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Tools: autotest: Use the generic run_test.

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If any of the tests throws an exception, it will be caught by the generic test function
that collects all errors and displays them before passing the result to the vehicle testcode.
Hence the name of the test and the exception that got raised get printed in a single
location. This nicely reduces code duplication.
This commit is contained in:
Karthik Desai 2018-04-27 20:21:53 +02:00 committed by Peter Barker
parent 7a20dd8b73
commit 40cd0cd17f
5 changed files with 293 additions and 722 deletions
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160
Tools/autotest/apmrover2.py
View File

@ -10,6 +10,10 @@ import time
from common import AutoTest from common import AutoTest
from common import MsgRcvTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from pysim import util from pysim import util
from pymavlink import mavutil from pymavlink import mavutil
@ -194,7 +198,6 @@ class AutoTestRover(AutoTest):
def drive_square(self, side=50): def drive_square(self, side=50):
"""Drive a square, Driving N then E .""" """Drive a square, Driving N then E ."""
self.progress("TEST SQUARE") self.progress("TEST SQUARE")
success = True
# use LEARNING Mode # use LEARNING Mode
self.mavproxy.send('switch 5\n') self.mavproxy.send('switch 5\n')
@ -202,57 +205,42 @@ class AutoTestRover(AutoTest):
# first aim north # first aim north
self.progress("\nTurn right towards north") self.progress("\nTurn right towards north")
if not self.reach_heading_manual(10): self.reach_heading_manual(10)
success = False
# save bottom left corner of box as waypoint # save bottom left corner of box as waypoint
self.progress("Save WP 1 & 2") self.progress("Save WP 1 & 2")
self.save_wp() self.save_wp()
# pitch forward to fly north # pitch forward to fly north
self.progress("\nGoing north %u meters" % side) self.progress("\nGoing north %u meters" % side)
if not self.reach_distance_manual(side): self.reach_distance_manual(side)
success = False
# save top left corner of square as waypoint # save top left corner of square as waypoint
self.progress("Save WP 3") self.progress("Save WP 3")
self.save_wp() self.save_wp()
# roll right to fly east # roll right to fly east
self.progress("\nGoing east %u meters" % side) self.progress("\nGoing east %u meters" % side)
if not self.reach_heading_manual(100): self.reach_heading_manual(100)
success = False self.reach_distance_manual(side)
if not self.reach_distance_manual(side):
success = False
# save top right corner of square as waypoint # save top right corner of square as waypoint
self.progress("Save WP 4") self.progress("Save WP 4")
self.save_wp() self.save_wp()
# pitch back to fly south # pitch back to fly south
self.progress("\nGoing south %u meters" % side) self.progress("\nGoing south %u meters" % side)
if not self.reach_heading_manual(190): self.reach_heading_manual(190)
success = False self.reach_distance_manual(side)
if not self.reach_distance_manual(side):
success = False
# save bottom right corner of square as waypoint # save bottom right corner of square as waypoint
self.progress("Save WP 5") self.progress("Save WP 5")
self.save_wp() self.save_wp()
# roll left to fly west # roll left to fly west
self.progress("\nGoing west %u meters" % side) self.progress("\nGoing west %u meters" % side)
if not self.reach_heading_manual(280): self.reach_heading_manual(280)
success = False self.reach_distance_manual(side)
if not self.reach_distance_manual(side):
success = False
# save bottom left corner of square (should be near home) as waypoint # save bottom left corner of square (should be near home) as waypoint
self.progress("Save WP 6") self.progress("Save WP 6")
self.save_wp() self.save_wp()
return success
def drive_left_circuit(self): def drive_left_circuit(self):
"""Drive a left circuit, 50m on a side.""" """Drive a left circuit, 50m on a side."""
