Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: start MAVProxy only as needed for testing

Browse Source
This commit is contained in:
Peter Barker 2021-03-01 11:49:18 +11:00 committed by Peter Barker
parent 4269cf52a2
commit 462ac255a3
5 changed files with 418 additions and 344 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
Tools/autotest/arducopter.py
View File

@ -408,8 +408,11 @@ class AutoTestCopter(AutoTest):
self.save_wp() self.save_wp()
# save the stored mission to file # save the stored mission to file
num_wp = self.save_mission_to_file(os.path.join(testdir, mavproxy = self.start_mavproxy()
"ch7_mission.txt")) num_wp = self.save_mission_to_file_using_mavproxy(
mavproxy,
os.path.join(testdir, "ch7_mission.txt"))
self.stop_mavproxy(mavproxy)
if not num_wp: if not num_wp:
self.fail_list.append("save_mission_to_file") self.fail_list.append("save_mission_to_file")
self.progress("save_mission_to_file failed") self.progress("save_mission_to_file failed")
@ -5315,13 +5318,15 @@ class AutoTestCopter(AutoTest):
self.location_offset_ne(new_loc, new_loc_offset_n, new_loc_offset_e) self.location_offset_ne(new_loc, new_loc_offset_n, new_loc_offset_e)
self.progress("new_loc: %s" % str(new_loc)) self.progress("new_loc: %s" % str(new_loc))
heading = 0 heading = 0
self.mavproxy.send("map icon %f %f greenplane %f\n" % if self.mavproxy is not None:
(new_loc.lat, new_loc.lng, heading)) self.mavproxy.send("map icon %f %f greenplane %f\n" %
(new_loc.lat, new_loc.lng, heading))
expected_loc = copy.copy(new_loc) expected_loc = copy.copy(new_loc)
self.location_offset_ne(expected_loc, -foll_ofs_x, 0) self.location_offset_ne(expected_loc, -foll_ofs_x, 0)
self.mavproxy.send("map icon %f %f hoop\n" % if self.mavproxy is not None:
(expected_loc.lat, expected_loc.lng)) self.mavproxy.send("map icon %f %f hoop\n" %
(expected_loc.lat, expected_loc.lng))
self.progress("expected_loc: %s" % str(expected_loc)) self.progress("expected_loc: %s" % str(expected_loc))
last_sent = 0 last_sent = 0

10
Tools/autotest/arduplane.py
View File

@ -1291,12 +1291,13 @@ class AutoTestPlane(AutoTest):
0, # "land dir" 0, # "land dir"
0) # flags 0) # flags
self.delay_sim_time(1) self.delay_sim_time(1)
self.mavproxy.send("rally list\n") if self.mavproxy is not None:
self.mavproxy.send("rally list\n")
self.test_fence_breach_circle_at(loc) self.test_fence_breach_circle_at(loc)
except Exception as e: except Exception as e:
self.print_exception_caught(e) self.print_exception_caught(e)
ex = e ex = e
self.mavproxy.send('rally clear\n') self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if ex is not None: if ex is not None:
raise ex raise ex
@ -1420,11 +1421,6 @@ class AutoTestPlane(AutoTest):
self.start_subtest(desc) self.start_subtest(desc)
func() func()
def clear_fence(self):
'''Plane doesn't use MissionItemProtocol - yet - so clear it using
mavproxy:'''
self.clear_fence_using_mavproxy()
def check_attitudes_match(self, a, b): def check_attitudes_match(self, a, b):
'''make sure ahrs2 and simstate and ATTTIUDE_QUATERNION all match''' '''make sure ahrs2 and simstate and ATTTIUDE_QUATERNION all match'''

382
Tools/autotest/common.py
View File

@ -1233,6 +1233,7 @@ class AutoTest(ABC):
self.sup_binaries = sup_binaries self.sup_binaries = sup_binaries
self.mavproxy = None self.mavproxy = None
self._mavproxy = None # for auto-cleanup on failed tests
self.mav = None self.mav = None
self.viewerip = viewerip self.viewerip = viewerip
self.use_map = use_map self.use_map = use_map
@ -1267,6 +1268,8 @@ class AutoTest(ABC):
self.expect_list = [] self.expect_list = []
self.start_mavproxy_count = 0
def __del__(self): def __del__(self):
if self.rc_thread is not None: if self.rc_thread is not None:
self.progress("Joining thread in __del__") self.progress("Joining thread in __del__")
@ -1410,11 +1413,11 @@ class AutoTest(ABC):
count += 2 # file doesn't include return point + closing point count += 2 # file doesn't include return point + closing point
return count return count
def load_fence_using_mavproxy(self, filename): def load_fence_using_mavproxy(self, mavproxy, filename):
self.set_parameter("FENCE_TOTAL", 0) self.set_parameter("FENCE_TOTAL", 0)
filepath = os.path.join(testdir, self.current_test_name_directory, filename) filepath = os.path.join(testdir, self.current_test_name_directory, filename)
count = self.count_expected_fence_lines_in_filepath(filepath) count = self.count_expected_fence_lines_in_filepath(filepath)
self.mavproxy.send('fence load %s\n' % filepath) mavproxy.send('fence load %s\n' % filepath)
# self.mavproxy.expect("Loaded %u (geo-)?fence" % count) # self.mavproxy.expect("Loaded %u (geo-)?fence" % count)
tstart = self.get_sim_time_cached() tstart = self.get_sim_time_cached()
while True: while True:
@ -2916,17 +2919,19 @@ class AutoTest(ABC):
def test_log_download_mavproxy(self, upload_logs=False): def test_log_download_mavproxy(self, upload_logs=False):
"""Download latest log.""" """Download latest log."""
