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autotest: use builtin plane sim for autotest

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and simplify startup using defaults file
This commit is contained in:
Andrew Tridgell 2016-07-22 16:42:46 +10:00
parent 69da7e9f86
commit 3489f7b576
1 changed files with 19 additions and 23 deletions
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42
Tools/autotest/arduplane.py
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@ -440,28 +440,9 @@ def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
if map: if map:
options += ' --map' options += ' --map'
sil = util.start_SIL(binary, wipe=True, model='jsbsim', home=HOME_LOCATION, speedup=10) sil = util.start_SIL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
print("Starting MAVProxy") valgrind=valgrind, gdb=gdb,
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options) defaults_file=os.path.join(testdir, 'ArduPlane.parm'))
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Telemetry log: (\S+)')
mavproxy.expect('Received [0-9]+ parameters',timeout=3000)
# setup test parameters
mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
mavproxy.send("param fetch\n")
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL(binary, model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind, gdb=gdb)
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options) mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)') mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1) logfile = mavproxy.match.group(1)
@ -495,6 +476,7 @@ def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
mav.idle_hooks.append(idle_hook) mav.idle_hooks.append(idle_hook)
failed = False failed = False
fail_list = []
e = 'None' e = 'None'
try: try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION) print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
@ -511,46 +493,60 @@ def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
if not takeoff(mavproxy, mav): if not takeoff(mavproxy, mav):
print("Failed takeoff") print("Failed takeoff")
failed = True failed = True
fail_list.append("takeoff")
if not fly_left_circuit(mavproxy, mav): if not fly_left_circuit(mavproxy, mav):
print("Failed left circuit") print("Failed left circuit")
failed = True failed = True
fail_list.append("left_circuit")
if not axial_left_roll(mavproxy, mav, 1): if not axial_left_roll(mavproxy, mav, 1):
print("Failed left roll") print("Failed left roll")
failed = True failed = True
fail_list.append("left_roll")
if not inside_loop(mavproxy, mav): if not inside_loop(mavproxy, mav):
print("Failed inside loop") print("Failed inside loop")
failed = True failed = True
fail_list.append("inside_loop")
if not test_stabilize(mavproxy, mav): if not test_stabilize(mavproxy, mav):
print("Failed stabilize test") print("Failed stabilize test")
failed = True failed = True
fail_list.append("stabilize")
if not test_acro(mavproxy, mav): if not test_acro(mavproxy, mav):
print("Failed ACRO test") print("Failed ACRO test")
failed = True failed = True
fail_list.append("acro")
if not test_FBWB(mavproxy, mav): if not test_FBWB(mavproxy, mav):
print("Failed FBWB test") print("Failed FBWB test")
failed = True failed = True
fail_list.append("fbwb")
if not test_FBWB(mavproxy, mav, mode='CRUISE'): if not test_FBWB(mavproxy, mav, mode='CRUISE'):
print("Failed CRUISE test") print("Failed CRUISE test")
failed = True failed = True
fail_list.append("cruise")
if not fly_RTL(mavproxy, mav): if not fly_RTL(mavproxy, mav):
print("Failed RTL") print("Failed RTL")
failed = True failed = True
fail_list.append("RTL")
if not fly_LOITER(mavproxy, mav): if not fly_LOITER(mavproxy, mav):
print("Failed LOITER") print("Failed LOITER")
failed = True failed = True
fail_list.append("LOITER")
if not fly_CIRCLE(mavproxy, mav): if not fly_CIRCLE(mavproxy, mav):
print("Failed CIRCLE") print("Failed CIRCLE")
failed = True failed = True
fail_list.append("LOITER")
if not fly_mission(mavproxy, mav, os.path.join(testdir, "ap1.txt"), height_accuracy = 10, if not fly_mission(mavproxy, mav, os.path.join(testdir, "ap1.txt"), height_accuracy = 10,
target_altitude=homeloc.alt+100): target_altitude=homeloc.alt+100):
print("Failed mission") print("Failed mission")
failed = True failed = True
fail_list.append("mission")
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduPlane-log.bin")): if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduPlane-log.bin")):
print("Failed log download") print("Failed log download")
failed = True failed = True
fail_list.append("log_download")
except pexpect.TIMEOUT, e: except pexpect.TIMEOUT, e:
print("Failed with timeout") print("Failed with timeout")
failed = True failed = True
fail_list.append("timeout")
mav.close() mav.close()
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
@ -562,6 +558,6 @@ def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduPlane-valgrind.log")) shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
if failed: if failed:
print("FAILED: %s" % e) print("FAILED: %s" % e, fail_list)
return False return False
return True return True