + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
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 = exepath;
exestart.Arguments = String.Format("-M{0} -O{1} -s{2} --uartA tcp:0 {3}", model, homelocation, speedup, extraargs);
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
simulator = System.Diagnostics.Process.Start(exestart);
System.Threading.Thread.Sleep(2000);
MainV2.View.ShowScreen(MainV2.View.screens[0].Name);
var client = new Comms.TcpSerial();
try
{
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760");
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
}
this.Close();
}
private void StartSITL(string exepath, string model, string homelocation, string extraargs = "", int speedup = 1)
{
string simdir = sitldirectory + model + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
string path = Environment.GetEnvironmentVariable("PATH");
Environment.SetEnvironmentVariable("PATH", simdir + ";" + path, EnvironmentVariableTarget.Process);
Environment.SetEnvironmentVariable("HOME", simdir, EnvironmentVariableTarget.Process);
ProcessStartInfo exestart = new ProcessStartInfo();
exestart.FileName = exepath;
exestart.Arguments = String.Format("-M{0} -O{1} -s{2} {3}", model, homelocation, speedup, extraargs);
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
simulator = System.Diagnostics.Process.Start(exestart);
System.Threading.Thread.Sleep(2000);
MainV2.View.ShowScreen(MainV2.View.screens[0].Name);
var client = new Comms.TcpSerial();
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760");
this.Close();
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == (Keys.Control | Keys.S))
{
var exepath = CheckandGetSITLImage("ArduCopter.elf");
var model = "+";
var config = GetDefaultConfig(model);
var max = 10;
for (int a = max; a >= 0; a--)
{
var extra = "";
if (!string.IsNullOrEmpty(config))
{
extra += @" --defaults """ + config + @""" -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);
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 = exepath;
exestart.Arguments = extra;
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
Process.Start(exestart);
}
try
{
var client = new Comms.TcpSerial();
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
Thread.Sleep(200);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760");
return(true);
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
return(true);
}
}
if (keyData == (Keys.Control | Keys.D))
{
var exepath = CheckandGetSITLImage("ArduCopter.elf");
var model = "+";
var config = GetDefaultConfig(model);
var max = 10;
for (int a = max; a >= 0; a--)
{
var extra = "";
if (!string.IsNullOrEmpty(config))
{
extra += @" --defaults """ + config + @""" -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);
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 = exepath;
exestart.Arguments = extra;
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
Process.Start(exestart);
}
try
{
for (int a = 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);
MainV2.instance.doConnect(mav, "preset", "5760");
try
{
mav.GetParam("SYSID_THISMAV");
mav.setParam("SYSID_THISMAV", a + 1, true);
mav.GetParam("FRAME_CLASS");
mav.setParam("FRAME_CLASS", 1, true);
} catch { }
MainV2.Comports.Add(mav);
}
return(true);
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
return(true);
}
}
return(base.ProcessCmdKey(ref msg, keyData));
}
private void StartSITL(string exepath, string model, string homelocation, string extraargs = "", int speedup = 1)
{
if (String.IsNullOrEmpty(homelocation))
{
CustomMessageBox.Show(Strings.Invalid_home_location, Strings.ERROR);
return;
}
if (!File.Exists(exepath))
{
CustomMessageBox.Show(Strings.Failed_to_download_the_SITL_image, Strings.ERROR);
return;
}
// kill old session
try
{
if (simulator != null)
{
simulator.Kill();
}
}
catch
{
}
// override default model
if (cmb_model.Text != "")
{
model = cmb_model.Text;
}
var config = GetDefaultConfig(model);
if (!string.IsNullOrEmpty(config))
{
extraargs += @" --defaults """ + config + @"""";
}
extraargs += " " + txt_cmdline.Text + " ";
if (chk_wipe.Checked)
{
extraargs += " --wipe ";
}
string simdir = sitldirectory + model + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
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 = exepath;
exestart.Arguments = String.Format("-M{0} -O{1} -s{2} --uartA tcp:0 {3}", model, homelocation, speedup, extraargs);
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
try
{
simulator = System.Diagnostics.Process.Start(exestart);
}
catch (Exception ex)
{
CustomMessageBox.Show("Failed to start the simulator\n" + ex.ToString(), Strings.ERROR);
return;
}
System.Threading.Thread.Sleep(2000);
MainV2.View.ShowScreen(MainV2.View.screens[0].Name);
var client = new Comms.TcpSerial();
try
{
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
Thread.Sleep(200);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760");
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
return;
}
}
private void StartSITL(string exepath, string model, string homelocation, string extraargs = "", int speedup = 1)
{
if (String.IsNullOrEmpty(homelocation))
{
CustomMessageBox.Show(Strings.Invalid_home_location, Strings.ERROR);
return;
}
string simdir = sitldirectory + model + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
string path = Environment.GetEnvironmentVariable("PATH");
Environment.SetEnvironmentVariable("PATH", simdir + ";" + path, EnvironmentVariableTarget.Process);
Environment.SetEnvironmentVariable("HOME", simdir, EnvironmentVariableTarget.Process);
ProcessStartInfo exestart = new ProcessStartInfo();
exestart.FileName = exepath;
exestart.Arguments = String.Format("-M{0} -O{1} -s{2} {3}", model, homelocation, speedup, extraargs);
