autotest: handle terrain requests internally to autotest

We will cache all required SRTM data within the autotest branch

.gitignore

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

Tools/autotest/arducopter.py

@@ -488,9 +488,8 @@ class AutoTestCopter(AutoTest):
 
             self.change_mode('LOITER')
 
-            mavproxy = self.start_mavproxy()
+            self.install_terrain_handlers_context()
-            self.wait_ready_to_arm(timeout=120*60)  # terrain takes time
+            self.wait_ready_to_arm()
-            self.stop_mavproxy(mavproxy)
 
             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
+        self.install_terrain_handlers_context()
-        # terrain database tiles - this leads to random failures in
-        # CI!
-        mavproxy = self.start_mavproxy()
 
         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
+        self.install_terrain_handlers_context()
-        # terrain database tiles - this leads to random failures in
-        # CI!
-        mavproxy = self.start_mavproxy()
 
         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."""
 

Tools/autotest/arduplane.py

@@ -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({

Tools/autotest/common.py

@@ -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
+        self.install_terrain_handlers_context()
-        # terrain database tiles - this leads to random failures in
-        # CI!
-        mavproxy = self.start_mavproxy()
 
         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
+        self.install_terrain_handlers_context()
-        # terrain database tiles - this leads to random failures in
-        # CI!
-        mavproxy = self.start_mavproxy()
 
         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()

Tools/autotest/pysim/util.py

@@ -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))

Tools/autotest/quadplane.py

@@ -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:
+        self.install_terrain_handlers_context()
-        timeout = 120
+        self.wait_ready_to_arm()
-        if include_terrain_timeout:
-            timeout *= 1000  # yes, *that* long
-        mavproxy = self.start_mavproxy()
-        self.wait_ready_to_arm(timeout=timeout)
         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]