self.mavproxy.send('switch 6\n') self.mavproxy.send('switch 6\n')
@ -265,15 +253,12 @@ class AutoTestRover(AutoTest):
# hard left # hard left
self.progress("Starting turn %u" % i) self.progress("Starting turn %u" % i)
self.set_rc(1, 1000) self.set_rc(1, 1000)
if not self.wait_heading(270 - (90*i), accuracy=10): self.wait_heading(270 - (90*i), accuracy=10)
return False
self.set_rc(1, 1500) self.set_rc(1, 1500)
self.progress("Starting leg %u" % i) self.progress("Starting leg %u" % i)
if not self.wait_distance(50, accuracy=7): self.wait_distance(50, accuracy=7)
return False
self.set_rc(3, 1500) self.set_rc(3, 1500)
self.progress("Circuit complete") self.progress("Circuit complete")
return True
# def test_throttle_failsafe(self, home, distance_min=10, side=60, # def test_throttle_failsafe(self, home, distance_min=10, side=60,
# timeout=300): # timeout=300):
@ -338,11 +323,12 @@ class AutoTestRover(AutoTest):
self.mavproxy.send('switch 4\n') # auto mode self.mavproxy.send('switch 4\n') # auto mode
self.set_rc(3, 1500) self.set_rc(3, 1500)
self.wait_mode('AUTO') self.wait_mode('AUTO')
if not self.wait_waypoint(1, 4, max_dist=5): self.wait_waypoint(1, 4, max_dist=5)
return False
self.wait_mode('HOLD') self.wait_mode('HOLD')
self.progress("Mission OK") self.progress("Mission OK")
return True
def drive_mission_rover1(self):
self.drive_mission(os.path.join(testdir, "rover1.txt"))
def do_get_banner(self): def do_get_banner(self):
self.mavproxy.send("long DO_SEND_BANNER 1\n") self.mavproxy.send("long DO_SEND_BANNER 1\n")
@ -353,13 +339,12 @@ class AutoTestRover(AutoTest):
timeout=1) timeout=1)
if m is not None and "ArduRover" in m.text: if m is not None and "ArduRover" in m.text:
self.progress("banner received: %s" % m.text) self.progress("banner received: %s" % m.text)
return True return
if time.time() - start > 10: if time.time() - start > 10:
break break
self.progress("banner not received") self.progress("banner not received")
raise MsgRcvTimeoutException()
return False
def drive_brake_get_stopping_distance(self, speed): def drive_brake_get_stopping_distance(self, speed):
# measure our stopping distance: # measure our stopping distance:
@ -421,13 +406,11 @@ class AutoTestRover(AutoTest):
(distance_with_brakes, (distance_with_brakes,
distance_without_brakes, distance_without_brakes,
delta)) delta))
return False raise NotAchievedException()
else:
self.progress(
"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
(distance_with_brakes, distance_without_brakes, delta))
return True self.progress(
"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
(distance_with_brakes, distance_without_brakes, delta))
def drive_rtl_mission(self): def drive_rtl_mission(self):
mission_filepath = os.path.join(testdir, mission_filepath = os.path.join(testdir,
@ -445,12 +428,12 @@ class AutoTestRover(AutoTest):
timeout=0.1) timeout=0.1)
if m is None: if m is None:
self.progress("Did not receive NAV_CONTROLLER_OUTPUT message") self.progress("Did not receive NAV_CONTROLLER_OUTPUT message")
return False raise MsgRcvTimeoutException()
wp_dist_min = 5 wp_dist_min = 5
if m.wp_dist < wp_dist_min: if m.wp_dist < wp_dist_min:
self.progress("Did not start at least 5 metres from destination") self.progress("Did not start at least 5 metres from destination")
return False raise PreconditionFailedException()
self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" % self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" %
(m.wp_dist, wp_dist_min,)) (m.wp_dist, wp_dist_min,))
@ -463,11 +446,10 @@ class AutoTestRover(AutoTest):
if home_distance > home_distance_max: if home_distance > home_distance_max:
self.progress("Did not get home (%u metres distant > %u)" % self.progress("Did not get home (%u metres distant > %u)" %
(home_distance, home_distance_max)) (home_distance, home_distance_max))
return False raise NotAchievedException()
self.mavproxy.send('switch 6\n') self.mavproxy.send('switch 6\n')
self.wait_mode('MANUAL') self.wait_mode('MANUAL')
self.progress("RTL Mission OK") self.progress("RTL Mission OK")
return True
def test_servorelayevents(self): def test_servorelayevents(self):
self.mavproxy.send("relay set 0 0\n") self.mavproxy.send("relay set 0 0\n")
@ -476,9 +458,8 @@ class AutoTestRover(AutoTest):
on = self.get_parameter("SIM_PIN_MASK") on = self.get_parameter("SIM_PIN_MASK")
if on == off: if on == off:
self.progress("Pin mask unchanged after relay command") self.progress("Pin mask unchanged after relay command")
return False raise NotAchievedException()
self.progress("Pin mask changed after relay command") self.progress("Pin mask changed after relay command")
return True
def autotest(self): def autotest(self):
"""Autotest APMrover2 in SITL.""" """Autotest APMrover2 in SITL."""
