mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-02 14:08:45 -04:00
Tools: pull out vehicle metadata into a library
This commit is contained in:
Peter Barker
Randy Mackay
parent
75f744591e
commit
3a9ac2ef40
257
Tools/autotest/pysim/vehicleinfo.py
Normal file
257
Tools/autotest/pysim/vehicleinfo.py
Normal file
@ -0,0 +1,257 @@
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class VehicleInfo(object):
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def __init__(self):
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"""
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make_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py
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default_params_filename: filename of default parameters file. Taken to be relative to autotest dir.
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extra_mavlink_cmds: extra parameters that will be passed to mavproxy
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"""
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self.options = {
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"ArduCopter": {
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"default_frame": "quad",
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"frames": {
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# COPTER
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"+": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"quad": {
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"model": "+",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"X": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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# this param set FRAME doesn't actually work because mavproxy
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# won't set a parameter unless it knows of it, and the
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# param fetch happens asynchronously
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"extra_mavlink_cmds": "param fetch frame; param set FRAME 1;",
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},
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"hexa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-hexa.parm" ],
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},
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"octa-quad": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-octaquad.parm" ],
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},
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"octa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-octa.parm" ],
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},
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"tri": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-tri.parm" ],
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},
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"y6": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-y6.parm" ],
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},
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"firefly": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/firefly.parm",
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},
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# SIM
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"IrisRos": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"gazebo-iris": {
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/gazebo-iris.parm"],
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},
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# HELICOPTER
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"heli": {
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"make_target": "sitl-heli",
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"waf_target": "bin/arducopter-heli",
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"default_params_filename": "default_params/copter-heli.parm",
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},
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"heli-dual": {
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"make_target": "sitl-heli-dual",
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"waf_target": "bin/arducopter-heli",
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"default_params_filename": "default_params/copter-heli-dual.parm",
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},
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"heli-compound": {
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"make_target": "sitl-heli-compound",
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"waf_target": "bin/arducopter-heli",
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},
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"singlecopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-single.parm",
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},
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"coaxcopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-coax.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"ArduPlane": {
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"default_frame": "jsbsim",
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"frames": {
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# PLANE
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"quadplane-tilttri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tilttri.parm",
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},
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"quadplane-tilttrivec": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tilttrivec.parm",
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},
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"quadplane-tri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tri.parm",
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},
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"quadplane-cl84" : {
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"make_target" : "sitl",
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"waf_target" : "bin/arduplane",
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"default_params_filename": "default_params/quadplane-cl84.parm",
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},
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"quadplane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane.parm",
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},
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"plane-elevon": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-elevons.parm",
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},
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"plane-vtail": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-vtail.parm",
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},
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"plane-tailsitter": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-tailsitter.parm",
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},
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"plane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane.parm",
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},
