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Tools: autotest: tests for new fence code 

Tools: autotest: move clear_mission up, use it before running each test

Also have it understand MAV_MISSION_TYPE_ALL

Tools: autotest: add tests for polyfence

Tools: autotest: add tests for multiple inclusion polyfences

Tools: autotest: ensure we can't arm inside a circle exclusion zone

Tools: autotest: add test for arming outside an inclusion zone

Tools: autotest: add tests for upload timeout

Tools: autotest: add tests for not arming due to polygon zones

Tools: autotest: add test for fence point reboot survivability

Tools: autotest: add test for moving fence point

Tools: autotest: add some tests via MAVProxy

Tools: autotest: add test for avoiding polygonal exclusion zones

Tools: autotest: add test for object avoidance

Currently disabled as it doesn't pass where it seemingly should.

Tools: autotest: skip MAVProxy tests on older MAVProxy versions

Tools: autotest: adjust fence loading for lack of string back from MAVProxy

Tools: autotest: create a do_RTL function

Tools: autotest: cope with loading QGC-style fence files

Tools: autotest: add test for object-avoidance in guided mode

Tools: autotest: add OA test for auto mode

Tools: autotest: add test for bendy ruler in guided mode

Tools: autotest: adjust for new MAVProxy fence module not emitting old strings

Tools: autotest: add tests for prearming due to bad parameter values
This commit is contained in:
Peter Barker 2019-08-05 15:53:40 +10:00 committed by Andrew Tridgell
parent 179db476bf
commit 0a23de087c
8 changed files with 3231 additions and 89 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2867
Tools/autotest/apmrover2.py
View File

File diff suppressed because it is too large Load Diff

93
Tools/autotest/arducopter.py
View File

@ -644,6 +644,43 @@ class AutoTestCopter(AutoTest):
self.fly_fence_avoid_test_radius_check(avoid_behave=1, timeout=timeout) self.fly_fence_avoid_test_radius_check(avoid_behave=1, timeout=timeout)
self.fly_fence_avoid_test_radius_check(avoid_behave=0, timeout=timeout) self.fly_fence_avoid_test_radius_check(avoid_behave=0, timeout=timeout)
def assert_prearm_failure(self, expected_statustext, timeout=5, ignore_prearm_failures=[]):
seen_statustext = False
seen_command_ack = False
self.drain_mav()
tstart = self.get_sim_time_cached()
arm_last_send = 0
while True:
if seen_command_ack and seen_statustext:
break
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException("Did not see failure-to-arm messages (statustext=%s command_ack=%s" % (seen_statustext, seen_command_ack))
if now - arm_last_send > 1:
arm_last_send = now
self.send_mavlink_arm_command()
m = self.mav.recv_match(blocking=True, timeout=1)
if m is None:
continue
if m.get_type() == "STATUSTEXT":
if expected_statustext in m.text:
self.progress("Got: %s" % str(m))
seen_statustext = True
elif "PreArm" in m.text and m.text[8:] not in ignore_prearm_failures:
self.progress("Got: %s" % str(m))
raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)
if m.get_type() == "COMMAND_ACK":
print("Got: %s" % str(m))
if m.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
if m.result != 4:
raise NotAchievedException("command-ack says we didn't fail to arm")
self.progress("Got: %s" % str(m))
seen_command_ack = True
if self.mav.motors_armed():
raise NotAchievedException("Armed when we shouldn't have")
# fly_fence_test - fly east until you hit the horizontal circular fence # fly_fence_test - fly east until you hit the horizontal circular fence
def fly_fence_test(self, timeout=180): def fly_fence_test(self, timeout=180):
# enable fence, disable avoidance # enable fence, disable avoidance
@ -662,43 +699,29 @@ class AutoTestCopter(AutoTest):
self.start_subtest("ensure we can't arm if ouside fence") self.start_subtest("ensure we can't arm if ouside fence")
self.load_fence_using_mavproxy("fence-in-middle-of-nowhere.txt") self.load_fence_using_mavproxy("fence-in-middle-of-nowhere.txt")
self.delay_sim_time(5) # let fence check run so it loads-from-eeprom self.delay_sim_time(5) # let fence check run so it loads-from-eeprom
seen_statustext = False self.assert_prearm_failure("vehicle outside fence")
seen_command_ack = False
tstart = self.get_sim_time_cached()
while True:
self.send_mavlink_arm_command()
if seen_command_ack and seen_statustext:
break
if self.get_sim_time_cached() - tstart > 5:
raise NotAchievedException("Did not see failure-to-arm messages (statustext=%s command_ack=%s" % (seen_statustext, seen_command_ack))
m = self.mav.recv_match(blocking=True, timeout=1)
if m is None:
continue
if m.get_type() == "STATUSTEXT":
if "vehicle outside fence" in m.text:
self.progress("Got: %s" % str(m))
seen_statustext = True
elif "PreArm" in m.text:
self.progress("Got: %s" % str(m))
raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)
if m.get_type() == "COMMAND_ACK":
print("Got: %s" % str(m))
if m.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
if m.result != 4:
raise NotAchievedException("command-ack says we didn't fail to arm")
self.progress("Got: %s" % str(m))
seen_command_ack = True
if self.mav.motors_armed():
raise NotAchievedException("Armed when we shouldn't have")
self.progress("Failed to arm outside fence (good!)") self.progress("Failed to arm outside fence (good!)")
self.clear_fence()
self.delay_sim_time(5) # let fence breach clear
self.drain_mav() self.drain_mav()
self.mavproxy.send('fence clear\n') self.end_subtest("ensure we can't arm if ouside fence")
self.delay_sim_time(2)
self.mavproxy.send('fence list\n') self.start_subtest("ensure we can't arm with bad radius")
self.mavproxy.expect("No geo-fence points") self.context_push()
self.set_parameter("FENCE_RADIUS", -1)
self.assert_prearm_failure("Invalid FENCE_RADIUS value")
self.context_pop()
self.progress("Failed to arm with bad radius")
self.drain_mav()
self.end_subtest("ensure we can't arm with bad radius")
self.start_subtest("ensure we can't arm with bad alt")
self.context_push()
self.set_parameter("FENCE_ALT_MAX", -1)
self.assert_prearm_failure("Invalid FENCE_ALT_MAX value")
self.context_pop()
self.progress("Failed to arm with bad altitude")
self.end_subtest("ensure we can't arm with bad radius")
self.start_subtest("Check breach-fence behaviour") self.start_subtest("Check breach-fence behaviour")
self.set_parameter("FENCE_TYPE", 2) self.set_parameter("FENCE_TYPE", 2)