@ -486,8 +467,7 @@ class AutoTestRover(AutoTest):
self.init() self.init()
self.progress("Started simulator") self.progress("Started simulator")
failed = False self.fail_list = []
e = 'None'
try: try:
self.progress("Waiting for a heartbeat with mavlink protocol %s" % self.progress("Waiting for a heartbeat with mavlink protocol %s" %
self.mav.WIRE_PROTOCOL_VERSION) self.mav.WIRE_PROTOCOL_VERSION)
@ -503,75 +483,33 @@ class AutoTestRover(AutoTest):
self.wait_mode('MANUAL') self.wait_mode('MANUAL')
self.progress("Waiting reading for arm") self.progress("Waiting reading for arm")
self.wait_ready_to_arm() self.wait_ready_to_arm()
if not self.arm_vehicle(): self.arm_vehicle()
self.progress("Failed to ARM")
failed = True
self.progress("#") self.run_test("Drive an RTL Mission", self.drive_rtl_mission)
self.progress("########## Drive an RTL mission ##########")
self.progress("#")
# Drive a square in learning mode
# self.reset_and_arm()
if not self.drive_rtl_mission():
self.progress("Failed RTL mission")
failed = True
self.progress("#") self.run_test("Learn/Drive Square with Ch7 option",
self.progress("########## Drive a square and save WPs with CH7" self.drive_square)
"switch ##########")
self.progress("#")
# Drive a square in learning mode
# self.reset_and_arm()
if not self.drive_square():
self.progress("Failed drive square")
failed = True
if not self.drive_mission(os.path.join(testdir, "rover1.txt")): self.run_test("Drive Mission %s" % "rover1.txt",
self.progress("Failed mission") self.drive_mission_rover1)
failed = True
if not self.drive_brake(): self.run_test("Drive Brake", self.drive_brake)
self.progress("Failed brake")
failed = True
if not self.disarm_vehicle(): self.run_test("Disarm Vehicle", self.disarm_vehicle)
self.progress("Failed to DISARM")
failed = True
# do not move this to be the first test. MAVProxy's dedupe self.run_test("Get Banner", self.do_get_banner)
# function may bite you.
self.progress("Getting banner")
if not self.do_get_banner():
self.progress("FAILED: get banner")
failed = True
self.progress("Getting autopilot capabilities") self.run_test("Get Capabilities",
if not self.do_get_autopilot_capabilities(): self.do_get_autopilot_capabilities)
self.progress("FAILED: get capabilities")
failed = True
self.progress("Setting mode via MAV_COMMAND_DO_SET_MODE") self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE",
if not self.do_set_mode_via_command_long(): self.do_set_mode_via_command_long)
failed = True
# test ServoRelayEvents: self.run_test("Test ServoRelayEvents",
self.progress("########## Test ServoRelayEvents ##########") self.test_servorelayevents)
if not self.test_servorelayevents():
self.progress("Failed servo relay events")
failed = True
# Throttle Failsafe self.run_test("Download logs", lambda:
self.progress("#") self.log_download(self.buildlogs_path("APMrover2-log.bin")))
self.progress("########## Test Failsafe ##########")
self.progress("#")
# self.reset_and_arm()
# if not self.test_throttle_failsafe(HOME, distance_min=4):
# self.progress("Throttle failsafe failed")
# sucess = False
if not self.log_download(self.buildlogs_path("APMrover2-log.bin")):
self.progress("Failed log download")
failed = True
# if not drive_left_circuit(self): # if not drive_left_circuit(self):
# self.progress("Failed left circuit") # self.progress("Failed left circuit")
# failed = True # failed = True
@ -581,11 +519,11 @@ class AutoTestRover(AutoTest):
except pexpect.TIMEOUT as e: except pexpect.TIMEOUT as e:
self.progress("Failed with timeout") self.progress("Failed with timeout")
failed = True self.fail_list.append( ("*timeout*", None) )
self.close() self.close()
if failed: if len(self.fail_list):
self.progress("FAILED: %s" % e) self.progress("FAILED STEPS: %s" % self.fail_list)
return False return False
return True return True

540
Tools/autotest/arducopter.py
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231
Tools/autotest/arduplane.py
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@ -11,6 +11,7 @@ from pymavlink import mavutil
from pysim import util from pysim import util
from common import AutoTest from common import AutoTest
from common import NotAchievedException
# get location of scripts # get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__)) testdir = os.path.dirname(os.path.realpath(__file__))
@ -104,7 +105,6 @@ class AutoTestPlane(AutoTest):
def takeoff(self): def takeoff(self):
"""Takeoff get to 30m altitude.""" """Takeoff get to 30m altitude."""
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -131,24 +131,21 @@ class AutoTestPlane(AutoTest):
self.set_rc(3, 2000) self.set_rc(3, 2000)
# gain a bit of altitude # gain a bit of altitude
if not self.wait_altitude(self.homeloc.alt+150, self.wait_altitude(self.homeloc.alt+150,
self.homeloc.alt+180, self.homeloc.alt+180,
timeout=30): timeout=30)
return False
# level off # level off
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.progress("TAKEOFF COMPLETE") self.progress("TAKEOFF COMPLETE")
return True
def fly_left_circuit(self): def fly_left_circuit(self):
"""Fly a left circuit, 200m on a side.""" """Fly a left circuit, 200m on a side."""