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"gazebo-zephyr": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/gazebo-zephyr.parm",
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},
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"last_letter": {
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"waf_target": "bin/arduplane",
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},
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"CRRCSim": {
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"waf_target": "bin/arduplane",
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},
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"jsbsim": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-jsbsim.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"APMrover2": {
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"default_frame": "rover",
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"frames": {
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# ROVER
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"rover": {
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"waf_target": "bin/ardurover",
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"default_params_filename": "default_params/rover.parm",
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},
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"rover-skid": {
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"waf_target": "bin/ardurover",
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"default_params_filename": "default_params/rover-skid.parm",
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},
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"gazebo-rover": {
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"waf_target": "bin/ardurover",
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"default_params_filename": "default_params/rover-skid.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"ArduSub": {
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"default_frame": "vectored",
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"frames": {
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"vectored": {
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"waf_target": "bin/ardusub",
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"default_params_filename": "default_params/sub.parm",
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},
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},
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},
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"AntennaTracker": {
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"default_frame": "tracker",
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"frames": {
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"tracker": {
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"waf_target": "bin/antennatracker",
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},
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},
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},
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}
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def default_waf_target(self, vehicle):
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"""Returns a waf target based on vehicle type, which is often determined by which directory the user is in"""
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default_frame = self.options[vehicle]["default_frame"]
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return self.options[vehicle]["frames"][default_frame]["waf_target"]
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def options_for_frame(self, frame, vehicle, opts):
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"""Return informatiom about how to sitl for frame e.g. build-type==sitl"""
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ret = None
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frames = self.options[vehicle]["frames"]
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if frame in frames:
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ret = self.options[vehicle]["frames"][frame]
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else:
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for p in ["octa", "tri", "y6", "firefly", "heli", "gazebo", "last_letter", "jsbsim", "quadplane", "plane-elevon", "plane-vtail", "plane"]:
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if frame.startswith(p):
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ret = self.options[vehicle]["frames"][p]
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break
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if ret is None:
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if frame.endswith("-heli"):
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ret = self.options[vehicle]["frames"]["heli"]
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if ret is None:
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progress("WARNING: no config for frame (%s)" % frame)
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ret = {}
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if "model" not in ret:
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ret["model"] = frame
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if "sitl-port" not in ret:
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ret["sitl-port"] = True
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if opts.model is not None:
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ret["model"] = opts.model
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if (ret["model"].find("xplane") != -1 or ret["model"].find("flightaxis") != -1):
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ret["sitl-port"] = False
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if "make_target" not in ret:
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ret["make_target"] = "sitl"
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if "waf_target" not in ret:
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ret["waf_target"] = default_waf_target(vehicle)
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if opts.build_target is not None:
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ret["make_target"] = opts.build_target
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ret["waf_target"] = opts.build_target
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return ret
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@ -207,9 +207,9 @@ def kill_tasks():
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'runsim.py',
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'AntennaTracker.elf',
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}
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for vehicle in _options:
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for frame in _options[vehicle]["frames"]:
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frame_info = _options[vehicle]["frames"][frame]
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for vehicle in vinfo.options:
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for frame in vinfo.options[vehicle]["frames"]:
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frame_info = vinfo.options[vehicle]["frames"][frame]