filename = "MAVProxy-downloaded-log.BIN" filename = "MAVProxy-downloaded-log.BIN"
self.mavproxy.send("module load log\n") mavproxy = self.start_mavproxy()
self.mavproxy.expect("Loaded module log") mavproxy.send("module load log\n")
self.mavproxy.send("log list\n") mavproxy.expect("Loaded module log")
self.mavproxy.expect("numLogs") mavproxy.send("log list\n")
mavproxy.expect("numLogs")
self.wait_heartbeat() self.wait_heartbeat()
self.wait_heartbeat() self.wait_heartbeat()
self.mavproxy.send("set shownoise 0\n") mavproxy.send("set shownoise 0\n")
self.mavproxy.send("log download latest %s\n" % filename) mavproxy.send("log download latest %s\n" % filename)
self.mavproxy.expect("Finished downloading", timeout=120) mavproxy.expect("Finished downloading", timeout=120)
self.mavproxy.send("module unload log\n") mavproxy.send("module unload log\n")
self.mavproxy.expect("Unloaded module log") mavproxy.expect("Unloaded module log")
self.stop_mavproxy(mavproxy)
def log_upload(self): def log_upload(self):
if len(self.fail_list) > 0 and os.getenv("AUTOTEST_UPLOAD"): if len(self.fail_list) > 0 and os.getenv("AUTOTEST_UPLOAD"):
@ -3180,8 +3185,10 @@ class AutoTest(ABC):
"""Load rally points from a file to flight controller.""" """Load rally points from a file to flight controller."""
self.progress("Loading rally points (%s)" % filename) self.progress("Loading rally points (%s)" % filename)
path = os.path.join(testdir, self.current_test_name_directory, filename) path = os.path.join(testdir, self.current_test_name_directory, filename)
self.mavproxy.send('rally load %s\n' % path) mavproxy = self.start_mavproxy()
self.mavproxy.expect("Loaded") mavproxy.send('rally load %s\n' % path)
mavproxy.expect("Loaded")
self.stop_mavproxy(mavproxy)
def load_sample_mission(self): def load_sample_mission(self):
self.load_mission(self.sample_mission_filename()) self.load_mission(self.sample_mission_filename())
@ -3228,12 +3235,16 @@ class AutoTest(ABC):
self.check_mission_upload_download(wpoints_int, strict=strict) self.check_mission_upload_download(wpoints_int, strict=strict)
return len(wpoints_int) return len(wpoints_int)
def load_mission_using_mavproxy(self, filename): def load_mission_using_mavproxy(self, mavproxy, filename):
return self.load_mission_from_filepath_using_mavproxy( return self.load_mission_from_filepath_using_mavproxy(
mavproxy,
self.current_test_name_directory, self.current_test_name_directory,
filename) filename)
def load_mission_from_filepath_using_mavproxy(self, filepath, filename): def load_mission_from_filepath_using_mavproxy(self,
mavproxy,
filepath,
filename):
"""Load a mission from a file to flight controller.""" """Load a mission from a file to flight controller."""
self.progress("Loading mission (%s)" % filename) self.progress("Loading mission (%s)" % filename)
path = os.path.join(testdir, filepath, filename) path = os.path.join(testdir, filepath, filename)
@ -3247,20 +3258,20 @@ class AutoTest(ABC):
self.progress("Waiting for MAVProxy de-dupe timer to expire") self.progress("Waiting for MAVProxy de-dupe timer to expire")
self.drain_mav_unparsed() self.drain_mav_unparsed()
time.sleep(0.1) time.sleep(0.1)
self.mavproxy.send('wp load %s\n' % path) mavproxy.send('wp load %s\n' % path)
self.mavproxy.expect('Loaded ([0-9]+) waypoints from') mavproxy.expect('Loaded ([0-9]+) waypoints from')
load_count = self.mavproxy.match.group(1) load_count = mavproxy.match.group(1)
self.last_wp_load = time.time() self.last_wp_load = time.time()
self.mavproxy.expect("Flight plan received") mavproxy.expect("Flight plan received")
self.mavproxy.send('wp list\n') mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting ([0-9]+) waypoints') mavproxy.expect('Requesting ([0-9]+) waypoints')
request_count = self.mavproxy.match.group(1) request_count = mavproxy.match.group(1)
if load_count != request_count: if load_count != request_count:
self.progress("request_count=%s != load_count=%s" % self.progress("request_count=%s != load_count=%s" %
(request_count, load_count)) (request_count, load_count))
continue continue
self.mavproxy.expect('Saved ([0-9]+) waypoints to (.+?way.txt)') mavproxy.expect('Saved ([0-9]+) waypoints to (.+?way.txt)')
save_count = self.mavproxy.match.group(1) save_count = mavproxy.match.group(1)
if save_count != request_count: if save_count != request_count:
raise NotAchievedException("request count != load count") raise NotAchievedException("request count != load count")
# warning: this assumes MAVProxy was started in the CWD! # warning: this assumes MAVProxy was started in the CWD!
@ -3268,14 +3279,14 @@ class AutoTest(ABC):
# the git root, like this: # the git root, like this:
# timelimit 32000 APM/Tools/autotest/autotest.py --timeout=30000 > buildlogs/autotest-output.txt 2>&1 # timelimit 32000 APM/Tools/autotest/autotest.py --timeout=30000 > buildlogs/autotest-output.txt 2>&1
# that means the MAVProxy log files are not reltopdir! # that means the MAVProxy log files are not reltopdir!
saved_filepath = self.mavproxy.match.group(2) saved_filepath = mavproxy.match.group(2)
saved_filepath = saved_filepath.rstrip() saved_filepath = saved_filepath.rstrip()
self.assert_mission_files_same(path, saved_filepath) self.assert_mission_files_same(path, saved_filepath)
break break
self.mavproxy.send('wp status\n') mavproxy.send('wp status\n')
self.mavproxy.expect(r'Have (\d+) of (\d+)') mavproxy.expect(r'Have (\d+) of (\d+)')
status_have = self.mavproxy.match.group(1) status_have = mavproxy.match.group(1)
status_want = self.mavproxy.match.group(2) status_want = mavproxy.match.group(2)
if status_have != status_want: if status_have != status_want:
raise ValueError("status count mismatch") raise ValueError("status count mismatch")
if status_have != save_count: if status_have != save_count:
@ -3289,15 +3300,16 @@ class AutoTest(ABC):
(num_wp, int(status_have))) (num_wp, int(status_have)))
if num_wp == 0: if num_wp == 0:
raise ValueError("No waypoints loaded?!") raise ValueError("No waypoints loaded?!")