self.mavproxy.send('switch 4\n') self.mavproxy.send('switch 4\n')
self.wait_mode('FBWA') self.wait_mode('FBWA')
self.set_rc(3, 2000) self.set_rc(3, 2000)
if not self.wait_level_flight(): self.wait_level_flight()
return False
self.progress("Flying left circuit") self.progress("Flying left circuit")
# do 4 turns # do 4 turns
@ -156,28 +153,23 @@ class AutoTestPlane(AutoTest):
# hard left # hard left
self.progress("Starting turn %u" % i) self.progress("Starting turn %u" % i)
self.set_rc(1, 1000) self.set_rc(1, 1000)
if not self.wait_heading(270 - (90*i), accuracy=10): self.wait_heading(270 - (90*i), accuracy=10)
return False
self.set_rc(1, 1500) self.set_rc(1, 1500)
self.progress("Starting leg %u" % i) self.progress("Starting leg %u" % i)
if not self.wait_distance(100, accuracy=20): self.wait_distance(100, accuracy=20)
return False
self.progress("Circuit complete") self.progress("Circuit complete")
return True
def fly_RTL(self): def fly_RTL(self):
"""Fly to home.""" """Fly to home."""
self.progress("Flying home in RTL") self.progress("Flying home in RTL")
self.mavproxy.send('switch 2\n') self.mavproxy.send('switch 2\n')
self.wait_mode('RTL') self.wait_mode('RTL')
if not self.wait_location(self.homeloc, self.wait_location(self.homeloc,
accuracy=120, accuracy=120,
target_altitude=self.homeloc.alt+100, target_altitude=self.homeloc.alt+100,
height_accuracy=20, height_accuracy=20,
timeout=180): timeout=180)
return False
self.progress("RTL Complete") self.progress("RTL Complete")
return True
def fly_LOITER(self, num_circles=4): def fly_LOITER(self, num_circles=4):
"""Loiter where we are.""" """Loiter where we are."""
@ -190,10 +182,8 @@ class AutoTestPlane(AutoTest):
self.progress("Initial altitude %u\n" % initial_alt) self.progress("Initial altitude %u\n" % initial_alt)
while num_circles > 0: while num_circles > 0:
if not self.wait_heading(0, accuracy=10, timeout=60): self.wait_heading(0, accuracy=10, timeout=60)
return False self.wait_heading(180, accuracy=10, timeout=60)
if not self.wait_heading(180, accuracy=10, timeout=60):
return False
num_circles -= 1 num_circles -= 1
self.progress("Loiter %u circles left" % num_circles) self.progress("Loiter %u circles left" % num_circles)
@ -207,10 +197,9 @@ class AutoTestPlane(AutoTest):
if abs(final_alt - initial_alt) > 20: if abs(final_alt - initial_alt) > 20:
self.progress("Failed to maintain altitude") self.progress("Failed to maintain altitude")
return False raise NotAchievedException()
self.progress("Completed Loiter OK") self.progress("Completed Loiter OK")
return True
def fly_CIRCLE(self, num_circles=1): def fly_CIRCLE(self, num_circles=1):
"""Circle where we are.""" """Circle where we are."""
@ -223,10 +212,8 @@ class AutoTestPlane(AutoTest):
self.progress("Initial altitude %u\n" % initial_alt) self.progress("Initial altitude %u\n" % initial_alt)
while num_circles > 0: while num_circles > 0:
if not self.wait_heading(0, accuracy=10, timeout=60): self.wait_heading(0, accuracy=10, timeout=60)
return False self.wait_heading(180, accuracy=10, timeout=60)
if not self.wait_heading(180, accuracy=10, timeout=60):
return False
num_circles -= 1 num_circles -= 1
self.progress("CIRCLE %u circles left" % num_circles) self.progress("CIRCLE %u circles left" % num_circles)
@ -240,10 +227,9 @@ class AutoTestPlane(AutoTest):
if abs(final_alt - initial_alt) > 20: if abs(final_alt - initial_alt) > 20:
self.progress("Failed to maintain altitude") self.progress("Failed to maintain altitude")
return False raise NotAchievedException()
self.progress("Completed CIRCLE OK") self.progress("Completed CIRCLE OK")
return True
def wait_level_flight(self, accuracy=5, timeout=30): def wait_level_flight(self, accuracy=5, timeout=30):
"""Wait for level flight.""" """Wait for level flight."""
@ -259,9 +245,9 @@ class AutoTestPlane(AutoTest):
self.progress("Roll=%.1f Pitch=%.1f" % (roll, pitch)) self.progress("Roll=%.1f Pitch=%.1f" % (roll, pitch))
if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy: if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
self.progress("Attained level flight") self.progress("Attained level flight")
return True return
self.progress("Failed to attain level flight") self.progress("Failed to attain level flight")
return False raise NotAchievedException()
def change_altitude(self, altitude, accuracy=30): def change_altitude(self, altitude, accuracy=30):
"""Get to a given altitude.""" """Get to a given altitude."""
