uav_zmq_control_socket = create_zmq("SUB",
uav_zmq_control_connection_str,
ftr, True)
if args.verbose == 2 or args.verbose == 3:
ver = True
else:
ver = False
uav_thread = threading.Thread(
target=uav.UAV,
args=(format(i, "03d"), (5760 + i * 10), uav_zmq_tel_socket,
uav_zmq_control_socket, ver)) # DIRECT
uav_thread.setName("UAV_" + uav_id)
uav_thread.deamon = True
uav_thread.start()
uav_obj.append(uav_thread)
if args.verbose == 1 or args.verbose == 3:
ver = True
else:
ver = False
gcs.main(5501, 5500, args.instance, ver) # NS3
# gcs.main(5551, 5550, args.verbose) # DIRECT
print("[MAIN] Terminating the SITL instances")
for p in proc_instance:
print("[MAIN] Killing process:", p.pid)
os.kill(p.pid, 0)
p.kill()
os.killpg(os.getpgid(p.pid + 1), signal.SIGTERM)
uav_zmq_control_connection_str = "tcp://127.0.0.1:5550" # DIRECT
ftr = "@@@G_" + uav_id
uav_zmq_control_socket = create_zmq("SUB", uav_zmq_control_connection_str, ftr, True)
if args.verbose == 2 or args.verbose == 3:
ver = True
else:
ver = False
uav_thread = threading.Thread(target=uav.UAV, args=(format(i, "03d"), (5760 + i * 10),
uav_zmq_tel_socket, uav_zmq_control_socket, ver))
uav_thread.setName("UAV_" + uav_id)
uav_thread.deamon = True
uav_thread.start()
uav_obj.append(uav_thread)
if args.verbose == 1 or args.verbose == 3:
ver = True
else:
ver = False
#gcs.main(5501, 5500, args.instance, ver) # NS3
gcs.main(5551, 5550, args.instance, ver) # DIRECT
print("[MAIN] Terminating the SITL instances")
for p in proc_instance:
print("[MAIN] Killing process:", p.pid)
os.kill(p.pid, 0)
p.kill()
os.killpg(os.getpgid(p.pid+1), signal.SIGTERM)