return num_wp return num_wp
def save_mission_to_file(self, filename): def save_mission_to_file_using_mavproxy(self, mavproxy, filename):
"""Save a mission to a file""" """Save a mission to a file"""
self.mavproxy.send('wp list\n') mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints') mavproxy.expect('Requesting [0-9]+ waypoints')
self.mavproxy.send('wp save %s\n' % filename) mavproxy.send('wp save %s\n' % filename)
self.mavproxy.expect('Saved ([0-9]+) waypoints') mavproxy.expect('Saved ([0-9]+) waypoints')
num_wp = int(self.mavproxy.match.group(1)) num_wp = int(mavproxy.match.group(1))
self.progress("num_wp: %d" % num_wp) self.progress("num_wp: %d" % num_wp)
return num_wp return num_wp
@ -3790,18 +3802,18 @@ class AutoTest(ABC):
self.cpufailsafe_wait_servo_channel_value(2, 1660) self.cpufailsafe_wait_servo_channel_value(2, 1660)
self.reset_SITL_commandline() self.reset_SITL_commandline()
def mavproxy_arm_vehicle(self): def mavproxy_arm_vehicle(self, mavproxy):
"""Arm vehicle with mavlink arm message send from MAVProxy.""" """Arm vehicle with mavlink arm message send from MAVProxy."""
self.progress("Arm motors with MavProxy") self.progress("Arm motors with MavProxy")
self.mavproxy.send('arm throttle\n') mavproxy.send('arm throttle\n')
self.mav.motors_armed_wait() self.mav.motors_armed_wait()
self.progress("ARMED") self.progress("ARMED")
return True return True
def mavproxy_disarm_vehicle(self): def mavproxy_disarm_vehicle(self, mavproxy):
"""Disarm vehicle with mavlink disarm message send from MAVProxy.""" """Disarm vehicle with mavlink disarm message send from MAVProxy."""
self.progress("Disarm motors with MavProxy") self.progress("Disarm motors with MavProxy")
self.mavproxy.send('disarm\n') mavproxy.send('disarm\n')
self.wait_disarmed() self.wait_disarmed()
return True return True
@ -4062,15 +4074,15 @@ class AutoTest(ABC):
self.progress("(%s) != (%s)" % (m.param_id, name,)) self.progress("(%s) != (%s)" % (m.param_id, name,))
raise NotAchievedException("Failed to retrieve parameter (%s)" % name) raise NotAchievedException("Failed to retrieve parameter (%s)" % name)
def get_parameter_mavproxy(self, name, attempts=1, timeout=60): def get_parameter_mavproxy(self, mavproxy, name, attempts=1, timeout=60):
"""Get parameters from vehicle.""" """Get parameters from vehicle."""
for i in range(0, attempts): for i in range(0, attempts):
self.mavproxy.send("param fetch %s\n" % name) mavproxy.send("param fetch %s\n" % name)
try: try:
self.mavproxy.expect("%s = ([-0-9.]*)\r\n" % (name,), timeout=timeout/attempts) mavproxy.expect("%s = ([-0-9.]*)\r\n" % (name,), timeout=timeout/attempts)
try: try:
# sometimes race conditions garble the MAVProxy output # sometimes race conditions garble the MAVProxy output
ret = float(self.mavproxy.match.group(1)) ret = float(mavproxy.match.group(1))
except ValueError: except ValueError:
continue continue
return ret return ret
@ -4526,7 +4538,7 @@ class AutoTest(ABC):
if m.custom_mode == want_custom_mode: if m.custom_mode == want_custom_mode:
return return
def mavproxy_do_set_mode_via_command_long(self, mode, timeout=30): def mavproxy_do_set_mode_via_command_long(self, mavproxy, mode, timeout=30):
"""Set mode with a command long message with Mavproxy.""" """Set mode with a command long message with Mavproxy."""
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = self.get_mode_from_mode_mapping(mode) custom_mode = self.get_mode_from_mode_mapping(mode)
@ -4535,8 +4547,8 @@ class AutoTest(ABC):
remaining = timeout - (self.get_sim_time_cached() - tstart) remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0: if remaining <= 0:
raise AutoTestTimeoutException("Failed to change mode") raise AutoTestTimeoutException("Failed to change mode")
self.mavproxy.send("long DO_SET_MODE %u %u\n" % mavproxy.send("long DO_SET_MODE %u %u\n" %
(base_mode, custom_mode)) (base_mode, custom_mode))
m = self.wait_heartbeat() m = self.wait_heartbeat()
if m.custom_mode == custom_mode: if m.custom_mode == custom_mode:
return True return True
@ -5538,6 +5550,8 @@ Also, ignores heartbeats not from our target system'''
tests_total_time += test_time tests_total_time += test_time
self.progress(fmt % (desc, test_time)) self.progress(fmt % (desc, test_time))
self.progress(fmt % ("**--tests_total_time--**", tests_total_time)) self.progress(fmt % ("**--tests_total_time--**", tests_total_time))
self.progress("mavproxy_start was called %u times" %
(self.start_mavproxy_count,))
def send_statustext(self, text): def send_statustext(self, text):
if sys.version_info.major >= 3 and not isinstance(text, bytes): if sys.version_info.major >= 3 and not isinstance(text, bytes):
@ -5654,6 +5668,12 @@ Also, ignores heartbeats not from our target system'''
self.reboot_sitl() # that'll learn it self.reboot_sitl() # that'll learn it
passed = False passed = False
if self._mavproxy is not None:
self.progress("Stopping auto-started mavproxy")
self.expect_list_remove(self._mavproxy)
util.pexpect_close(self._mavproxy)
self._mavproxy = None
corefiles = glob.glob("core*") corefiles = glob.glob("core*")
if corefiles: if corefiles:
self.progress('Corefiles detected: %s' % str(corefiles)) self.progress('Corefiles detected: %s' % str(corefiles))
@ -5717,6 +5737,9 @@ Also, ignores heartbeats not from our target system'''
return None return None
def start_mavproxy(self): def start_mavproxy(self):
self.start_mavproxy_count += 1
if self.mavproxy is not None:
return self.mavproxy
self.progress("Starting MAVProxy") self.progress("Starting MAVProxy")
# determine a good pexpect timeout for reading MAVProxy's # determine a good pexpect timeout for reading MAVProxy's
@ -5725,19 +5748,28 @@ Also, ignores heartbeats not from our target system'''
if self.valgrind: if self.valgrind:
pexpect_timeout *= 10 pexpect_timeout *= 10
self.mavproxy = util.start_MAVProxy_SITL( mavproxy = util.start_MAVProxy_SITL(
self.vehicleinfo_key(), self.vehicleinfo_key(),
logfile=self.mavproxy_logfile, logfile=self.mavproxy_logfile,
options=self.mavproxy_options(), options=self.mavproxy_options(),
pexpect_timeout=pexpect_timeout) pexpect_timeout=pexpect_timeout)
self.mavproxy.expect(r'Telemetry log: (\S+)\r\n') mavproxy.expect(r'Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1) self.logfile = mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile) self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog() self.try_symlink_tlog()
# self.progress("Waiting for Parameters") self.expect_list_add(mavproxy)
# self.mavproxy.expect('Received [0-9]+ parameters') util.expect_setup_callback(mavproxy, self.expect_callback)
self.expect_list_add(self.mavproxy) self._mavproxy = mavproxy # so we can clean up after tests....