@ -272,8 +258,7 @@ class AutoTestPlane(AutoTest):
self.set_rc(2, 2000) self.set_rc(2, 2000)
else: else:
self.set_rc(2, 1000) self.set_rc(2, 1000)
if not self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2): self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2)
return False
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.progress("Reached target altitude at %u" % self.progress("Reached target altitude at %u" %
self.mav.messages['VFR_HUD'].alt) self.mav.messages['VFR_HUD'].alt)
@ -283,8 +268,7 @@ class AutoTestPlane(AutoTest):
"""Fly a left axial roll.""" """Fly a left axial roll."""
# full throttle! # full throttle!
self.set_rc(3, 2000) self.set_rc(3, 2000)
if not self.change_altitude(self.homeloc.alt+300): self.change_altitude(self.homeloc.alt+300)
return False
# fly the roll in manual # fly the roll in manual
self.mavproxy.send('switch 6\n') self.mavproxy.send('switch 6\n')
@ -293,15 +277,13 @@ class AutoTestPlane(AutoTest):
while count > 0: while count > 0:
self.progress("Starting roll") self.progress("Starting roll")
self.set_rc(1, 1000) self.set_rc(1, 1000)
if not self.wait_roll(-150, accuracy=90): try:
self.set_rc(1, 1500) self.wait_roll(-150, accuracy=90)
return False self.wait_roll(150, accuracy=90)
if not self.wait_roll(150, accuracy=90): self.wait_roll(0, accuracy=90)
self.set_rc(1, 1500) except Exception as e:
return False self.set_rc(1,1500)
if not self.wait_roll(0, accuracy=90): raise e
self.set_rc(1, 1500)
return False
count -= 1 count -= 1
# back to FBWA # back to FBWA
@ -315,9 +297,7 @@ class AutoTestPlane(AutoTest):
"""Fly a inside loop.""" """Fly a inside loop."""
# full throttle! # full throttle!
self.set_rc(3, 2000) self.set_rc(3, 2000)
if not self.change_altitude(self.homeloc.alt+300): self.change_altitude(self.homeloc.alt+300)
return False
# fly the loop in manual # fly the loop in manual
self.mavproxy.send('switch 6\n') self.mavproxy.send('switch 6\n')
self.wait_mode('MANUAL') self.wait_mode('MANUAL')
@ -325,10 +305,8 @@ class AutoTestPlane(AutoTest):
while count > 0: while count > 0:
self.progress("Starting loop") self.progress("Starting loop")
self.set_rc(2, 1000) self.set_rc(2, 1000)
if not self.wait_pitch(-60, accuracy=20): self.wait_pitch(-60, accuracy=20)
return False self.wait_pitch(0, accuracy=20)
if not self.wait_pitch(0, accuracy=20):
return False
count -= 1 count -= 1
# back to FBWA # back to FBWA
@ -343,8 +321,7 @@ class AutoTestPlane(AutoTest):
# full throttle! # full throttle!
self.set_rc(3, 2000) self.set_rc(3, 2000)
self.set_rc(2, 1300) self.set_rc(2, 1300)
if not self.change_altitude(self.homeloc.alt+300): self.change_altitude(self.homeloc.alt+300)
return False
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.mavproxy.send("mode STABILIZE\n") self.mavproxy.send("mode STABILIZE\n")
@ -354,17 +331,13 @@ class AutoTestPlane(AutoTest):
while count > 0: while count > 0:
self.progress("Starting roll") self.progress("Starting roll")
self.set_rc(1, 2000) self.set_rc(1, 2000)
if not self.wait_roll(-150, accuracy=90): self.wait_roll(-150, accuracy=90)
return False self.wait_roll(150, accuracy=90)
if not self.wait_roll(150, accuracy=90): self.wait_roll(0, accuracy=90)
return False
if not self.wait_roll(0, accuracy=90):
return False
count -= 1 count -= 1
self.set_rc(1, 1500) self.set_rc(1, 1500)
if not self.wait_roll(0, accuracy=5): self.wait_roll(0, accuracy=5)
return False
# back to FBWA # back to FBWA
self.mavproxy.send('mode FBWA\n') self.mavproxy.send('mode FBWA\n')
@ -377,8 +350,7 @@ class AutoTestPlane(AutoTest):