300
Tools/autotest/common.py
View File

@ -15,6 +15,8 @@ import operator
from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_util
from pymavlink import mavwp, mavutil, DFReader from pymavlink import mavwp, mavutil, DFReader
from pymavlink import mavextra
from pysim import util, vehicleinfo from pysim import util, vehicleinfo
# a list of pexpect objects to read while waiting for # a list of pexpect objects to read while waiting for
@ -222,6 +224,25 @@ class AutoTest(ABC):
HOME.alt, HOME.alt,
HOME.heading) HOME.heading)
def mavproxy_version(self):
'''return the current version of mavproxy as a tuple e.g. (1,8,8)'''
return util.MAVProxy_version()
def mavproxy_version_gt(self, major, minor, point):
if os.getenv("AUTOTEST_FORCE_MAVPROXY_VERSION", None) is not None:
return True
(got_major, got_minor, got_point) = self.mavproxy_version()
print("Got: %s.%s.%s" % (got_major, got_minor, got_point))
if got_major > major:
return True
elif got_major < major:
return False
if got_minor > minor:
return True
elif got_minor < minor:
return False
return got_point > point
def open_mavproxy_logfile(self): def open_mavproxy_logfile(self):
return MAVProxyLogFile() return MAVProxyLogFile()
@ -299,12 +320,29 @@ class AutoTest(ABC):
def count_lines_in_filepath(self, filepath): def count_lines_in_filepath(self, filepath):
return len([i for i in open(filepath)]) return len([i for i in open(filepath)])
def count_expected_fence_lines_in_filepath(self, filepath):
count = 0
is_qgc = False
for i in open(filepath):
i = re.sub("#.*", "", i) # trim comments
if i.isspace():
# skip empty lines
continue
if re.match("QGC", i):
# skip QGC header line
is_qgc = True
continue
count += 1
if is_qgc:
count += 2 # file doesn't include return point + closing point
return count
def load_fence_using_mavproxy(self, filename): def load_fence_using_mavproxy(self, filename):
self.set_parameter("FENCE_TOTAL", 0) self.set_parameter("FENCE_TOTAL", 0)
filepath = os.path.join(self.mission_directory(), filename) filepath = os.path.join(self.mission_directory(), filename)
count = self.count_lines_in_filepath(filepath) count = self.count_expected_fence_lines_in_filepath(filepath)
self.mavproxy.send('fence load %s\n' % filepath) self.mavproxy.send('fence load %s\n' % filepath)
self.mavproxy.expect("Loaded %u geo-fence" % count) # self.mavproxy.expect("Loaded %u (geo-)?fence" % count)
tstart = self.get_sim_time_cached() tstart = self.get_sim_time_cached()
while True: while True:
t2 = self.get_sim_time_cached() t2 = self.get_sim_time_cached()
@ -686,6 +724,97 @@ class AutoTest(ABC):
raise ValueError("count %u not handled" % count) raise ValueError("count %u not handled" % count)
self.progress("Files same") self.progress("Files same")
def assert_rally_files_same(self, file1, file2):
self.progress("Comparing (%s) and (%s)" % (file1, file2, ))
f1 = open(file1)
f2 = open(file2)
lines_f1 = f1.readlines()
lines_f2 = f2.readlines()
self.assert_rally_content_same(lines_f1, lines_f2)
def assert_rally_filepath_content(self, file1, content):
f1 = open(file1)
lines_f1 = f1.readlines()
lines_content = content.split("\n")
print("lines content: %s" % str(lines_content))
self.assert_rally_content_same(lines_f1, lines_content)
def assert_rally_content_same(self, f1, f2):
'''check each line in f1 matches one-to-one with f2'''
for l1, l2 in zip(f1, f2):
print("l1: %s" % l1)
print("l2: %s" % l2)
l1 = l1.rstrip("\n")
l2 = l2.rstrip("\n")
l1 = l1.rstrip("\r")
l2 = l2.rstrip("\r")
if l1 == l2:
# e.g. the first "QGC WPL 110" line
continue
if re.match(r"0\s", l1):
# home changes...
continue
l1 = l1.rstrip()
l2 = l2.rstrip()
print("al1: %s" % str(l1))
print("al2: %s" % str(l2))
fields1 = re.split(r"\s+", l1)
fields2 = re.split(r"\s+", l2)
# line = int(fields1[0])
t = int(fields1[3]) # mission item type