return mavproxy
def stop_mavproxy(self, mavproxy):
if self.mavproxy is not None:
return
self.progress("Stopping MAVProxy")
self.expect_list_remove(mavproxy)
util.pexpect_close(mavproxy)
self._mavproxy = None
def start_SITL(self, **sitl_args): def start_SITL(self, **sitl_args):
start_sitl_args = { start_sitl_args = {
@ -5778,6 +5810,10 @@ Also, ignores heartbeats not from our target system'''
return False return False
return self.sitl.isalive() return self.sitl.isalive()
def autostart_mavproxy(self):
return False
return self.use_map
def init(self): def init(self):
"""Initilialize autotest feature.""" """Initilialize autotest feature."""
self.check_test_syntax(test_file=self.test_filepath()) self.check_test_syntax(test_file=self.test_filepath())
@ -5797,9 +5833,9 @@ Also, ignores heartbeats not from our target system'''
self.progress("Starting MAVLink connection") self.progress("Starting MAVLink connection")
self.get_mavlink_connection_going() self.get_mavlink_connection_going()
self.start_mavproxy()
util.expect_setup_callback(self.mavproxy, self.expect_callback) if self.autostart_mavproxy():
self.mavproxy = self.start_mavproxy()
self.expect_list_clear() self.expect_list_clear()
if len(self.sup_prog): if len(self.sup_prog):
@ -6276,9 +6312,9 @@ Also, ignores heartbeats not from our target system'''
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0}) self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0})
def test_mag_calibration(self, compass_count=3, timeout=1000): def test_mag_calibration(self, compass_count=3, timeout=1000):
def reset_pos_and_start_magcal(tmask): def reset_pos_and_start_magcal(mavproxy, tmask):
self.mavproxy.send("sitl_stop\n") mavproxy.send("sitl_stop\n")
self.mavproxy.send("sitl_attitude 0 0 0\n") mavproxy.send("sitl_attitude 0 0 0\n")
self.drain_mav() self.drain_mav()
self.get_sim_time() self.get_sim_time()
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL, self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
@ -6292,9 +6328,9 @@ Also, ignores heartbeats not from our target system'''
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
timeout=20, timeout=20,
) )
self.mavproxy.send("sitl_magcal\n") mavproxy.send("sitl_magcal\n")
def do_prep_mag_cal_test(params): def do_prep_mag_cal_test(mavproxy, params):
self.progress("Preparing the vehicle for magcal") self.progress("Preparing the vehicle for magcal")
MAG_OFS = 100 MAG_OFS = 100
MAG_DIA = 1.0 MAG_DIA = 1.0
@ -6325,14 +6361,14 @@ Also, ignores heartbeats not from our target system'''
self.progress("Setting calibration mode") self.progress("Setting calibration mode")
self.wait_heartbeat() self.wait_heartbeat()
self.customise_SITL_commandline(["-M", "calibration"]) self.customise_SITL_commandline(["-M", "calibration"])
self.mavproxy_load_module("sitl_calibration") self.mavproxy_load_module(mavproxy, "sitl_calibration")
self.mavproxy_load_module("calibration") self.mavproxy_load_module(mavproxy, "calibration")
self.mavproxy_load_module("relay") self.mavproxy_load_module(mavproxy, "relay")
self.wait_statustext("is using GPS", timeout=60) self.wait_statustext("is using GPS", timeout=60)
self.mavproxy.send("accelcalsimple\n") mavproxy.send("accelcalsimple\n")
self.mavproxy.expect("Calibrated") mavproxy.expect("Calibrated")
# disable it to not interfert with calibration acceptation # disable it to not interfert with calibration acceptation
self.mavproxy_unload_module("calibration") self.mavproxy_unload_module(mavproxy, "calibration")
if self.is_copter(): if self.is_copter():
# set frame class to pass arming check on copter # set frame class to pass arming check on copter
self.set_parameter("FRAME_CLASS", 1) self.set_parameter("FRAME_CLASS", 1)
@ -6366,10 +6402,10 @@ Also, ignores heartbeats not from our target system'''
self.set_parameter("ARMING_CHECK", 4) self.set_parameter("ARMING_CHECK", 4)
################################################# #################################################
def do_test_mag_cal(params, compass_tnumber): def do_test_mag_cal(mavproxy, params, compass_tnumber):
self.start_subtest("Try magcal and make it stop around 30%") self.start_subtest("Try magcal and make it stop around 30%")
self.progress("Compass mask is %s" % "{0:b}".format(target_mask)) self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
reset_pos_and_start_magcal(target_mask) reset_pos_and_start_magcal(mavproxy, target_mask)
tstart = self.get_sim_time() tstart = self.get_sim_time()
reached_pct = [0] * compass_tnumber reached_pct = [0] * compass_tnumber
tstop = None tstop = None
@ -6436,7 +6472,7 @@ Also, ignores heartbeats not from our target system'''
self.progress("Compass mask is %s" % "{0:b}".format(target_mask)) self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
old_cal_fit = self.get_parameter("COMPASS_CAL_FIT") old_cal_fit = self.get_parameter("COMPASS_CAL_FIT")
self.set_parameter("COMPASS_CAL_FIT", 0.001, add_to_context=False) self.set_parameter("COMPASS_CAL_FIT", 0.001, add_to_context=False)
reset_pos_and_start_magcal(target_mask) reset_pos_and_start_magcal(mavproxy, target_mask)
tstart = self.get_sim_time() tstart = self.get_sim_time()
reached_pct = [0] * compass_tnumber reached_pct = [0] * compass_tnumber
report_get = [0] * compass_tnumber report_get = [0] * compass_tnumber
@ -6471,7 +6507,7 @@ Also, ignores heartbeats not from our target system'''
################################################# #################################################
