mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-03 04:03:59 -04:00
Tools: autotest: add tests for gripper mission items
This commit is contained in:
Peter Barker
Peter Barker
parent
182d3634aa
commit
2157999307
@ -1774,6 +1774,28 @@ class AutoTestCopter(AutoTest):
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if ex is not None:
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raise ex
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def test_gripper_mission(self):
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self.context_push()
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ex = None
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try:
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self.load_mission("copter-gripper-mission.txt")
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self.mavproxy.send('mode loiter\n')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.send('mode auto\n')
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self.wait_mode('AUTO')
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self.set_rc(3, 1500)
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self.mavproxy.expect("Gripper Grabbed")
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self.mavproxy.expect("Gripper Released")
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except Exception as e:
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self.progress("Exception caught")
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self.mavproxy.send('mode land\n')
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ex = e
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self.context_pop()
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self.mav.motors_disarmed_wait()
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if ex is not None:
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raise ex
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def autotest(self):
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"""Autotest ArduCopter in SITL."""
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self.check_test_syntax(test_file=os.path.realpath(__file__))
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@ -1988,6 +2010,9 @@ class AutoTestCopter(AutoTest):
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# Gripper test
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self.run_test("Test gripper", self.test_gripper)
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self.run_test("Test gripper mission items",
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self.test_gripper_mission);
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'''vision position''' # expects vehicle to be disarmed
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self.run_test("Fly Vision Position", self.fly_vision_position)
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@ -663,6 +663,25 @@ class AutoTestPlane(AutoTest):
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if x is None:
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raise NotAchievedException("No CAMERA_FEEDBACK message received")
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def test_gripper_mission(self):
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self.context_push()
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ex = None
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try:
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self.wp_load(os.path.join(testdir, "plane-gripper-mission.txt"))
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self.mavproxy.send('switch 1\n') # auto mode
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self.wait_mode('AUTO')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.expect("Gripper Grabbed")
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self.mavproxy.expect("Gripper Released")
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self.mavproxy.expect("Auto disarmed")
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except Exception as e:
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self.progress("Exception caught")
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ex = e
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self.context_pop()
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if ex is not None:
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raise ex
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def autotest(self):
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"""Autotest ArduPlane in SITL."""
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self.check_test_syntax(test_file=os.path.realpath(__file__))
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@ -679,6 +698,9 @@ class AutoTestPlane(AutoTest):
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self.set_rc(3, 1000)
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self.set_rc(8, 1800)
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self.run_test("Test Gripper mission items",
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self.test_gripper_mission)
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self.set_parameter("RC12_OPTION", 9)
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self.reboot_sitl() # needed for RC12_OPTION to take effect
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@ -734,6 +756,9 @@ class AutoTestPlane(AutoTest):
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lambda: self.fly_mission(
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os.path.join(testdir, "ap1.txt")))
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self.run_test("Test Gripper mission items",
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self.test_gripper_mission)
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self.run_test("Log download",
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lambda: self.log_download(
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self.buildlogs_path("ArduPlane-log.bin")))
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@ -10,6 +10,7 @@ from pymavlink import mavutil
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from pysim import util
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from common import AutoTest
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from common import NotAchievedException
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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@ -130,6 +131,33 @@ class AutoTestSub(AutoTest):
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self.progress("Mission OK")
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def test_gripper_mission(self):
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self.context_push()
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ex = None
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try:
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try:
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self.get_parameter("GRIP_ENABLE", timeout=5)
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except NotAchievedException as e:
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self.progress("Skipping; Gripper not enabled in config?")
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return
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self.mavproxy.send('wp load %s\n' %
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os.path.join(testdir,
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"sub-gripper-mission.txt"))
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self.mavproxy.send('mode loiter\n')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.send('mode auto\n')
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self.wait_mode('AUTO')
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self.mavproxy.expect("Gripper Grabbed")
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self.mavproxy.expect("Gripper Released")
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except Exception as e:
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self.progress("Exception caught")
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ex = e
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self.context_pop()
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if ex is not None:
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raise ex
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def autotest(self):
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"""Autotest ArduSub in SITL."""
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self.check_test_syntax(test_file=os.path.realpath(__file__))
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@ -163,6 +191,9 @@ class AutoTestSub(AutoTest):
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lambda: self.dive_mission(
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os.path.join(testdir, "sub_mission.txt")))
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self.run_test("Test gripper mission items",
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self.test_gripper_mission);
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self.run_test("Log download",
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lambda: self.log_download(
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self.buildlogs_path("ArduSub-log.bin")))
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@ -713,8 +713,8 @@ class AutoTest(ABC):
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self.progress("ACK received: %s" % str(m))
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if m.command == command:
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if m.result != want_result:
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raise ValueError("Expected %s got %s" % (command,
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m.command))
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raise ValueError("Expected %s got %s" % (want_result,
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m.result))
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break
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#################################################
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6
Tools/autotest/copter-gripper-mission.txt
Normal file
6
Tools/autotest/copter-gripper-mission.txt
Normal file
@ -0,0 +1,6 @@
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QGC WPL 110
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0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.080017 1
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1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 5.000000 1
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2 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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3 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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4 0 3 21 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 100.000000 1
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10
Tools/autotest/plane-gripper-mission.txt
Normal file
10
Tools/autotest/plane-gripper-mission.txt
Normal file
@ -0,0 +1,10 @@
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QGC WPL 110
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0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.362045 149.165878 584.280029 1
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1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.362125 149.165039 10.000000 1
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2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364845 149.163452 11.000000 1
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3 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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4 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365002 149.165665 10.460000 1
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6 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.364429 149.165558 9.120000 1
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7 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362869 149.165161 5.000000 1
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8 0 3 21 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1
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6
Tools/autotest/rover-gripper-mission.txt
Normal file
6
Tools/autotest/rover-gripper-mission.txt
Normal file
@ -0,0 +1,6 @@
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QGC WPL 110
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0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 -0.110000 1
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1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362698 149.165146 0.000000 1
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2 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363304 149.164978 0.000000 1
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4 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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8
Tools/autotest/sub-gripper-mission.txt
Normal file
8
Tools/autotest/sub-gripper-mission.txt
Normal file
@ -0,0 +1,8 @@
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QGC WPL 110
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0 0 0 16 0.000000 0.000000 0.000000 0.000000 33.810313 -118.393867 0 1
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1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -5.000000 1
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2 0 3 16 0.000000 0.000000 0.000000 0.000000 33.810612 -118.393867 0.000000 1
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3 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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4 0 3 16 0.000000 0.000000 0.000000 0.000000 33.810612 -118.393578 0.000000 1
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5 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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4 0 3 16 0.000000 0.000000 0.000000 0.000000 33.810612 -118.393588 0.000000 1
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