This repo is a python library for controlling starting stopping and managing simulations running in the Intelligent Quads Cloud.
pip install python-iq-simpydoc-markdown -I iq_sim -m iq_sim --render-toc > docs/iq_sim.mdhttps://intelligent-quads.gitbook.io/python-iq-sim-documentation/
import iq_sim
import os
from pymavlink import mavutil
token = os.getenv("IQ_SIM_TOKEN")
api = iq_sim.iq_sim(token)
sim_id = api.start_sim()
api.wait_for_sim_ready(sim_id)
connection_info = api.get_connection(sim_id)
print(connection_info)
conn_str = f"tcp:{connection_info['ip']}:{connection_info['port']}"
mavlink_conn = mavutil.mavlink_connection(conn_str)
mavlink_conn.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" % (mavlink_conn.target_system, mavlink_conn.target_system))
# add pymavlink script here
api.stop_sim(sim_id)Simulation Configuration is in the form of:
{
"sim_config": [
{
"sim_type": "default-sitl",
"vehicle_type": "ArduCopter",
"vehicle_model": "X",
"instances": "1",
"flight_controls": "Ardupilot",
"fc_version": "Copter-4.2.3",
"latlonaltheading": [
"-35.363261",
"149.16523",
"584",
"353"
]
}
]
}the default config is available by accessing iq_sim().sim_config. This can be modified and passed to the start_sim method as shown below:
import iq_sim
import os
from pymavlink import mavutil
token = os.getenv("IQ_SIM_TOKEN")
api = iq_sim.iq_sim(token)
config = api.sim_config
config["sim_config"][0]["instances"] = "2"
sim_id = api.start_sim(config)
api.wait_for_sim_ready(sim_id)
connection_info = api.get_connection(sim_id)
print(connection_info)
conn_str = f"tcp:{connection_info['ip']}:{connection_info['port']}"
mavlink_conn = mavutil.mavlink_connection(conn_str)
mavlink_conn.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" % (mavlink_conn.target_system, mavlink_conn.target_system))
# add pymavlink script here
api.stop_sim(sim_id)