self.start_subtest("Try magcal and wait success") self.start_subtest("Try magcal and wait success")
self.progress("Compass mask is %s" % "{0:b}".format(target_mask)) self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
reset_pos_and_start_magcal(target_mask) reset_pos_and_start_magcal(mavproxy, target_mask)
progress_count = [0] * compass_tnumber progress_count = [0] * compass_tnumber
reached_pct = [0] * compass_tnumber reached_pct = [0] * compass_tnumber
report_get = [0] * compass_tnumber report_get = [0] * compass_tnumber
@ -6509,8 +6545,8 @@ Also, ignores heartbeats not from our target system'''
if new_pct != reached_pct[cid]: if new_pct != reached_pct[cid]:
reached_pct[cid] = new_pct reached_pct[cid] = new_pct
self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid]))) self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
self.mavproxy.send("sitl_stop\n") mavproxy.send("sitl_stop\n")
self.mavproxy.send("sitl_attitude 0 0 0\n") mavproxy.send("sitl_attitude 0 0 0\n")
self.progress("Checking that value aren't changed without acceptation") self.progress("Checking that value aren't changed without acceptation")
self.check_zero_mag_parameters(params) self.check_zero_mag_parameters(params)
self.check_zeros_mag_orient() self.check_zeros_mag_orient()
@ -6560,11 +6596,12 @@ Also, ignores heartbeats not from our target system'''
timeout=20, timeout=20,
) )
self.disarm_vehicle() self.disarm_vehicle()
self.mavproxy_unload_module("relay") self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module("sitl_calibration") self.mavproxy_unload_module(mavproxy, "sitl_calibration")
ex = None ex = None
mavproxy = self.start_mavproxy()
try: try:
self.set_parameter("AHRS_EKF_TYPE", 10) self.set_parameter("AHRS_EKF_TYPE", 10)
self.set_parameter("SIM_GND_BEHAV", 0) self.set_parameter("SIM_GND_BEHAV", 0)
@ -6580,18 +6617,20 @@ Also, ignores heartbeats not from our target system'''
else: else:
target_mask |= (1 << run) target_mask |= (1 << run)
ntest_compass = run + 1 ntest_compass = run + 1
do_prep_mag_cal_test(curr_params) do_prep_mag_cal_test(mavproxy, curr_params)
do_test_mag_cal(curr_params, ntest_compass) do_test_mag_cal(mavproxy, curr_params, ntest_compass)
except Exception as e: except Exception as e:
self.progress("Caught exception: %s" % self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e)) self.get_exception_stacktrace(e))
ex = e ex = e
self.mavproxy_unload_module("relay") self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module("sitl_calibration") self.mavproxy_unload_module(mavproxy, "sitl_calibration")
if ex is not None: if ex is not None:
raise ex raise ex
self.stop_mavproxy(mavproxy)
# need to reboot SITL after moving away from EKF type 10; we # need to reboot SITL after moving away from EKF type 10; we
# can end up with home set but origin not and that will lead # can end up with home set but origin not and that will lead
# to bad things. # to bad things.
@ -6851,16 +6890,17 @@ Also, ignores heartbeats not from our target system'''
def test_dataflash_over_mavlink(self): def test_dataflash_over_mavlink(self):
self.context_push() self.context_push()
ex = None ex = None
mavproxy = self.start_mavproxy()
try: try:
self.set_parameter("LOG_BACKEND_TYPE", 2) self.set_parameter("LOG_BACKEND_TYPE", 2)
self.reboot_sitl() self.reboot_sitl()
self.wait_ready_to_arm(check_prearm_bit=False) self.wait_ready_to_arm(check_prearm_bit=False)
self.mavproxy.send('arm throttle\n') mavproxy.send('arm throttle\n')
self.mavproxy.expect('PreArm: Logging failed') mavproxy.expect('PreArm: Logging failed')
self.mavproxy.send("module load dataflash_logger\n") mavproxy.send("module load dataflash_logger\n")
self.mavproxy.send("dataflash_logger set verbose 1\n") mavproxy.send("dataflash_logger set verbose 1\n")
self.mavproxy.expect('logging started') mavproxy.expect('logging started')
self.mavproxy.send("dataflash_logger set verbose 0\n") mavproxy.send("dataflash_logger set verbose 0\n")
self.delay_sim_time(1) self.delay_sim_time(1)
self.do_timesync_roundtrip() # drain COMMAND_ACK from that failed arm self.do_timesync_roundtrip() # drain COMMAND_ACK from that failed arm
self.arm_vehicle() self.arm_vehicle()
@ -6872,10 +6912,10 @@ Also, ignores heartbeats not from our target system'''
break break
if now - last_status > 5: if now - last_status > 5:
last_status = now last_status = now
self.mavproxy.send('dataflash_logger status\n') mavproxy.send('dataflash_logger status\n')
# seen on autotest: Active Rate(3s):97.790kB/s Block:164 Missing:0 Fixed:0 Abandoned:0 # seen on autotest: Active Rate(3s):97.790kB/s Block:164 Missing:0 Fixed:0 Abandoned:0
self.mavproxy.expect(r"Active Rate\([0-9]+s\):([0-9]+[.][0-9]+)") mavproxy.expect(r"Active Rate\([0-9]+s\):([0-9]+[.][0-9]+)")
rate = float(self.mavproxy.match.group(1)) rate = float(mavproxy.match.group(1))
self.progress("Rate: %f" % rate) self.progress("Rate: %f" % rate)
desired_rate = 50 desired_rate = 50
if self.valgrind: if self.valgrind:
@ -6888,8 +6928,9 @@ Also, ignores heartbeats not from our target system'''
self.disarm_vehicle() self.disarm_vehicle()
ex = e ex = e
self.context_pop() self.context_pop()
self.mavproxy.send("module unload dataflash_logger\n") mavproxy.send("module unload dataflash_logger\n")
self.mavproxy.expect("Unloaded module dataflash_logger") mavproxy.expect("Unloaded module dataflash_logger")
self.stop_mavproxy(mavproxy)
self.reboot_sitl() self.reboot_sitl()
if ex is not None: if ex is not None:
raise ex raise ex
