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autotest: handle terrain requests internally to autotest 

We will cache all required SRTM data within the autotest branch
This commit is contained in:
Peter Barker 2022-08-01 15:00:22 +10:00 committed by Peter Barker
parent 1166beea81
commit 00d3af6fc5
6 changed files with 83 additions and 43 deletions
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1
.gitignore vendored
View File

@ -36,6 +36,7 @@
*.vbrain
*.vrx
*.zip
!Tools/autotest/tilecache/**/*.zip
*~
.*.swo
.*.swp

19
Tools/autotest/arducopter.py
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@ -488,9 +488,8 @@ class AutoTestCopter(AutoTest):
self.change_mode('LOITER')
mavproxy = self.start_mavproxy()
self.wait_ready_to_arm(timeout=120*60) # terrain takes time
self.stop_mavproxy(mavproxy)
self.install_terrain_handlers_context()
self.wait_ready_to_arm()
self.arm_vehicle()
@ -3225,10 +3224,7 @@ class AutoTestCopter(AutoTest):
ex = None
self.context_push()
# we must start mavproxy here as otherwise we can't get the
# terrain database tiles - this leads to random failures in
# CI!
mavproxy = self.start_mavproxy()
self.install_terrain_handlers_context()
try:
self.set_analog_rangefinder_parameters()
@ -3278,8 +3274,6 @@ class AutoTestCopter(AutoTest):
self.disarm_vehicle(force=True)
ex = e
self.stop_mavproxy(mavproxy)
self.context_pop()
self.reboot_sitl()
if ex is not None:
@ -5779,10 +5773,7 @@ class AutoTestCopter(AutoTest):
'''
# we must start mavproxy here as otherwise we can't get the
# terrain database tiles - this leads to random failures in
# CI!
mavproxy = self.start_mavproxy()
self.install_terrain_handlers_context()
self.set_parameter("FS_GCS_ENABLE", 0)
self.change_mode('GUIDED')
@ -5843,8 +5834,6 @@ class AutoTestCopter(AutoTest):
self.wait_disarmed()
self.stop_mavproxy(mavproxy)
def PrecisionLoiterCompanion(self):
"""Use Companion PrecLand backend precision messages to loiter."""

10
Tools/autotest/arduplane.py
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@ -2565,11 +2565,11 @@ function'''
def TerrainMission(self):
mavproxy = self.start_mavproxy()
self.install_terrain_handlers_context()
num_wp = self.load_mission("ap-terrain.txt")
self.wait_ready_to_arm(timeout=120*60) # time to get terrain
self.wait_ready_to_arm()
self.arm_vehicle()
global max_alt
@ -2586,8 +2586,6 @@ function'''
self.fly_mission_waypoints(num_wp-1, mission_timeout=600)
self.stop_mavproxy(mavproxy)
if max_alt < 200:
raise NotAchievedException("Did not follow terrain")
@ -2595,7 +2593,7 @@ function'''
'''test AP_Terrain'''
self.reboot_sitl() # we know the terrain height at CMAC
mavproxy = self.start_mavproxy()
self.install_terrain_handlers_context()
self.wait_ready_to_arm()
loc = self.mav.location()
@ -2636,8 +2634,6 @@ function'''
raise NotAchievedException("Expected terrain height=%f got=%f" %
(expected_terrain_height, report.terrain_height))
self.stop_mavproxy(mavproxy)
def test_loiter_terrain(self):
default_rad = self.get_parameter("WP_LOITER_RAD")
self.set_parameters({