for (count, (i1, i2)) in enumerate(zip(fields1, fields2)):
# if count == 2: # frame
# if t in [mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
# mavutil.mavlink.MAV_CMD_CONDITION_YAW,
# mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
# mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME,
# mavutil.mavlink.MAV_CMD_DO_JUMP,
# mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
# ]:
# # ardupilot doesn't remember frame on these commands
# if int(i1) == 3:
# i1 = 0
# if int(i2) == 3:
# i2 = 0
# if count == 6: # param 3
# if t in [mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME]:
# # ardupilot canonicalises this to -1 for ccw or 1 for cw.
# if float(i1) == 0:
# i1 = 1.0
# if float(i2) == 0:
# i2 = 1.0
# if count == 7: # param 4
# if t == mavutil.mavlink.MAV_CMD_NAV_LAND:
# # ardupilot canonicalises "0" to "1" param 4 (yaw)
# if int(float(i1)) == 0:
# i1 = 1
# if int(float(i2)) == 0:
# i2 = 1
if 0 <= count <= 3 or 11 <= count <= 11:
if int(i1) != int(i2):
raise ValueError("Rally points different: (%s vs %s) (%d vs %d) (count=%u)" %
(l1, l2, int(i1), int(i2), count)) # NOCI
continue
if 4 <= count <= 10:
f_i1 = float(i1)
f_i2 = float(i2)
delta = abs(f_i1 - f_i2)
max_allowed_delta = 0.000009
if delta > max_allowed_delta:
raise ValueError(
("Rally has different (float) content: " +
"(%s vs %s) " +
"(%f vs %f) " +
"(%.10f) " +
"(count=%u)") %
(l1, l2,
f_i1, f_i2,
delta,
count)) # NOCI
continue
raise ValueError("count %u not handled" % count)
self.progress("Rally content same")
def load_rally(self, filename): def load_rally(self, filename):
"""Load rally points from a file to flight controller.""" """Load rally points from a file to flight controller."""
self.progress("Loading rally points (%s)" % filename) self.progress("Loading rally points (%s)" % filename)
@ -938,6 +1067,7 @@ class AutoTest(ABC):
def arm_vehicle(self, timeout=20): def arm_vehicle(self, timeout=20):
"""Arm vehicle with mavlink arm message.""" """Arm vehicle with mavlink arm message."""
self.progress("Arm motors with MAVLink cmd") self.progress("Arm motors with MAVLink cmd")
self.drain_mav()
tstart = self.get_sim_time() tstart = self.get_sim_time()
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM 1, # ARM
@ -2192,11 +2322,20 @@ class AutoTest(ABC):
continue continue
if m.get_type() == 'MISSION_ACK': if m.get_type() == 'MISSION_ACK':
raise NotAchievedException("Received unexpected mission ack %s" % str(m)) if (m.target_system == 255 and
m.target_component == 0 and
m.type == 1 and
m.mission_type == 0):
# this is just MAVProxy trying to screw us up
continue
else:
raise NotAchievedException("Received unexpected mission ack %s" % str(m))
self.progress("Handling request for item %u" % m.seq) self.progress("Handling request for item %u/%u" % (m.seq, len(items)-1))
self.progress("Item (%s)" % str(items[m.seq]))
if m.seq in sent: if m.seq in sent:
raise NotAchievedException("received duplicate request for item %u" % m.seq) self.progress("received duplicate request for item %u" % m.seq)
continue
if m.seq not in remaining_to_send: if m.seq not in remaining_to_send:
raise NotAchievedException("received request for unknown item %u" % m.seq) raise NotAchievedException("received request for unknown item %u" % m.seq)
@ -2211,10 +2350,9 @@ class AutoTest(ABC):
if items[m.seq].target_component != target_component: if items[m.seq].target_component != target_component:
raise NotAchievedException("supplied item not of correct target component") raise NotAchievedException("supplied item not of correct target component")
if items[m.seq].seq != m.seq: if items[m.seq].seq != m.seq:
raise NotAchievedException("requested item has incorrect sequence number") raise NotAchievedException("supplied item has incorrect sequence number (%u vs %u)" % (items[m.seq].seq, m.seq))