@ -6898,14 +6939,15 @@ Also, ignores heartbeats not from our target system'''
"""Test the basic functionality of block logging""" """Test the basic functionality of block logging"""
self.context_push() self.context_push()
ex = None ex = None
mavproxy = self.start_mavproxy()
try: try:
self.set_parameter("LOG_BACKEND_TYPE", 4) self.set_parameter("LOG_BACKEND_TYPE", 4)
self.set_parameter("LOG_FILE_DSRMROT", 1) self.set_parameter("LOG_FILE_DSRMROT", 1)
self.reboot_sitl() self.reboot_sitl()
# First log created here, but we are in chip erase so ignored # First log created here, but we are in chip erase so ignored
self.mavproxy.send("module load log\n") mavproxy.send("module load log\n")
self.mavproxy.send("log erase\n") mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete") mavproxy.expect("Chip erase complete")
self.wait_ready_to_arm() self.wait_ready_to_arm()
if self.is_copter() or self.is_plane(): if self.is_copter() or self.is_plane():
@ -6920,12 +6962,12 @@ Also, ignores heartbeats not from our target system'''
self.disarm_vehicle() self.disarm_vehicle()
# Second log created here # Second log created here
self.delay_sim_time(2) self.delay_sim_time(2)
self.mavproxy.send("log list\n") mavproxy.send("log list\n")
self.mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120) mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
log_num = int(self.mavproxy.match.group(1)) log_num = int(mavproxy.match.group(1))
numlogs = int(self.mavproxy.match.group(2)) numlogs = int(mavproxy.match.group(2))
lastlog = int(self.mavproxy.match.group(3)) lastlog = int(mavproxy.match.group(3))
size = int(self.mavproxy.match.group(4)) size = int(mavproxy.match.group(4))
if numlogs != 2 or log_num != 1 or size <= 0: if numlogs != 2 or log_num != 1 or size <= 0:
raise NotAchievedException("Unexpected log information %d %d %d" % (log_num, numlogs, lastlog)) raise NotAchievedException("Unexpected log information %d %d %d" % (log_num, numlogs, lastlog))
self.progress("Log size: %d" % size) self.progress("Log size: %d" % size)
@ -6933,23 +6975,24 @@ Also, ignores heartbeats not from our target system'''
# This starts a new log with a time of 0, wait for arm so that we can insert the correct time # This starts a new log with a time of 0, wait for arm so that we can insert the correct time
self.wait_ready_to_arm() self.wait_ready_to_arm()
# Third log created here # Third log created here
self.mavproxy.send("log list\n") mavproxy.send("log list\n")
self.mavproxy.expect("Log 1 numLogs 3 lastLog 3 size") mavproxy.expect("Log 1 numLogs 3 lastLog 3 size")
# Download second and third logs # Download second and third logs
self.mavproxy.send("log download 2 logs/dataflash-log-002.BIN\n") mavproxy.send("log download 2 logs/dataflash-log-002.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120) mavproxy.expect("Finished downloading", timeout=120)
self.mavproxy.send("log download 3 logs/dataflash-log-003.BIN\n") mavproxy.send("log download 3 logs/dataflash-log-003.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120) mavproxy.expect("Finished downloading", timeout=120)
# Erase the logs # Erase the logs
self.mavproxy.send("log erase\n") mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete") mavproxy.expect("Chip erase complete")
except Exception as e: except Exception as e:
self.print_exception_caught(e) self.print_exception_caught(e)
ex = e ex = e
self.mavproxy.send("module unload log\n") mavproxy.send("module unload log\n")
self.stop_mavproxy(mavproxy)
self.context_pop() self.context_pop()
self.reboot_sitl() self.reboot_sitl()
if ex is not None: if ex is not None:
@ -6990,19 +7033,21 @@ Also, ignores heartbeats not from our target system'''
def test_dataflash_erase(self): def test_dataflash_erase(self):
"""Test that erasing the dataflash chip and creating a new log is error free""" """Test that erasing the dataflash chip and creating a new log is error free"""
mavproxy = self.start_mavproxy()
ex = None ex = None
self.context_push() self.context_push()
try: try:
self.set_parameter("LOG_BACKEND_TYPE", 4) self.set_parameter("LOG_BACKEND_TYPE", 4)
self.reboot_sitl() self.reboot_sitl()
self.mavproxy.send("module load log\n") mavproxy.send("module load log\n")
self.mavproxy.send("log erase\n") mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete") mavproxy.expect("Chip erase complete")
self.set_parameter("LOG_DISARMED", 1) self.set_parameter("LOG_DISARMED", 1)
self.delay_sim_time(3) self.delay_sim_time(3)
self.set_parameter("LOG_DISARMED", 0) self.set_parameter("LOG_DISARMED", 0)
self.mavproxy.send("log download 1 logs/dataflash-log-erase.BIN\n") mavproxy.send("log download 1 logs/dataflash-log-erase.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120) mavproxy.expect("Finished downloading", timeout=120)
# read the downloaded log - it must parse without error # read the downloaded log - it must parse without error
self.validate_log_file("logs/dataflash-log-erase.BIN") self.validate_log_file("logs/dataflash-log-erase.BIN")
@ -7026,41 +7071,45 @@ Also, ignores heartbeats not from our target system'''
self.disarm_vehicle() self.disarm_vehicle()
# make sure we have finished logging # make sure we have finished logging
self.delay_sim_time(15) self.delay_sim_time(15)
self.mavproxy.send("log list\n") mavproxy.send("log list\n")
try: try:
self.mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120) mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
except pexpect.TIMEOUT as e: except pexpect.TIMEOUT as e:
