ardupilot/Tools/autotest/ardusub.py

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#!/usr/bin/env python
# Dive ArduSub in SITL
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from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import NotAchievedException
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# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(33.810313, -118.393867, 0, 185)
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class AutoTestSub(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestSub, self).__init__(**kwargs)
self.binary = binary
self.valgrind = valgrind
self.gdb = gdb
self.frame = frame
self.params = params
self.gdbserver = gdbserver
self.breakpoints = breakpoints
self.home = "%f,%f,%u,%u" % (HOME.lat,
HOME.lng,
HOME.alt,
HOME.heading)
self.homeloc = None
self.speedup = speedup
self.sitl = None
self.hasInit = False
self.log_name = "ArduSub"
def init(self):
if self.frame is None:
self.frame = 'vectored'
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints,
wipe=True)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduSub', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
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self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.hasInit = True
self.apply_defaultfile_parameters()
self.progress("Ready to start testing!")
def dive_manual(self):
self.set_rc(3, 1600)
self.set_rc(5, 1600)
self.set_rc(6, 1550)
self.wait_distance(50, accuracy=7, timeout=200)
self.set_rc(4, 1550)
self.wait_heading(0)
self.set_rc(4, 1500)
self.wait_distance(50, accuracy=7, timeout=100)
self.set_rc(4, 1550)
self.wait_heading(0)
self.set_rc(4, 1500)
self.set_rc(5, 1500)
self.set_rc(6, 1100)
self.wait_distance(75, accuracy=7, timeout=100)
self.set_rc_default()
self.disarm_vehicle()
self.progress("Manual dive OK")
def dive_mission(self, filename):
self.progress("Executing mission %s" % filename)
self.mavproxy.send('wp load %s\n' % filename)
self.mavproxy.expect('Flight plan received')
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Saved [0-9]+ waypoints')
self.set_rc_default()
self.arm_vehicle()
self.mavproxy.send('mode auto\n')
self.wait_mode('AUTO')
self.wait_waypoint(1, 5, max_dist=5)
self.disarm_vehicle()
self.progress("Mission OK")
def test_gripper_mission(self):
self.context_push()
ex = None
try:
try:
self.get_parameter("GRIP_ENABLE", timeout=5)
except NotAchievedException as e:
self.progress("Skipping; Gripper not enabled in config?")
return
self.mavproxy.send('wp load %s\n' %
os.path.join(testdir,
"sub-gripper-mission.txt"))
self.mavproxy.send('mode loiter\n')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('mode auto\n')
self.wait_mode('AUTO')
self.mavproxy.expect("Gripper Grabbed")
self.mavproxy.expect("Gripper Released")
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
if ex is not None:
raise ex
def autotest(self):
"""Autotest ArduSub in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()
self.fail_list = []
try:
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.mav.wait_heartbeat()
self.set_parameter("FS_GCS_ENABLE", 0)
self.progress("Waiting for GPS fix")
self.mav.wait_gps_fix()
# wait for EKF and GPS checks to pass
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self.progress("Waiting for ready-to-arm")
self.wait_ready_to_arm()
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self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc)
self.set_rc_default()
self.run_test("Arm vehicle", self.arm_vehicle)
self.run_test("Dive manual", self.dive_manual)
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self.run_test("Dive mission",
lambda: self.dive_mission(
os.path.join(testdir, "sub_mission.txt")))
self.run_test("Test gripper mission items",
self.test_gripper_mission);
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self.run_test("Log download",
lambda: self.log_download(
self.buildlogs_path("ArduSub-log.bin")))
except pexpect.TIMEOUT:
self.progress("Failed with timeout")
self.fail_list.append("Failed with timeout")
self.close()
if len(self.fail_list):
self.progress("FAILED: %s" % self.fail_list)
return False
return True