Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: start plane sim during initial parameter load

Browse Source 
this is now needed to get timestamps from JSBSim
This commit is contained in:
Andrew Tridgell 2015-03-24 08:04:48 -07:00
parent 38e9bd5336
commit 0ea0b51ccd
1 changed files with 18 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
Tools/autotest/arduplane.py
View File

@ -433,9 +433,23 @@ def fly_ArduPlane(viewerip=None, map=False):
if map: if map:
options += ' --map' options += ' --map'
cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
cmd += " --home=%s --wind=%s" % (HOME_LOCATION, WIND)
if viewerip:
cmd += " --fgout=%s:5503" % viewerip
runsim = pexpect.spawn(cmd, timeout=10)
runsim.delaybeforesend = 0
util.pexpect_autoclose(runsim)
runsim.expect('Simulator ready to fly')
sil = util.start_SIL('ArduPlane', wipe=True) sil = util.start_SIL('ArduPlane', wipe=True)
print("Starting MAVProxy")
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options) mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
mavproxy.expect('Received [0-9]+ parameters') util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Logging to (\S+)')
mavproxy.expect('Received [0-9]+ parameters',timeout=3000)
# setup test parameters # setup test parameters
mavproxy.send("param load %s/ArduPlane.parm\n" % testdir) mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
@ -446,11 +460,7 @@ def fly_ArduPlane(viewerip=None, map=False):
# restart with new parms # restart with new parms
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
util.pexpect_close(sil) util.pexpect_close(sil)
util.pexpect_close(runsim)
cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
cmd += " --home=%s --wind=%s" % (HOME_LOCATION, WIND)
if viewerip:
cmd += " --fgout=%s:5503" % viewerip
runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10) runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
runsim.delaybeforesend = 0 runsim.delaybeforesend = 0
@ -472,10 +482,10 @@ def fly_ArduPlane(viewerip=None, map=False):
except Exception: except Exception:
pass pass
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback) util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
expect_list_clear() expect_list_clear()
expect_list_extend([runsim, sil, mavproxy]) expect_list_extend([runsim, sil, mavproxy])