if self.sitl_is_running(): if self.sitl_is_running():
self.progress("SITL is running") self.progress("SITL is running")
else: else:
self.progress("SITL is NOT running") self.progress("SITL is NOT running")
raise NotAchievedException("Received %s" % str(e)) raise NotAchievedException("Received %s" % str(e))
if int(self.mavproxy.match.group(2)) != 3: if int(mavproxy.match.group(2)) != 3:
raise NotAchievedException("Expected 3 logs got %s" % (self.mavproxy.match.group(2))) raise NotAchievedException("Expected 3 logs got %s" % (mavproxy.match.group(2)))
self.mavproxy.send("log download 1 logs/dataflash-log-erase2.BIN\n") mavproxy.send("log download 1 logs/dataflash-log-erase2.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120) mavproxy.expect("Finished downloading", timeout=120)
self.validate_log_file("logs/dataflash-log-erase2.BIN", 1) self.validate_log_file("logs/dataflash-log-erase2.BIN", 1)
self.mavproxy.send("log download latest logs/dataflash-log-erase3.BIN\n") mavproxy.send("log download latest logs/dataflash-log-erase3.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120) mavproxy.expect("Finished downloading", timeout=120)
self.validate_log_file("logs/dataflash-log-erase3.BIN", 1) self.validate_log_file("logs/dataflash-log-erase3.BIN", 1)
# clean up # clean up
self.mavproxy.send("log erase\n") mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete") mavproxy.expect("Chip erase complete")
# clean up # clean up
self.mavproxy.send("log erase\n") mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete") mavproxy.expect("Chip erase complete")
except Exception as e: except Exception as e:
self.print_exception_caught(e) self.print_exception_caught(e)
ex = e ex = e
self.mavproxy.send("module unload log\n") mavproxy.send("module unload log\n")
self.context_pop() self.context_pop()
self.reboot_sitl() self.reboot_sitl()
self.stop_mavproxy(mavproxy)
if ex is not None: if ex is not None:
raise ex raise ex
@ -7091,11 +7140,13 @@ Also, ignores heartbeats not from our target system'''
if not self.disarm_vehicle(): if not self.disarm_vehicle():
raise NotAchievedException("Failed to DISARM") raise NotAchievedException("Failed to DISARM")
self.progress("arm with mavproxy") self.progress("arm with mavproxy")
if not self.mavproxy_arm_vehicle(): mavproxy = self.start_mavproxy()
if not self.mavproxy_arm_vehicle(mavproxy):
raise NotAchievedException("Failed to ARM") raise NotAchievedException("Failed to ARM")
self.progress("disarm with mavproxy") self.progress("disarm with mavproxy")
if not self.mavproxy_disarm_vehicle(): if not self.mavproxy_disarm_vehicle(mavproxy):
raise NotAchievedException("Failed to DISARM") raise NotAchievedException("Failed to DISARM")
self.stop_mavproxy(mavproxy)
if not self.is_sub(): if not self.is_sub():
self.start_subtest("Test arm with rc input") self.start_subtest("Test arm with rc input")
@ -7559,8 +7610,8 @@ Also, ignores heartbeats not from our target system'''
if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION: if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
self.last_wp_load = time.time() self.last_wp_load = time.time()
def clear_fence_using_mavproxy(self, timeout=10): def clear_fence_using_mavproxy(self, mavproxy, timeout=10):
self.mavproxy.send("fence clear\n") mavproxy.send("fence clear\n")
tstart = self.get_sim_time_cached() tstart = self.get_sim_time_cached()
while True: while True:
now = self.get_sim_time_cached() now = self.get_sim_time_cached()
@ -7572,15 +7623,6 @@ Also, ignores heartbeats not from our target system'''
def clear_fence(self): def clear_fence(self):
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
def clear_mission_using_mavproxy(self):
self.mavproxy.send("wp clear\n")
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
num_wp = mavwp.MAVWPLoader().count()
if num_wp != 0:
raise NotAchievedException("Failed to clear mission")
self.last_wp_load = time.time()
def test_config_error_loop(self): def test_config_error_loop(self):
'''test the sensor config error loop works and that parameter sets are persistent''' '''test the sensor config error loop works and that parameter sets are persistent'''
parameter_name = "SERVO8_MIN" parameter_name = "SERVO8_MIN"
@ -8457,20 +8499,22 @@ switch value'''
def last_onboard_log(self): def last_onboard_log(self):
'''return number of last onboard log''' '''return number of last onboard log'''
self.mavproxy.send("module load log\n") mavproxy = self.start_mavproxy()
mavproxy.send("module load log\n")
loaded_module = False loaded_module = False
self.mavproxy.expect(["Loaded module log", "module log already loaded"]) mavproxy.expect(["Loaded module log", "module log already loaded"])
if self.mavproxy.match.group(0) == "Loaded module log": if mavproxy.match.group(0) == "Loaded module log":
loaded_module = True loaded_module = True
self.mavproxy.send("log list\n") mavproxy.send("log list\n")
self.mavproxy.expect(["lastLog ([0-9]+)", "No logs"]) mavproxy.expect(["lastLog ([0-9]+)", "No logs"])
if self.mavproxy.match.group(0) == "No logs": if mavproxy.match.group(0) == "No logs":
num_log = None num_log = None
else: else:
num_log = int(self.mavproxy.match.group(1)) num_log = int(mavproxy.match.group(1))
if loaded_module: if loaded_module:
self.mavproxy.send("module unload log\n") mavproxy.send("module unload log\n")
self.mavproxy.expect("Unloaded module log") mavproxy.expect("Unloaded module log")
self.stop_mavproxy(mavproxy)