# full throttle! # full throttle!
self.set_rc(3, 2000) self.set_rc(3, 2000)
self.set_rc(2, 1300) self.set_rc(2, 1300)
if not self.change_altitude(self.homeloc.alt+300): self.change_altitude(self.homeloc.alt+300)
return False
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.mavproxy.send("mode ACRO\n") self.mavproxy.send("mode ACRO\n")
@ -388,12 +360,9 @@ class AutoTestPlane(AutoTest):
while count > 0: while count > 0:
self.progress("Starting roll") self.progress("Starting roll")
self.set_rc(1, 1000) self.set_rc(1, 1000)
if not self.wait_roll(-150, accuracy=90): self.wait_roll(-150, accuracy=90)
return False self.wait_roll(150, accuracy=90)
if not self.wait_roll(150, accuracy=90): self.wait_roll(0, accuracy=90)
return False
if not self.wait_roll(0, accuracy=90):
return False
count -= 1 count -= 1
self.set_rc(1, 1500) self.set_rc(1, 1500)
@ -410,10 +379,8 @@ class AutoTestPlane(AutoTest):
while count > 0: while count > 0:
self.progress("Starting loop") self.progress("Starting loop")
self.set_rc(2, 1000) self.set_rc(2, 1000)
if not self.wait_pitch(-60, accuracy=20): self.wait_pitch(-60, accuracy=20)
return False self.wait_pitch(0, accuracy=20)
if not self.wait_pitch(0, accuracy=20):
return False
count -= 1 count -= 1
self.set_rc(2, 1500) self.set_rc(2, 1500)
@ -447,13 +414,14 @@ class AutoTestPlane(AutoTest):
# hard left # hard left
self.progress("Starting turn %u" % i) self.progress("Starting turn %u" % i)
self.set_rc(1, 1800) self.set_rc(1, 1800)
if not self.wait_heading(0 + (90*i), accuracy=20, timeout=60): try:
self.wait_heading(0 + (90*i), accuracy=20, timeout=60)
except Exception as e:
self.set_rc(1, 1500) self.set_rc(1, 1500)
return False raise e
self.set_rc(1, 1500) self.set_rc(1, 1500)
self.progress("Starting leg %u" % i) self.progress("Starting leg %u" % i)
if not self.wait_distance(100, accuracy=20): self.wait_distance(100, accuracy=20)
return False
self.progress("Circuit complete") self.progress("Circuit complete")
self.progress("Flying rudder left circuit") self.progress("Flying rudder left circuit")
@ -462,13 +430,14 @@ class AutoTestPlane(AutoTest):
# hard left # hard left
self.progress("Starting turn %u" % i) self.progress("Starting turn %u" % i)
self.set_rc(4, 1900) self.set_rc(4, 1900)
if not self.wait_heading(360 - (90*i), accuracy=20, timeout=60): try:
self.wait_heading(360 - (90*i), accuracy=20, timeout=60)
except Exception as e:
self.set_rc(4, 1500) self.set_rc(4, 1500)
return False raise e
self.set_rc(4, 1500) self.set_rc(4, 1500)
self.progress("Starting leg %u" % i) self.progress("Starting leg %u" % i)
if not self.wait_distance(100, accuracy=20): self.wait_distance(100, accuracy=20)
return False
self.progress("Circuit complete") self.progress("Circuit complete")
m = self.mav.recv_match(type='VFR_HUD', blocking=True) m = self.mav.recv_match(type='VFR_HUD', blocking=True)
@ -482,7 +451,7 @@ class AutoTestPlane(AutoTest):
if abs(final_alt - initial_alt) > 20: if abs(final_alt - initial_alt) > 20:
self.progress("Failed to maintain altitude") self.progress("Failed to maintain altitude")
return False raise NotAchievedException()
return self.wait_level_flight() return self.wait_level_flight()
@ -495,22 +464,17 @@ class AutoTestPlane(AutoTest):
self.mavproxy.expect('Requesting [0-9]+ waypoints') self.mavproxy.expect('Requesting [0-9]+ waypoints')
self.mavproxy.send('switch 1\n') # auto mode self.mavproxy.send('switch 1\n') # auto mode
self.wait_mode('AUTO') self.wait_mode('AUTO')
if not self.wait_waypoint(1, 7, max_dist=60): self.wait_waypoint(1, 7, max_dist=60)
return False self.wait_groundspeed(0, 0.5, timeout=60)
if not self.wait_groundspeed(0, 0.5, timeout=60):
return False
self.mavproxy.expect("Auto disarmed") self.mavproxy.expect("Auto disarmed")
self.progress("Mission OK") self.progress("Mission OK")
return True
def autotest(self): def autotest(self):
"""Autotest ArduPlane in SITL.""" """Autotest ArduPlane in SITL."""
