ardupilot/Tools/autotest/apmrover2.py

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# drive APMrover2 in SITL
import util, pexpect, sys, time, math, shutil, os
from common import *
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from pymavlink import mavutil
import random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
#HOME=mavutil.location(-35.362938,149.165085,584,270)
HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
homeloc = None
def drive_left_circuit(mavproxy, mav):
'''drive a left circuit, 50m on a side'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
mavproxy.send('rc 3 2000\n')
print("Driving left circuit")
# do 4 turns
for i in range(0,4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 1 1000\n')
if not wait_heading(mav, 270 - (90*i), accuracy=10):
return False
mavproxy.send('rc 1 1500\n')
print("Starting leg %u" % i)
if not wait_distance(mav, 50, accuracy=7):
return False
mavproxy.send('rc 3 1500\n')
print("Circuit complete")
return True
def drive_RTL(mavproxy, mav):
'''drive to home'''
print("Driving home in RTL")
mavproxy.send('switch 3\n')
if not wait_location(mav, homeloc, accuracy=22, timeout=90):
return False
print("RTL Complete")
return True
def setup_rc(mavproxy):
'''setup RC override control'''
for chan in [1,2,3,4,5,6,7]:
mavproxy.send('rc %u 1500\n' % chan)
mavproxy.send('rc 8 1800\n')
def drive_mission(mavproxy, mav, filename):
'''drive a mission from a file'''
global homeloc
print("Driving mission %s" % filename)
mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('flight plan received')
mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints')
mavproxy.send('switch 4\n') # auto mode
mavproxy.send('rc 3 1500\n')
wait_mode(mav, 'AUTO')
if not wait_waypoint(mav, 1, 4, max_dist=5):
return False
wait_mode(mav, 'HOLD')
print("Mission OK")
return True
def drive_APMrover2(viewerip=None, map=False):
'''drive APMrover2 in SIL
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the mission in real time
'''
global homeloc
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if map:
options += ' --map'
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sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=rover --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sil = util.start_SIL('APMrover2', wipe=True)
mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options, synthetic_clock=True)
runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
runsim.delaybeforesend = 0
runsim.expect('Starting at lat')
print("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/Rover.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(runsim)
sil = util.start_SIL('APMrover2')
mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options, synthetic_clock=True)
mavproxy.expect('Logging to (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
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sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=rover --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
HOME.lat, HOME.lng, HOME.alt, HOME.heading)
runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
runsim.delaybeforesend = 0
util.pexpect_autoclose(runsim)
runsim.expect('Starting at lat')
buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([runsim, sil, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception, msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Setting up RC parameters")
setup_rc(mavproxy)
print("Waiting for GPS fix")
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not drive_mission(mavproxy, mav, os.path.join(testdir, "rover1.txt")):
print("Failed mission")
failed = True
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/APMrover2-log.bin")):
print("Failed log download")
failed = True
# if not drive_left_circuit(mavproxy, mav):
# print("Failed left circuit")
# failed = True
# if not drive_RTL(mavproxy, mav):
# print("Failed RTL")
# failed = True
except pexpect.TIMEOUT, e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(runsim)
if os.path.exists('APMrover2-valgrind.log'):
os.chmod('APMrover2-valgrind.log', 0644)
shutil.copy("APMrover2-valgrind.log", util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True