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if "waf_target" not in frame_info:
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continue
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exe_name = os.path.basename(frame_info["waf_target"])
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@ -274,259 +274,8 @@ def wait_unlimited():
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"""Wait until signal received"""
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time.sleep(987654321987654321)
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"""
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make_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py
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default_params_filename: filename of default parameters file. Taken to be relative to autotest dir.
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extra_mavlink_cmds: extra parameters that will be passed to mavproxy
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"""
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_options = {
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"ArduCopter": {
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"default_frame": "quad",
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"frames": {
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# COPTER
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"+": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"quad": {
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"model": "+",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"X": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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# this param set FRAME doesn't actually work because mavproxy
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# won't set a parameter unless it knows of it, and the
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# param fetch happens asynchronously
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"extra_mavlink_cmds": "param fetch frame; param set FRAME 1;",
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},
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"hexa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-hexa.parm" ],
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},
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"octa-quad": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-octaquad.parm" ],
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},
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"octa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-octa.parm" ],
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},
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"tri": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-tri.parm" ],
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},
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"y6": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-y6.parm" ],
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},
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"firefly": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/firefly.parm",
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},
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# SIM
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"IrisRos": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"gazebo-iris": {
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/gazebo-iris.parm"],
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},
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# HELICOPTER
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"heli": {
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"make_target": "sitl-heli",
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"waf_target": "bin/arducopter-heli",
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"default_params_filename": "default_params/copter-heli.parm",
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},
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"heli-dual": {
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"make_target": "sitl-heli-dual",
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"waf_target": "bin/arducopter-heli",
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"default_params_filename": "default_params/copter-heli-dual.parm",
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},
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"heli-compound": {
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"make_target": "sitl-heli-compound",
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"waf_target": "bin/arducopter-heli",
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},
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"singlecopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-single.parm",
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},
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"coaxcopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-coax.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"ArduPlane": {
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"default_frame": "jsbsim",
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"frames": {
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# PLANE
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"quadplane-tilttri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tilttri.parm",
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},
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"quadplane-tilttrivec": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tilttrivec.parm",
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},
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"quadplane-tri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tri.parm",
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},
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"quadplane-cl84" : {
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"make_target" : "sitl",
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"waf_target" : "bin/arduplane",
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"default_params_filename": "default_params/quadplane-cl84.parm",
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},
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"quadplane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane.parm",
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},
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"plane-elevon": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-elevons.parm",
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},
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"plane-vtail": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-vtail.parm",
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},
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"plane-tailsitter": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-tailsitter.parm",
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},
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"plane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane.parm",
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},