if not self.hasInit: if not self.hasInit:
self.init() self.init()
failed = False self.fail_list = []
fail_list = []
e = 'None'
try: try:
self.progress("Waiting for a heartbeat with mavlink protocol %s" self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION) % self.mav.WIRE_PROTOCOL_VERSION)
@ -526,69 +490,42 @@ class AutoTestPlane(AutoTest):
self.mav.wait_gps_fix() self.mav.wait_gps_fix()
self.homeloc = self.mav.location() self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc) self.progress("Home location: %s" % self.homeloc)
if not self.takeoff():
self.progress("Failed takeoff") self.run_test("Takeoff", self.takeoff)
failed = True
fail_list.append("takeoff") self.run_test("Fly left circuit", self.fly_left_circuit)
if not self.fly_left_circuit():
self.progress("Failed left circuit") self.run_test("Left roll", lambda: self.axial_left_roll(1))
failed = True
fail_list.append("left_circuit") self.run_test("Inside loop", self.inside_loop)
if not self.axial_left_roll(1):
self.progress("Failed left roll") self.run_test("Stablize test", self.test_stabilize)
failed = True
fail_list.append("left_roll") self.run_test("ACRO test", self.test_acro)
if not self.inside_loop():
self.progress("Failed inside loop") self.run_test("FBWB test", self.test_FBWB)
failed = True
fail_list.append("inside_loop") self.run_test("CRUISE test", lambda: self.test_FBWB(mode='CRUISE'))
if not self.test_stabilize():
self.progress("Failed stabilize test") self.run_test("RTL test", self.fly_RTL)
failed = True
fail_list.append("stabilize") self.run_test("LOITER test", self.fly_LOITER)
if not self.test_acro():
self.progress("Failed ACRO test") self.run_test("CIRCLE test", self.fly_CIRCLE)
failed = True
fail_list.append("acro") self.run_test("Mission test", lambda: self.fly_mission(os.path.join(testdir, "ap1.txt"),
if not self.test_FBWB():
self.progress("Failed FBWB test")
failed = True
fail_list.append("fbwb")
if not self.test_FBWB(mode='CRUISE'):
self.progress("Failed CRUISE test")
failed = True
fail_list.append("cruise")
if not self.fly_RTL():
self.progress("Failed RTL")
failed = True
fail_list.append("RTL")
if not self.fly_LOITER():
self.progress("Failed LOITER")
failed = True
fail_list.append("LOITER")
if not self.fly_CIRCLE():
self.progress("Failed CIRCLE")
failed = True
fail_list.append("LOITER")
if not self.fly_mission(os.path.join(testdir, "ap1.txt"),
height_accuracy=10, height_accuracy=10,
target_altitude=self.homeloc.alt+100): target_altitude=self.homeloc.alt+100))
self.progress("Failed mission")
failed = True self.run_test("Log download", lambda: self.log_download(self.buildlogs_path("ArduPlane-log.bin")))
fail_list.append("mission")
if not self.log_download(self.buildlogs_path("ArduPlane-log.bin")):
self.progress("Failed log download")
failed = True
fail_list.append("log_download")
except pexpect.TIMEOUT as e: except pexpect.TIMEOUT as e:
self.progress("Failed with timeout") self.progress("Failed with timeout")
failed = True self.fail_list.append("timeout")
fail_list.append("timeout")
self.close() self.close()
if failed: if len(self.fail_list):
self.progress("FAILED: %s" % e) self.progress("FAILED: %s" % self.fail_list)
self.progress("Fail list: %s" % fail_list)
return False return False
return True return True

60
Tools/autotest/ardusub.py
View File

@ -103,39 +103,27 @@ class AutoTestSub(AutoTest):
self.set_rc(5, 1600) self.set_rc(5, 1600)
self.set_rc(6, 1550) self.set_rc(6, 1550)
if not self.wait_distance(50, accuracy=7, timeout=200): self.wait_distance(50, accuracy=7, timeout=200)
return False
self.set_rc(4, 1550) self.set_rc(4, 1550)
if not self.wait_heading(0): self.wait_heading(0)
return False
self.set_rc(4, 1500) self.set_rc(4, 1500)
if not self.wait_distance(50, accuracy=7, timeout=100): self.wait_distance(50, accuracy=7, timeout=100)
return False
self.set_rc(4, 1550) self.set_rc(4, 1550)
if not self.wait_heading(0): self.wait_heading(0)
return False
self.set_rc(4, 1500) self.set_rc(4, 1500)
self.set_rc(5, 1500) self.set_rc(5, 1500)
self.set_rc(6, 1100) self.set_rc(6, 1100)
if not self.wait_distance(75, accuracy=7, timeout=100): self.wait_distance(75, accuracy=7, timeout=100)
return False
self.set_rc_default() self.set_rc_default()
self.disarm_vehicle() self.disarm_vehicle()
self.progress("Manual dive OK") self.progress("Manual dive OK")
return True
def dive_mission(self, filename): def dive_mission(self, filename):
self.progress("Executing mission %s" % filename) self.progress("Executing mission %s" % filename)
self.mavproxy.send('wp load %s\n' % filename) self.mavproxy.send('wp load %s\n' % filename)
self.mavproxy.expect('Flight plan received') self.mavproxy.expect('Flight plan received')
@ -143,28 +131,23 @@ class AutoTestSub(AutoTest):
self.mavproxy.expect('Saved [0-9]+ waypoints') self.mavproxy.expect('Saved [0-9]+ waypoints')
self.set_rc_default() self.set_rc_default()
if not self.arm_vehicle(): self.arm_vehicle()
self.progress("Failed to ARM")
return False
self.mavproxy.send('mode auto\n') self.mavproxy.send('mode auto\n')
self.wait_mode('AUTO') self.wait_mode('AUTO')
if not self.wait_waypoint(1, 5, max_dist=5): self.wait_waypoint(1, 5, max_dist=5)
return False
self.disarm_vehicle() self.disarm_vehicle()
self.progress("Mission OK") self.progress("Mission OK")
return True
def autotest(self): def autotest(self):
"""Autotest ArduSub in SITL.""" """Autotest ArduSub in SITL."""