items[m.seq].pack(self.mav.mav) items[m.seq].pack(self.mav.mav)
self.progress("Sending (%s)" % str(items[m.seq]))
self.mav.mav.send(items[m.seq]) self.mav.mav.send(items[m.seq])
remaining_to_send.discard(m.seq) remaining_to_send.discard(m.seq)
sent.add(m.seq) sent.add(m.seq)
@ -2230,22 +2368,34 @@ class AutoTest(ABC):
(mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name),) (mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name),)
self.progress("Upload of all %u items succeeded" % len(items)) self.progress("Upload of all %u items succeeded" % len(items))
def download_using_mission_protocol(self, mission_type): def download_using_mission_protocol(self, mission_type, verbose=False, timeout=10):
'''mavlink2 required''' '''mavlink2 required'''
target_system = 1 target_system = 1
target_component = 1 target_component = 1
self.drain_mav_unparsed()
self.progress("Sending mission_request_list")
self.mav.mav.mission_request_list_send(target_system, self.mav.mav.mission_request_list_send(target_system,
target_component, target_component,
mission_type) mission_type)
tstart = self.get_sim_time_cached()
while True: while True:
m = self.mav.recv_match(type='MISSION_COUNT', if self.get_sim_time_cached() - tstart > timeout:
blocking=True, raise NotAchievedException("Did not get MISSION_COUNT packet")
timeout=5) m = self.mav.recv_match(blocking=True, timeout=0.1)
self.progress(str(m)) if verbose:
self.progress(str(m))
if m.get_type() == 'MISSION_ACK':
if m.target_system == 255 and m.target_component == 0:
# this was for MAVProxy
continue
self.progress("Mission ACK: %s" % str(m))
raise NotAchievedException("Received MISSION_ACK while waiting for MISSION_COUNT")
if m.get_type() != 'MISSION_COUNT':
continue
if m is None: if m is None:
raise NotAchievedException("Did not get MISSION_COUNT response") raise NotAchievedException("Did not get MISSION_COUNT response")
if m.target_component != 250: if m.target_component != 250: # FIXME: constant?!
continue continue
if m.mission_type != mission_type: if m.mission_type != mission_type:
raise NotAchievedException("Mission count response of incorrect type") raise NotAchievedException("Mission count response of incorrect type")
@ -2324,6 +2474,17 @@ class AutoTest(ABC):
m = self.poll_home_position() m = self.poll_home_position()
return mavutil.location(m.latitude*1.0e-7, m.longitude*1.0e-7, m.altitude*1.0e-3, 0) return mavutil.location(m.latitude*1.0e-7, m.longitude*1.0e-7, m.altitude*1.0e-3, 0)
def offset_location_ne(self, location, metres_north, metres_east):
'''return a new location offset from passed-in location'''
(target_lat, target_lng) = mavextra.gps_offset(location.lat,
location.lng,
metres_east,
metres_north)
return mavutil.location(target_lat,
target_lng,
location.alt,
location.heading)
def monitor_groundspeed(self, want, tolerance=0.5, timeout=5): def monitor_groundspeed(self, want, tolerance=0.5, timeout=5):
tstart = self.get_sim_time() tstart = self.get_sim_time()
while True: while True:
@ -2897,8 +3058,47 @@ class AutoTest(ABC):
if m is None: if m is None:
raise NotAchievedException("Requested CAMERA_FEEDBACK did not arrive") raise NotAchievedException("Requested CAMERA_FEEDBACK did not arrive")
def clear_fence_using_mavproxy(self): def clear_mission(self, mission_type, target_system=1, target_component=1):
'''clear mision_type from autopilot. Note that this does NOT actually
send a MISSION_CLEAR_ALL message
'''
if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_ALL:
# recurse
if not self.is_tracker() and not self.is_plane():
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
if not self.is_sub() and not self.is_tracker():
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
return
self.mav.mav.mission_count_send(target_system,