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"gazebo-zephyr": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/gazebo-zephyr.parm",
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},
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"last_letter": {
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"waf_target": "bin/arduplane",
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},
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"CRRCSim": {
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"waf_target": "bin/arduplane",
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},
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"jsbsim": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-jsbsim.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"APMrover2": {
|
||||
"default_frame": "rover",
|
||||
"frames": {
|
||||
# ROVER
|
||||
"rover": {
|
||||
"waf_target": "bin/ardurover",
|
||||
"default_params_filename": "default_params/rover.parm",
|
||||
},
|
||||
"rover-skid": {
|
||||
"waf_target": "bin/ardurover",
|
||||
"default_params_filename": "default_params/rover-skid.parm",
|
||||
},
|
||||
"gazebo-rover": {
|
||||
"waf_target": "bin/ardurover",
|
||||
"default_params_filename": "default_params/rover-skid.parm",
|
||||
},
|
||||
"calibration": {
|
||||
"extra_mavlink_cmds": "module load sitl_calibration;",
|
||||
},
|
||||
},
|
||||
},
|
||||
"ArduSub": {
|
||||
"default_frame": "vectored",
|
||||
"frames": {
|
||||
"vectored": {
|
||||
"waf_target": "bin/ardusub",
|
||||
"default_params_filename": "default_params/sub.parm",
|
||||
},
|
||||
},
|
||||
},
|
||||
"AntennaTracker": {
|
||||
"default_frame": "tracker",
|
||||
"frames": {
|
||||
"tracker": {
|
||||
"waf_target": "bin/antennatracker",
|
||||
},
|
||||
},
|
||||
},
|
||||
}
|
||||
|
||||
def default_waf_target(vehicle):
|
||||
"""Returns a waf target based on vehicle type, which is often determined by which directory the user is in"""
|
||||
default_frame = _options[vehicle]["default_frame"]
|
||||
return _options[vehicle]["frames"][default_frame]["waf_target"]
|
||||
|
||||
|
||||
def options_for_frame(frame, vehicle, opts):
|
||||
"""Return informatiom about how to sitl for frame e.g. build-type==sitl"""
|
||||
ret = None
|
||||
frames = _options[vehicle]["frames"]
|
||||
if frame in frames:
|
||||
ret = _options[vehicle]["frames"][frame]
|
||||
else:
|
||||
for p in ["octa", "tri", "y6", "firefly", "heli", "gazebo", "last_letter", "jsbsim", "quadplane", "plane-elevon", "plane-vtail", "plane"]:
|
||||
if frame.startswith(p):
|
||||
ret = _options[vehicle]["frames"][p]
|
||||
break
|
||||
if ret is None:
|
||||
if frame.endswith("-heli"):
|
||||
ret = _options[vehicle]["frames"]["heli"]
|
||||
if ret is None:
|
||||
progress("WARNING: no config for frame (%s)" % frame)
|
||||
ret = {}
|
||||
|
||||
if "model" not in ret:
|
||||
ret["model"] = frame
|
||||
|
||||
if "sitl-port" not in ret:
|
||||
ret["sitl-port"] = True
|
||||
|
||||
if opts.model is not None:
|
||||
ret["model"] = opts.model
|
||||
|
||||
if (ret["model"].find("xplane") != -1 or ret["model"].find("flightaxis") != -1):
|
||||
ret["sitl-port"] = False
|
||||
|
||||
if "make_target" not in ret:
|
||||
ret["make_target"] = "sitl"
|
||||
|
||||
if "waf_target" not in ret:
|
||||
ret["waf_target"] = default_waf_target(vehicle)
|
||||
|
||||
if opts.build_target is not None:
|
||||
ret["make_target"] = opts.build_target
|
||||
ret["waf_target"] = opts.build_target
|
||||
|
||||
return ret
|
||||
|
||||
from pysim import vehicleinfo
|
||||
vinfo = vehicleinfo.VehicleInfo()
|
||||
|
||||
def do_build_waf(opts, frame_options):
|
||||
"""Build sitl using waf"""
|
||||
@ -693,8 +442,8 @@ def start_antenna_tracker(autotest, opts):
|
||||
progress("Preparing antenna tracker")
|
||||
tracker_home = find_location_by_name(find_autotest_dir(), opts.tracker_location)
|
||||
vehicledir = os.path.join(autotest, "../../" + "AntennaTracker")
|
||||
tracker_default_frame = _options["AntennaTracker"]["default_frame"]
|
||||
tracker_frame_options = _options["AntennaTracker"]["frames"][tracker_default_frame]
|
||||
tracker_default_frame = vinfo.options["AntennaTracker"]["default_frame"]
|
||||
tracker_frame_options = vinfo.options["AntennaTracker"]["frames"][tracker_default_frame]
|
||||
do_build(vehicledir, opts, tracker_frame_options)
|
||||
tracker_instance = 1
|
||||
os.chdir(vehicledir)
|
||||
@ -819,12 +568,12 @@ def start_mavproxy(opts, stuff):
|
||||
progress("MAVProxy exited")
|
||||
|
||||
|
||||
vehicle_options_string = '|'.join(_options.keys())
|
||||
vehicle_options_string = '|'.join(vinfo.options.keys())
|
||||
|
||||
def generate_frame_help():
|
||||
ret = ""
|
||||
for vehicle in _options:
|
||||
frame_options_string = '|'.join(_options[vehicle]["frames"].keys())
|
||||
for vehicle in vinfo.options:
|
||||
frame_options_string = '|'.join(vinfo.options[vehicle]["frames"].keys())
|
||||
ret += "%s: %s\n" % (vehicle, frame_options_string)
|
||||
return ret
|
||||
|
||||
@ -836,7 +585,7 @@ parser = CompatOptionParser("sim_vehicle.py",
|
||||
"you are simulating, for example, start in the ArduPlane directory to " \
|
||||
"simulate ArduPlane")
|
||||
|
||||
parser.add_option("-v", "--vehicle", type='choice', default=None, help="vehicle type (%s)" % vehicle_options_string, choices=list(_options.keys()))
|
||||
parser.add_option("-v", "--vehicle", type='choice', default=None, help="vehicle type (%s)" % vehicle_options_string, choices=list(vinfo.options.keys()))
|
||||
parser.add_option("-f", "--frame", type='string', default=None, help="""set vehicle frame type
|
||||
|
||||
%s""" % (generate_frame_help()))
|
||||
@ -926,20 +675,20 @@ if cmd_opts.vehicle is None:
|
||||
cwd = os.getcwd()
|
||||
cmd_opts.vehicle = os.path.basename(cwd)
|
||||
|
||||
if cmd_opts.vehicle not in _options:
|
||||
if cmd_opts.vehicle not in vinfo.options:
|
||||
# try in parent directories, useful for having config in subdirectories
|
||||
cwd = os.getcwd()
|
||||
while cwd:
|
||||
bname = os.path.basename(cwd)
|
||||
if not bname:
|
||||
break
|
||||
if bname in _options:
|
||||
if bname in vinfo.options:
|
||||
cmd_opts.vehicle = bname
|
||||
break
|
||||
cwd = os.path.dirname(cwd)
|
||||
|
||||
# try to validate vehicle
|
||||
if cmd_opts.vehicle not in _options:
|
||||
if cmd_opts.vehicle not in vinfo.options:
|
||||
progress('''
|
||||
** Is (%s) really your vehicle type?
|
||||
Perhaps you could try -v %s
|
||||
@ -949,13 +698,13 @@ You could also try changing directory to e.g. the ArduCopter subdirectory
|
||||
|
||||
# determine frame options (e.g. build type might be "sitl")
|
||||
if cmd_opts.frame is None:
|
||||
cmd_opts.frame = _options[cmd_opts.vehicle]["default_frame"]
|
||||
cmd_opts.frame = vinfo.options[cmd_opts.vehicle]["default_frame"]
|
||||
|
||||
# setup ports for this instance
|
||||
mavlink_port = "tcp:127.0.0.1:" + str(5760 + 10 * cmd_opts.instance)
|
||||
simout_port = "127.0.0.1:" + str(5501 + 10 * cmd_opts.instance)
|
||||
|
||||
frame_infos = options_for_frame(cmd_opts.frame, cmd_opts.vehicle, cmd_opts)
|
||||
frame_infos = vinfo.options_for_frame(cmd_opts.frame, cmd_opts.vehicle, cmd_opts)
|
||||
|
||||
if frame_infos["model"] == "jsbsim":
|
||||
check_jsbsim_version()
|
||||
|
||||
Loading…
Reference in New Issue
Block a user