83
Tools/autotest/common.py
View File

@ -30,6 +30,7 @@ import threading
import enum
from MAVProxy.modules.lib import mp_util
from MAVProxy.modules.lib import mp_elevation
from pymavlink import mavparm
from pymavlink import mavwp, mavutil, DFReader
@ -1542,6 +1543,17 @@ class AutoTest(ABC):
self.last_sim_time_cached = 0
self.last_sim_time_cached_wallclock = 0
# to autopilot we do not want to go to the internet for tiles,
# usually. Set this to False to gather tiles from internet in
# the cae there are new tiles required, then add them to the
# repo and set this back to false:
self.terrain_in_offline_mode = True
self.elevationmodel = mp_elevation.ElevationModel(
cachedir=util.reltopdir("Tools/autotest/tilecache/srtm"),
offline=self.terrain_in_offline_mode
)
self.terrain_data_messages_sent = 0 # count of messages back
def __del__(self):
if self.rc_thread is not None:
self.progress("Joining RC thread in __del__")
@ -7029,6 +7041,8 @@ Also, ignores heartbeats not from our target system'''
self.progress(fmt % ("**--tests_total_time--**", tests_total_time))
self.progress("mavproxy_start was called %u times" %
(self.start_mavproxy_count,))
self.progress("Supplied terrain data to autopilot in %u messages" %
(self.terrain_data_messages_sent,))
def send_statustext(self, text):
if sys.version_info.major >= 3 and not isinstance(text, bytes):
@ -9510,6 +9524,61 @@ Also, ignores heartbeats not from our target system'''
self.context_pop()
self.reboot_sitl()
def install_terrain_handlers_context(self):
'''install a message handler into the current context which will
listen for an fulfill terrain requests from ArduPilot. Will
die if the data is not available - but
self.terrain_in_offline_mode can be set to true in the
constructor to change this behaviour
'''
def check_terrain_requests(mav, m):
if m.get_type() != 'TERRAIN_REQUEST':
return
self.progress("Processing TERRAIN_REQUEST (%s)" %
self.dump_message_verbose(m))
# swiped from mav_terrain.py
for bit in range(56):
if m.mask & (1 << bit) == 0:
continue
lat = m.lat * 1.0e-7
lon = m.lon * 1.0e-7
bit_spacing = m.grid_spacing * 4
(lat, lon) = mp_util.gps_offset(lat, lon,
east=bit_spacing * (bit % 8),
north=bit_spacing * (bit // 8))
data = []
for i in range(4*4):
y = i % 4
x = i // 4
(lat2, lon2) = mp_util.gps_offset(lat, lon,
east=m.grid_spacing * y,
north=m.grid_spacing * x)
# if we are in online mode then we'll try to fetch
# from the internet into the cache dir:
for i in range(120):
alt = self.elevationmodel.GetElevation(lat2, lon2)
if alt is not None:
break
if self.terrain_in_offline_mode:
break
self.progress("No elevation data for (%f %f); retry" %
(lat2, lon2))
time.sleep(1)
if alt is None:
# no data - we can't send the packet
raise ValueError("No elevation data for (%f %f)" % (lat2, lon2))
data.append(int(alt))
self.terrain_data_messages_sent += 1
self.mav.mav.terrain_data_send(m.lat,
m.lon,
m.grid_spacing,
bit,
data)
self.install_message_hook_context(check_terrain_requests)
def test_set_position_global_int(self, timeout=100):
"""Test set position message in guided mode."""
# Disable heading and yaw test on rover type
@ -9523,10 +9592,7 @@ Also, ignores heartbeats not from our target system'''
test_heading = True
test_yaw_rate = True
# we must start mavproxy here as otherwise we can't get the
# terrain database tiles - this leads to random failures in
# CI!
mavproxy = self.start_mavproxy()
self.install_terrain_handlers_context()
self.set_parameter("FS_GCS_ENABLE", 0)
self.change_mode("GUIDED")
@ -9732,8 +9798,6 @@ Also, ignores heartbeats not from our target system'''
called_function=lambda plop, empty: send_yaw_rate(
target_rate, None), minimum_duration=5)
self.stop_mavproxy(mavproxy)
self.progress("Getting back to home and disarm")
self.do_RTL(distance_min=0, distance_max=wp_accuracy)
self.disarm_vehicle()
@ -9750,10 +9814,7 @@ Also, ignores heartbeats not from our target system'''
test_heading = True
test_yaw_rate = True
# we must start mavproxy here as otherwise we can't get the
# terrain database tiles - this leads to random failures in
# CI!
mavproxy = self.start_mavproxy()
self.install_terrain_handlers_context()
self.set_parameter("FS_GCS_ENABLE", 0)
self.change_mode("GUIDED")
@ -10099,8 +10160,6 @@ Also, ignores heartbeats not from our target system'''
minimum_duration=2
)
self.stop_mavproxy(mavproxy)
self.progress("Getting back to home and disarm")
self.do_RTL(distance_min=0, distance_max=wp_accuracy)
self.disarm_vehicle()

2
Tools/autotest/pysim/util.py
View File

@ -556,7 +556,7 @@ def start_MAVProxy_SITL(atype,
aircraft = 'test.%s' % atype
cmd.extend(['--aircraft', aircraft])
cmd.extend(options)
cmd.extend(['--default-modules', 'misc,terrain,wp,rally,fence,param,arm,mode,rc,cmdlong,output'])
cmd.extend(['--default-modules', 'misc,wp,rally,fence,param,arm,mode,rc,cmdlong,output'])
print("PYTHONPATH: %s" % str(env['PYTHONPATH']))
print("Running: %s" % cmd_as_shell(cmd))

11
Tools/autotest/quadplane.py
View File

@ -290,12 +290,8 @@ class AutoTestQuadPlane(AutoTest):
self.load_fence(fence)
if self.mavproxy is not None:
self.mavproxy.send('wp list\n')
# terrain can take a *long* time to load:
timeout = 120
if include_terrain_timeout:
timeout *= 1000 # yes, *that* long
mavproxy = self.start_mavproxy()
self.wait_ready_to_arm(timeout=timeout)
self.install_terrain_handlers_context()
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
@ -303,13 +299,12 @@ class AutoTestQuadPlane(AutoTest):
self.wait_disarmed(timeout=120) # give quadplane a long time to land
# wait for blood sample here
self.set_current_waypoint(20)
self.wait_ready_to_arm(timeout=timeout)
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
self.progress("Mission OK")
self.stop_mavproxy(mavproxy)
def enum_state_name(self, enum_name, state, pretrim=None):
e = mavutil.mavlink.enums[enum_name]