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autotest: split out some common functions ready for ArduPlane support

This commit is contained in:
Andrew Tridgell 2011-11-12 20:01:58 +11:00
parent 930ee51bbe
commit 1e22945981
2 changed files with 158 additions and 155 deletions
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156
Tools/autotest/arducopter.py
View File

@ -1,6 +1,7 @@
# fly ArduCopter in SIL # fly ArduCopter in SIL
import util, pexpect, sys, time, math, shutil, os import util, pexpect, sys, time, math, shutil, os
from common import *
# get location of scripts # get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__)) testdir=os.path.dirname(os.path.realpath(__file__))
@ -13,115 +14,6 @@ HOME_LOCATION='-35.362938,149.165085,584,270'
homeloc = None homeloc = None
num_wp = 0 num_wp = 0
# a list of pexpect objects to read while waiting for
# messages. This keeps the output to stdout flowing
expect_list = []
def message_hook(mav, msg):
'''called as each mavlink msg is received'''
global expect_list
#if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT', 'GPS_RAW' ]:
# print(msg)
for p in expect_list:
try:
p.read_nonblocking(100, timeout=0)
except pexpect.TIMEOUT:
pass
def expect_callback(e):
'''called when waiting for a expect pattern'''
global expect_list
for p in expect_list:
if p == e:
continue
try:
while p.read_nonblocking(100, timeout=0):
pass
except pexpect.TIMEOUT:
pass
class location(object):
'''represent a GPS coordinate'''
def __init__(self, lat, lng, alt=0):
self.lat = lat
self.lng = lng
self.alt = alt
def get_distance(loc1, loc2):
'''get ground distance between two locations'''
dlat = loc2.lat - loc1.lat
dlong = loc2.lng - loc1.lng
return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
def get_bearing(loc1, loc2):
'''get bearing from loc1 to loc2'''
off_x = loc2.lng - loc1.lng
off_y = loc2.lat - loc1.lat
bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
if bearing < 0:
bearing += 360.00
return bearing;
def current_location(mav):
'''return current location'''
# ensure we have a position
mav.recv_match(type='VFR_HUD', blocking=True)
mav.recv_match(type='GPS_RAW', blocking=True)
return location(mav.messages['GPS_RAW'].lat,
mav.messages['GPS_RAW'].lon,
mav.messages['VFR_HUD'].alt)
def wait_altitude(mav, alt_min, alt_max, timeout=60):
'''wait for a given altitude range'''
tstart = time.time()
print("Waiting for altitude between %u and %u" % (alt_min, alt_max))
while time.time() < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
print("Altitude %u" % m.alt)
if m.alt >= alt_min and m.alt <= alt_max:
return True
print("Failed to attain altitude range")
return False
def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=60):
'''wait for waypoint ranges'''
tstart = time.time()
m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
start_wp = m.seq
current_wp = start_wp
print("\n***wait for waypoint ranges***\n\n\n")
if start_wp != wpnum_start:
print("Expected start waypoint %u but got %u" % (wpnum_start, start_wp))
return False
while time.time() < tstart + timeout:
m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
print("WP %u" % m.seq)
if m.seq == current_wp:
continue
if m.seq == current_wp+1 or (m.seq > current_wp+1 and allow_skip):
print("Starting new waypoint %u" % m.seq)
tstart = time.time()
current_wp = m.seq
if current_wp == wpnum_end:
print("Reached final waypoint %u" % m.seq)
return True
if m.seq > current_wp+1:
print("Skipped waypoint! Got wp %u expected %u" % (m.seq, current_wp+1))
return False
print("Timed out waiting for waypoint %u" % wpnum_end)
return False
def save_wp(mavproxy, mav):
mavproxy.send('rc 7 2000\n')
mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==2000', blocking=True)
mavproxy.send('rc 7 1000\n')
mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
mavproxy.send('wp list\n')
def arm_motors(mavproxy): def arm_motors(mavproxy):
'''arm motors''' '''arm motors'''
print("Arming motors") print("Arming motors")
@ -179,52 +71,6 @@ def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
return False return False
def wait_heading(mav, heading, accuracy=5, timeout=30):
'''wait for a given heading'''
tstart = time.time()
while time.time() < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
print("Heading %u" % m.heading)
if math.fabs(m.heading - heading) <= accuracy:
return True
print("Failed to attain heading %u" % heading)
return False
def wait_distance(mav, distance, accuracy=5, timeout=30):
'''wait for flight of a given distance'''
tstart = time.time()
start = current_location(mav)
while time.time() < tstart + timeout:
m = mav.recv_match(type='GPS_RAW', blocking=True)
pos = current_location(mav)
delta = get_distance(start, pos)
print("Distance %.2f meters" % delta)
if math.fabs(delta - distance) <= accuracy:
return True
print("Failed to attain distance %u" % distance)
return False
def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height_accuracy=-1):
'''wait for arrival at a location'''
tstart = time.time()
if target_altitude is None:
target_altitude = loc.alt
while time.time() < tstart + timeout:
m = mav.recv_match(type='GPS_RAW', blocking=True)
pos = current_location(mav)
delta = get_distance(loc, pos)
print("Distance %.2f meters" % delta)
if delta <= accuracy:
if height_accuracy != -1 and math.fabs(pos.alt - target_altitude) > height_accuracy:
continue
print("Reached location (%.2f meters)" % delta)
return True
print("Failed to attain location")
return False
def fly_square(mavproxy, mav, side=50, timeout=120): def fly_square(mavproxy, mav, side=50, timeout=120):
'''fly a square, flying N then E''' '''fly a square, flying N then E'''
mavproxy.send('switch 6\n') mavproxy.send('switch 6\n')

