mirror of https://github.com/ArduPilot/ardupilot
108 lines
2.7 KiB
Python
108 lines
2.7 KiB
Python
|
#!/usr/bin/python3
|
||
|
|
|
||
|
|
'''
|
||
|
|
Run a mission in SITL
|
||
|
|
|
||
|
|
AP_FLAKE8_CLEAN
|
||
|
|
'''
|
||
|
|
|
||
|
|
import common
|
||
|
|
import os
|
||
|
|
import sys
|
||
|
|
import argparse
|
||
|
|
|
||
|
|
from pysim import util
|
||
|
|
|
||
|
|
|
||
|
|
class RunMission(common.AutoTest):
|
||
|
|
def __init__(self, vehicle_binary, model, mission_filepath, speedup=None, sim_rate_hz=None):
|
||
|
|
super(RunMission, self).__init__(vehicle_binary)
|
||
|
|
self.mission_filepath = mission_filepath
|
||
|
|
self.model = model
|
||
|
|
self.speedup = speedup
|
||
|
|
self.sim_rate_hz = sim_rate_hz
|
||
|
|
|
||
|
|
if self.speedup is None:
|
||
|
|
self.speedup = 100
|
||
|
|
|
||
|
|
def vehicleinfo_key(self):
|
||
|
|
'''magically guess vehicleinfo_key from filepath'''
|
||
|
|
path = self.binary.lower()
|
||
|
|
if "plane" in path:
|
||
|
|
return "ArduPlane"
|
||
|
|
if "copter" in path:
|
||
|
|
return "ArduCopter"
|
||
|
|
raise ValueError("Can't determine vehicleinfo_key from binary path")
|
||
|
|
|
||
|
|
def run(self):
|
||
|
|
self.start_SITL(
|
||
|
|
binary=self.binary,
|
||
|
|
model=self.model,
|
||
|
|
sitl_home=self.sitl_home_string_from_mission_filepath(self.mission_filepath),
|
||
|
|
speedup=self.speedup,
|
||
|
|
sim_rate_hz=self.sim_rate_hz,
|
||
|
|
defaults_filepath=self.model_defaults_filepath(self.model),
|
||
|
|
)
|
||
|
|
self.get_mavlink_connection_going()
|
||
|
|
|
||
|
|
# hack; Plane defaults are annoying... we should do better
|
||
|
|
# here somehow.
|
||
|
|
if self.vehicleinfo_key() == "ArduPlane":
|
||
|
|
self.set_parameter("RTL_AUTOLAND", 1)
|
||
|
|
|
||
|
|
self.load_mission_from_filepath(self.mission_filepath, strict=False)
|
||
|
|
self.change_mode('AUTO')
|
||
|
|
self.set_streamrate(1)
|
||
|
|
self.wait_ready_to_arm()
|
||
|
|
self.arm_vehicle()
|
||
|
|
self.wait_disarmed(timeout=600)
|
||
|
|
self.stop_SITL()
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
''' main program '''
|
||
|
|
os.environ['PYTHONUNBUFFERED'] = '1'
|
||
|
|
|
||
|
|
if sys.platform != "darwin":
|
||
|
|
os.putenv('TMPDIR', util.reltopdir('tmp'))
|
||
|
|
|
||
|
|
parser = argparse.ArgumentParser("run_mission.py")
|
||
|
|
parser.add_argument(
|
||
|
|
'vehicle_binary',
|
||
|
|
type=str,
|
||
|
|
help='vehicle binary to use'
|
||
|
|
)
|
||
|
|
parser.add_argument(
|
||
|
|
'model',
|
||
|
|
type=str,
|
||
|
|
help='vehicle model to use'
|
||
|
|
)
|
||
|
|
parser.add_argument(
|
||
|
|
'mission_filepath',
|
||
|
|
type=str,
|
||
|
|
help='mission file path'
|
||
|
|
)
|
||
|
|
parser.add_argument(
|
||
|
|
'--speedup',
|
||
|
|
type=int,
|
||
|
|
help='simulation speedup',
|
||
|
|
default=None,
|
||
|
|
)
|
||
|
|
parser.add_argument(
|
||
|
|
'--sim-rate-hz',
|
||
|
|
type=int,
|
||
|
|
help='simulation physics rate',
|
||
|
|
default=None,
|
||
|
|
)
|
||
|
|
|
||
|
|
args = parser.parse_args()
|
||
|
|
|
||
|
|
x = RunMission(
|
||
|
|
args.vehicle_binary,
|
||
|
|
args.model,
|
||
|
|
args.mission_filepath,
|
||
|
|
speedup=args.speedup,
|
||
|
|
sim_rate_hz=args.sim_rate_hz
|
||
|
|
)
|
||
|
|
x.run()
|