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
simulator = System.Diagnostics.Process.Start(exestart);
System.Threading.Thread.Sleep(2000);
MainV2.View.ShowScreen(MainV2.View.screens[0].Name);
var client = new Comms.TcpSerial();
try
{
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760");
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
}
this.Close();
}
public async void StartSwarmChain()
{
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
{
}
var exepath = CheckandGetSITLImage("ArduCopter.elf");
var 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:" + (5772 + 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;
File.AppendAllText(Settings.GetUserDataDirectory() + "sitl.bat",
"mkdir " + (a + 1) + "\ncd " + (a + 1) + "\n" + @"""" + await exepath + @"""" + " " + extra + " &\n");
File.AppendAllText(Settings.GetUserDataDirectory() + "sitl1.sh",
"mkdir " + (a + 1) + "\ncd " + (a + 1) + "\n" + @"""../" +
Path.GetFileName(await exepath).Replace("C:", "/mnt/c").Replace("\\", "/").Replace(".exe", ".elf") + @"""" + " " +
extra.Replace("C:", "/mnt/c").Replace("\\", "/") + " &\nsleep .3\ncd ..\n");
simulator.Add(System.Diagnostics.Process.Start(exestart));
}
System.Threading.Thread.Sleep(2000);
MainV2.View.ShowScreen(MainV2.View.screens[0].Name);
try
{
var client = new Comms.TcpSerial();
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
Thread.Sleep(200);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760", false);
try
{
MainV2.comPort.getParamListAsync((byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent);
}
catch
{
}
return;
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
return;
}
}
private async void StartSITL(string exepath, string model, string homelocation, string extraargs = "", int speedup = 1)
{
if (String.IsNullOrEmpty(homelocation))
{
CustomMessageBox.Show(Strings.Invalid_home_location, Strings.ERROR);
return;
}
if (!File.Exists(exepath))
{
CustomMessageBox.Show(Strings.Failed_to_download_the_SITL_image, Strings.ERROR);
return;
}
// kill old session
try
{
simulator.ForEach(a =>
{
try
{
a.Kill();
}
catch { }
});
}
catch
{
}
// override default model
if (cmb_model.Text != "")
{
model = cmb_model.Text;
}
var config = await GetDefaultConfig(model);
if (!string.IsNullOrEmpty(config))
{
extraargs += @" --defaults """ + config + @"""";
}
extraargs += " " + txt_cmdline.Text + " ";
if (chk_wipe.Checked)
{
extraargs += " --wipe ";
}
string simdir = sitldirectory + model + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
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 = exepath;
exestart.Arguments = String.Format("-M{0} -O{1} -s{2} --uartA tcp:0 {3}", model, homelocation, speedup, extraargs);
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
Console.WriteLine("sitl: {0} {1} {2}", exestart.WorkingDirectory, exestart.FileName,
exestart.Arguments);
if (RuntimeInformation.OSArchitecture == Architecture.X64 ||
RuntimeInformation.OSArchitecture == Architecture.X86)
{
exestart.UseShellExecute = true;
try
{
simulator.Add(System.Diagnostics.Process.Start(exestart));
}
catch (Exception ex)
{
CustomMessageBox.Show("Failed to start the simulator\n" + ex.ToString(), Strings.ERROR);
return;
}
}
else
{
exestart.UseShellExecute = false;
exestart.RedirectStandardOutput = true;
exestart.RedirectStandardError = true;
try
{
var proc = System.Diagnostics.Process.Start(exestart);
simulator.Add(proc);
proc.ErrorDataReceived += (sender, args) => { Console.WriteLine("SITL ERR: " + args.Data); };
proc.OutputDataReceived += (sender, args) => { Console.WriteLine("SITL: " + args.Data); };
proc.Exited += (sender, args) => { Console.WriteLine("SITL EXIT!"); };
proc.BeginOutputReadLine();
proc.BeginErrorReadLine();
}
catch (Exception ex)
{
CustomMessageBox.Show("Failed to start the simulator\n" + ex.ToString(), Strings.ERROR);
return;
}
}
await Task.Delay(2000);
MainV2.View.ShowScreen(MainV2.View.screens[0].Name);
var client = new Comms.TcpSerial();
try
{
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
await Task.Delay(200);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760");
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
return;
}
}
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;
}
}
private void StartSITL(string exepath, string model, string homelocation, string extraargs = "", int speedup = 1)
{
if (String.IsNullOrEmpty(homelocation))
{
CustomMessageBox.Show(Strings.Invalid_home_location, Strings.ERROR);
return;
}
if (!File.Exists(exepath))
{
CustomMessageBox.Show(Strings.Failed_to_download_the_SITL_image, Strings.ERROR);
return;
}
// kill old session
try
{
if (simulator != null)
simulator.Kill();
}
catch
{
}
// override default model
if (cmb_model.Text != "")
model = cmb_model.Text;
var config = GetDefaultConfig(model);
if (!string.IsNullOrEmpty(config))
extraargs += @" --defaults """ + config+@"""";
string simdir = sitldirectory + model + Path.DirectorySeparatorChar;
Directory.CreateDirectory(simdir);
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 = exepath;
exestart.Arguments = String.Format("-M{0} -O{1} -s{2} --uartA tcp:0 {3}", model, homelocation, speedup, extraargs);
exestart.WorkingDirectory = simdir;
exestart.WindowStyle = ProcessWindowStyle.Minimized;
exestart.UseShellExecute = true;
simulator = System.Diagnostics.Process.Start(exestart);
System.Threading.Thread.Sleep(2000);
MainV2.View.ShowScreen(MainV2.View.screens[0].Name);
var client = new Comms.TcpSerial();
try
{
client.client = new TcpClient("127.0.0.1", 5760);
MainV2.comPort.BaseStream = client;
SITLSEND = new UdpClient("127.0.0.1", 5501);
MainV2.instance.doConnect(MainV2.comPort, "preset", "5760");
}
catch
{
CustomMessageBox.Show(Strings.Failed_to_connect_to_SITL_instance, Strings.ERROR);
}
}