target_component,
0,
mission_type)
m = self.mav.recv_match(type='MISSION_ACK',
blocking=True,
timeout=5)
if m is None:
raise NotAchievedException("Expected ACK for clearing mission")
if m.target_system != self.mav.mav.srcSystem:
raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" %
(self.mav.mav.srcSystem, m.target_system))
if m.target_component != self.mav.mav.srcComponent:
raise NotAchievedException("ACK not targetted at correct component want=%u got=%u" %
(self.mav.mav.srcComponent, m.target_component))
if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
raise NotAchievedException("Expected MAV_MISSION_ACCEPTED got %s" %
(mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name,))
def clear_fence_using_mavproxy(self, timeout=10):
self.mavproxy.send("fence clear\n") self.mavproxy.send("fence clear\n")
tstart = self.get_sim_time_cached()
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException("FENCE_TOTAL did not go to zero")
if self.get_parameter("FENCE_TOTAL") == 0:
break
def clear_fence(self): def clear_fence(self):
self.clear_fence_using_mavproxy() self.clear_fence_using_mavproxy()
@ -3070,6 +3270,63 @@ class AutoTest(ABC):
'''return mode vehicle should start in with default RC inputs set''' '''return mode vehicle should start in with default RC inputs set'''
return None return None
def upload_fences_from_locations(self,
vertex_type,
list_of_list_of_locs,
target_system=1,
target_component=1):
seq = 0
items = []
for locs in list_of_list_of_locs:
if type(locs) == dict:
# circular fence
if vertex_type == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION
else:
v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION
item = self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL,
v,
0, # current
0, # autocontinue
locs["radius"], # p1
0, # p2
0, # p3
0, # p4
int(locs["loc"].lat *1e7), # latitude
int(locs["loc"].lng *1e7), # longitude
33.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
seq += 1
items.append(item)
continue
count = len(locs)
for loc in locs:
item = self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL,
vertex_type,
0, # current
0, # autocontinue
count, # p1
0, # p2
0, # p3
0, # p4
int(loc.lat *1e7), # latitude
int(loc.lng *1e7), # longitude
33.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
seq += 1
items.append(item)
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
items)
def wait_for_initial_mode(self): def wait_for_initial_mode(self):
'''wait until we get a heartbeat with an expected initial mode (the '''wait until we get a heartbeat with an expected initial mode (the
one specified in the vehicle constructor)''' one specified in the vehicle constructor)'''
@ -3094,6 +3351,19 @@ switch value'''
self.progress("---------- %s ----------" % description) self.progress("---------- %s ----------" % description)
self.progress("-") self.progress("-")
def start_subsubtest(self, description):
self.progress(".")
self.progress(".......... %s .........." % description)
self.progress(".")
def end_subtest(self, description):
'''TODO: sanity checks?'''
pass
def end_subsubtest(self, description):
'''TODO: sanity checks?'''
pass
def test_skipped(self, test, reason): def test_skipped(self, test, reason):
(name, desc, func) = test (name, desc, func) = test
self.progress("##### %s is skipped: %s" % (name, reason)) self.progress("##### %s is skipped: %s" % (name, reason))
@ -3142,6 +3412,8 @@ switch value'''
self.progress("Setting up RC parameters") self.progress("Setting up RC parameters")
self.set_rc_default() self.set_rc_default()
self.wait_for_mode_switch_poll() self.wait_for_mode_switch_poll()
if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
for test in tests: for test in tests:
(name, desc, func) = test (name, desc, func) = test

