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DTSW-7719: Add guard to start PX4 SITL only on virtual duckiedrone in dt-px4 image - (Rovo Dev) #3

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DTSW-7719: Add guard to start PX4 SITL only on virtual duckiedrone in dt-px4 image - (Rovo Dev) #3

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0302b61
Add guard to only start PX4 SITL on virtual duckiedrone robots
Mar 31, 2026
0f9726a
Sleep indefinitely instead of exiting when conditions not met
Mar 31, 2026
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51 changes: 51 additions & 0 deletions px4_entrypoint.sh
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Original file line number Diff line number Diff line change
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#!/bin/sh
set -eu

# Guard: only start PX4 SITL on virtual duckiedrone robots
ROBOT_TYPE=$(head -1 /data/config/robot_type 2>/dev/null || echo "")
ROBOT_HARDWARE=$(head -1 /data/config/robot_hardware 2>/dev/null || echo "")

if [ "${ROBOT_HARDWARE:-}" != "virtual" ] || [ "${ROBOT_TYPE:-}" != "duckiedrone" ]; then
echo "PX4 SITL is only supported on virtual duckiedrone robots."
echo " ROBOT_HARDWARE=${ROBOT_HARDWARE:-<unset>}"
echo " ROBOT_TYPE=${ROBOT_TYPE:-<unset>}"
echo "Sleeping indefinitely instead of starting PX4 SITL."
sleep infinity
fi

LOG_FILE=/var/log/px4_sitl.log

mkdir -p "$(dirname "$LOG_FILE")"
# Truncate log on each start
: > "$LOG_FILE"

PX4_BIN=./build/px4_sitl_default/bin/px4

# Start PX4 in the background, mirror all output to the log
"$PX4_BIN" "$@" 2>&1 | tee -a "$LOG_FILE" &
PX4_PID=$!

# Monitor for poll timeout after "Startup script returned successfully" line
READY_SEEN=false
while kill -0 "$PX4_PID" 2>/dev/null; do
sleep 2

if [ -f "$LOG_FILE" ]; then
if ! $READY_SEEN && grep -q "Startup script returned successfully" "$LOG_FILE"; then
READY_SEEN=true
fi

# If ready was seen, check for poll timeout AFTER that point
if $READY_SEEN; then
READY_LINE=$(grep -n "Startup script returned successfully" "$LOG_FILE" | tail -n 1 | cut -d: -f1)
if tail -n +"$READY_LINE" "$LOG_FILE" | grep -q "poll timeout"; then
echo "Poll timeout detected after simulator connected - terminating"
kill -9 -$PX4_PID 2>/dev/null || true
exit 1
fi
fi
fi
done

# Wait for PX4 to finish and exit with its status
wait "$PX4_PID"
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