157
Tools/autotest/common.py Normal file
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@ -0,0 +1,157 @@
import util, pexpect, time, math
# a list of pexpect objects to read while waiting for
# messages. This keeps the output to stdout flowing
expect_list = []
def message_hook(mav, msg):
'''called as each mavlink msg is received'''
global expect_list
if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT', 'GPS_RAW' ]:
print(msg)
for p in expect_list:
try:
p.read_nonblocking(100, timeout=0)
except pexpect.TIMEOUT:
pass
def expect_callback(e):
'''called when waiting for a expect pattern'''
global expect_list
for p in expect_list:
if p == e:
continue
try:
while p.read_nonblocking(100, timeout=0):
pass
except pexpect.TIMEOUT:
pass
class location(object):
'''represent a GPS coordinate'''
def __init__(self, lat, lng, alt=0):
self.lat = lat
self.lng = lng
self.alt = alt
def get_distance(loc1, loc2):
'''get ground distance between two locations'''
dlat = loc2.lat - loc1.lat
dlong = loc2.lng - loc1.lng
return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
def get_bearing(loc1, loc2):
'''get bearing from loc1 to loc2'''
off_x = loc2.lng - loc1.lng
off_y = loc2.lat - loc1.lat
bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
if bearing < 0:
bearing += 360.00
return bearing;
def current_location(mav):
'''return current location'''
# ensure we have a position
mav.recv_match(type='VFR_HUD', blocking=True)
mav.recv_match(type='GPS_RAW', blocking=True)
return location(mav.messages['GPS_RAW'].lat,
mav.messages['GPS_RAW'].lon,
mav.messages['VFR_HUD'].alt)
def wait_altitude(mav, alt_min, alt_max, timeout=30):
'''wait for a given altitude range'''
tstart = time.time()
print("Waiting for altitude between %u and %u" % (alt_min, alt_max))
while time.time() < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
print("Altitude %u" % m.alt)
if m.alt >= alt_min and m.alt <= alt_max:
return True
print("Failed to attain altitude range")
return False
def wait_heading(mav, heading, accuracy=5, timeout=30):
'''wait for a given heading'''
tstart = time.time()
while time.time() < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
print("Heading %u" % m.heading)
if math.fabs(m.heading - heading) <= accuracy:
return True
print("Failed to attain heading %u" % heading)
return False
def wait_distance(mav, distance, accuracy=5, timeout=30):
'''wait for flight of a given distance'''
tstart = time.time()
start = current_location(mav)
while time.time() < tstart + timeout:
m = mav.recv_match(type='GPS_RAW', blocking=True)
pos = current_location(mav)
delta = get_distance(start, pos)
print("Distance %.2f meters" % delta)
if math.fabs(delta - distance) <= accuracy:
return True
print("Failed to attain distance %u" % distance)
return False
def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height_accuracy=-1):
'''wait for arrival at a location'''
tstart = time.time()
if target_altitude is None:
target_altitude = loc.alt
while time.time() < tstart + timeout:
m = mav.recv_match(type='GPS_RAW', blocking=True)
pos = current_location(mav)
delta = get_distance(loc, pos)
print("Distance %.2f meters" % delta)
if delta <= accuracy:
if height_accuracy != -1 and math.fabs(pos.alt - target_altitude) > height_accuracy:
continue
print("Reached location (%.2f meters)" % delta)
return True
print("Failed to attain location")
return False
def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=60):
'''wait for waypoint ranges'''
tstart = time.time()
m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
start_wp = m.seq
current_wp = start_wp
print("\n***wait for waypoint ranges***\n\n\n")
if start_wp != wpnum_start:
print("Expected start waypoint %u but got %u" % (wpnum_start, start_wp))
return False
while time.time() < tstart + timeout:
m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
print("WP %u" % m.seq)
if m.seq == current_wp:
continue
if m.seq == current_wp+1 or (m.seq > current_wp+1 and allow_skip):
print("Starting new waypoint %u" % m.seq)
tstart = time.time()
current_wp = m.seq
if current_wp == wpnum_end:
print("Reached final waypoint %u" % m.seq)
return True
if m.seq > current_wp+1:
print("Skipped waypoint! Got wp %u expected %u" % (m.seq, current_wp+1))
return False
print("Timed out waiting for waypoint %u" % wpnum_end)
return False
def save_wp(mavproxy, mav):
mavproxy.send('rc 7 2000\n')
mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==2000', blocking=True)
mavproxy.send('rc 7 1000\n')
mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
mavproxy.send('wp list\n')