16
Tools/autotest/pysim/util.py
View File

@ -353,12 +353,26 @@ def start_SITL(binary,
return child return child
def mavproxy_cmd():
'''return path to which mavproxy to use'''
return os.getenv('MAVPROXY_CMD', 'mavproxy.py')
def MAVProxy_version():
'''return the current version of mavproxy as a tuple e.g. (1,8,8)'''
command = "%s --version" % mavproxy_cmd()
output = subprocess.Popen(command, shell=True, stdout=subprocess.PIPE).communicate()[0]
output = output.decode('ascii')
match = re.search("MAVProxy Version: ([0-9]+)[.]([0-9]+)[.]([0-9]+)", output)
if match is None:
raise ValueError("Unable to determine MAVProxy version from (%s)" % output)
return (int(match.group(1)), int(match.group(2)), int(match.group(3)))
def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760', def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
options=[], logfile=sys.stdout): options=[], logfile=sys.stdout):
"""Launch mavproxy connected to a SITL instance.""" """Launch mavproxy connected to a SITL instance."""
import pexpect import pexpect
global close_list global close_list
MAVPROXY = os.getenv('MAVPROXY_CMD', 'mavproxy.py') MAVPROXY = mavproxy_cmd()
cmd = MAVPROXY + ' --master=%s --out=127.0.0.1:14550' % master cmd = MAVPROXY + ' --master=%s --out=127.0.0.1:14550' % master
if setup: if setup:
cmd += ' --setup' cmd += ' --setup'

11
Tools/autotest/rover-path-bendyruler-fence.txt Normal file
View File

@ -0,0 +1,11 @@
QGC WPL 110
0 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071766 -105.230202 0.000000 0
1 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.230247 0.000000 0
2 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.228821 0.000000 0
3 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071609 -105.228867 0.000000 0
4 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071602 -105.228172 0.000000 0
5 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070858 -105.227982 0.000000 0
6 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070789 -105.226219 0.000000 0
7 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.072453 -105.226379 0.000000 0
8 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071609 -105.228172 0.000000 0
9 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071625 -105.227982 0.000000 0

4
Tools/autotest/rover-path-bendyruler-mission-easier.txt Normal file
View File

@ -0,0 +1,4 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 0.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071260 -105.227000 100.000000 1
2 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

25
Tools/autotest/rover-path-planning-fence.txt Normal file
View File

@ -0,0 +1,25 @@
QGC WPL 110
0 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071613 -105.230118 0.000000 0
1 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071644 -105.229393 0.000000 0
2 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071106 -105.229393 0.000000 0
3 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071747 -105.228668 0.000000 0
4 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072220 -105.228775 0.000000 0
5 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072357 -105.229729 0.000000 0
6 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072777 -105.229988 0.000000 0
7 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073181 -105.228897 0.000000 0
8 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072914 -105.228073 0.000000 0
9 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073387 -105.228180 0.000000 0
10 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073635 -105.229431 0.000000 0
11 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073967 -105.229301 0.000000 0
12 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073891 -105.227478 0.000000 0
13 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072697 -105.227440 0.000000 0
14 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072430 -105.227898 0.000000 0
15 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071880 -105.227196 0.000000 0
16 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071407 -105.227730 0.000000 0
17 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.070194 -105.227249 0.000000 0
18 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.070175 -105.230110 0.000000 0
19 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071922 -105.228676 0.000000 0
20 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071712 -105.228172 0.000000 0
21 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071560 -105.228676 0.000000 0
22 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071739 -105.228920 0.000000 0
23 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.072430 -105.228004 0.000000 0

4
Tools/autotest/rover-path-planning-mission.txt Normal file
View File

@ -0,0 +1,4 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 0.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.073799 -105.229156 100.000000 1
2 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1