if not self.hasInit: if not self.hasInit:
self.init() self.init()
failed = False self.fail_list = []
e = 'None'
try: try:
self.progress("Waiting for a heartbeat with mavlink protocol %s" self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION) % self.mav.WIRE_PROTOCOL_VERSION)
@ -179,25 +162,22 @@ class AutoTestSub(AutoTest):
self.homeloc = self.mav.location() self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc) self.progress("Home location: %s" % self.homeloc)
self.set_rc_default() self.set_rc_default()
if not self.arm_vehicle():
self.progress("Failed to ARM") self.run_test("Arm vehicle", self.arm_vehicle)
failed = True
if not self.dive_manual(): self.run_test("Dive manual", self.dive_manual)
self.progress("Failed manual dive")
failed = True self.run_test("Dive mission", lambda: self.dive_mission(os.path.join(testdir, "sub_mission.txt")))
if not self.dive_mission(os.path.join(testdir, "sub_mission.txt")):
self.progress("Failed auto mission") self.run_test("Log download", lambda: self.log_download(self.buildlogs_path("ArduSub-log.bin")))
failed = True
if not self.log_download(self.buildlogs_path("ArduSub-log.bin")):
self.progress("Failed log download")
failed = True
except pexpect.TIMEOUT as e: except pexpect.TIMEOUT as e:
self.progress("Failed with timeout") self.progress("Failed with timeout")
failed = True self.fail_list.append("Failed with timeout")
self.close() self.close()
if failed: if len(self.fail_list):
self.progress("FAILED: %s" % e) self.progress("FAILED: %s" % self.fail_list)
return False return False
return True return True

24
Tools/autotest/quadplane.py
View File

@ -134,25 +134,24 @@ class AutoTestQuadPlane(AutoTest):
self.mavproxy.expect('Requesting [0-9]+ waypoints') self.mavproxy.expect('Requesting [0-9]+ waypoints')
self.mavproxy.send('mode AUTO\n') self.mavproxy.send('mode AUTO\n')
self.wait_mode('AUTO') self.wait_mode('AUTO')
if not self.wait_waypoint(1, 19, max_dist=60, timeout=1200): self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
return False
self.mavproxy.expect('DISARMED') self.mavproxy.expect('DISARMED')
# wait for blood sample here # wait for blood sample here
self.mavproxy.send('wp set 20\n') self.mavproxy.send('wp set 20\n')
self.arm_vehicle() self.arm_vehicle()
if not self.wait_waypoint(20, 34, max_dist=60, timeout=1200): self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
return False
self.mavproxy.expect('DISARMED') self.mavproxy.expect('DISARMED')
self.progress("Mission OK") self.progress("Mission OK")
return True
def autotest(self): def autotest(self):
"""Autotest QuadPlane in SITL.""" """Autotest QuadPlane in SITL."""
if not self.hasInit: if not self.hasInit:
self.init() self.init()
failed = False self.fail_list = []
e = 'None'
try: try:
self.progress("Waiting for a heartbeat with mavlink protocol %s" self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION) % self.mav.WIRE_PROTOCOL_VERSION)
@ -174,16 +173,15 @@ class AutoTestQuadPlane(AutoTest):
m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt") m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")
f = os.path.join(testdir, f = os.path.join(testdir,
"ArduPlane-Missions/Dalby-OBC2016-fence.txt") "ArduPlane-Missions/Dalby-OBC2016-fence.txt")
if not self.fly_mission(m, f):
self.progress("Failed mission") self.run_test("Mission", lambda: self.fly_mission(m, f))
failed = True
except pexpect.TIMEOUT as e: except pexpect.TIMEOUT as e:
self.progress("Failed with timeout") self.progress("Failed with timeout")
failed = True self.fail_list.append("Failed with timeout")
self.close() self.close()
if failed: if len(self.fail_list):
self.progress("FAILED: %s" % e) self.progress("FAILED: %s" % self.fail_list)
return False return False
return True return True