return num_log return num_log
def current_onboard_log_filepath(self): def current_onboard_log_filepath(self):
@ -8670,9 +8714,11 @@ switch value'''
if self.get_parameter("MIS_OPTIONS") != 1: if self.get_parameter("MIS_OPTIONS") != 1:
raise NotAchievedException("Failed to set MIS_OPTIONS") raise NotAchievedException("Failed to set MIS_OPTIONS")
from_mavproxy = self.get_parameter_mavproxy("MIS_OPTIONS") mavproxy = self.start_mavproxy()
from_mavproxy = self.get_parameter_mavproxy(mavproxy, "MIS_OPTIONS")
if from_mavproxy != 1: if from_mavproxy != 1:
raise NotAchievedException("MAVProxy failed to get parameter") raise NotAchievedException("MAVProxy failed to get parameter")
self.stop_mavproxy(mavproxy)
def test_parameter_documentation(self): def test_parameter_documentation(self):
'''ensure parameter documentation is valid''' '''ensure parameter documentation is valid'''
@ -8842,16 +8888,17 @@ switch value'''
raise NotAchievedException("NMEA output inaccurate (dist=%f want<%f)" % raise NotAchievedException("NMEA output inaccurate (dist=%f want<%f)" %
(distance, max_distance)) (distance, max_distance))
def mavproxy_load_module(self, module): def mavproxy_load_module(self, mavproxy, module):
self.mavproxy.send("module load %s\n" % module) mavproxy.send("module load %s\n" % module)
self.mavproxy.expect("Loaded module %s" % module) mavproxy.expect("Loaded module %s" % module)
def mavproxy_unload_module(self, module): def mavproxy_unload_module(self, mavproxy, module):
self.mavproxy.send("module unload %s\n" % module) mavproxy.send("module unload %s\n" % module)
self.mavproxy.expect("Unloaded module %s" % module) mavproxy.expect("Unloaded module %s" % module)
def accelcal(self): def accelcal(self):
ex = None ex = None
mavproxy = self.start_mavproxy()
try: try:
# setup with pre-existing accel offsets, to show that existing offsets don't # setup with pre-existing accel offsets, to show that existing offsets don't
# adversely affect a new cal # adversely affect a new cal
@ -8880,12 +8927,12 @@ switch value'''
initial_params[sim_prefix + "_" + axis] = getattr(post_value, axis.lower()) initial_params[sim_prefix + "_" + axis] = getattr(post_value, axis.lower())
self.set_parameters(initial_params) self.set_parameters(initial_params)
self.customise_SITL_commandline(["-M", "calibration"]) self.customise_SITL_commandline(["-M", "calibration"])
self.mavproxy_load_module("sitl_calibration") self.mavproxy_load_module(mavproxy, "sitl_calibration")
self.mavproxy_load_module("calibration") self.mavproxy_load_module(mavproxy, "calibration")
self.mavproxy_load_module("relay") self.mavproxy_load_module(mavproxy, "relay")
self.mavproxy.send("sitl_accelcal\n") mavproxy.send("sitl_accelcal\n")
self.mavproxy.send("accelcal\n") mavproxy.send("accelcal\n")
self.mavproxy.expect("Calibrated") mavproxy.expect("Calibrated")
for wanted in [ for wanted in [
"level", "level",
"on its LEFT side", "on its LEFT side",
@ -8895,11 +8942,11 @@ switch value'''
"on its BACK", "on its BACK",
]: ]:
timeout = 2 timeout = 2
self.mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout) mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout)
self.mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout) mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout)
self.mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout) mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout)
self.mavproxy.send("\n") mavproxy.send("\n")
self.mavproxy.expect("APM: Calibration successful", timeout=timeout) mavproxy.expect("APM: Calibration successful", timeout=timeout)
self.drain_mav() self.drain_mav()
self.progress("Checking results") self.progress("Checking results")
@ -8921,9 +8968,10 @@ switch value'''
except Exception as e: except Exception as e:
self.print_exception_caught(e) self.print_exception_caught(e)
ex = e ex = e
self.mavproxy_unload_module("relay") self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module("calibration") self.mavproxy_unload_module(mavproxy, "calibration")
self.mavproxy_unload_module("sitl_calibration") self.mavproxy_unload_module(mavproxy, "sitl_calibration")
self.stop_mavproxy(mavproxy)
if ex is not None: if ex is not None:
raise ex raise ex

8
Tools/autotest/quadplane.py
View File

@ -284,8 +284,8 @@ class AutoTestQuadPlane(AutoTest):
self.load_mission(filename) self.load_mission(filename)
if fence is not None: if fence is not None:
self.load_fence(fence) self.load_fence(fence)
self.mavproxy.send('wp list\n') if self.mavproxy is not None:
self.mavproxy.expect('Requesting [0-9]+ waypoints') self.mavproxy.send('wp list\n')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.change_mode('AUTO') self.change_mode('AUTO')
@ -544,8 +544,8 @@ class AutoTestQuadPlane(AutoTest):
# Step 4: take off as a copter land as a plane, make sure we track # Step 4: take off as a copter land as a plane, make sure we track
self.progress("Flying with gyro FFT - vtol to plane") self.progress("Flying with gyro FFT - vtol to plane")
self.load_mission("quadplane-gyro-mission.txt") self.load_mission("quadplane-gyro-mission.txt")
self.mavproxy.send('wp list\n') if self.mavproxy is not None:
self.mavproxy.expect('Requesting [0-9]+ waypoints') self.mavproxy.send('wp list\n')
self.change_mode('AUTO') self.change_mode('AUTO')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()

345
Tools/autotest/rover.py
View File

@ -142,8 +142,11 @@ class AutoTestRover(AutoTest):
self.save_wp() self.save_wp()
self.progress("Checking number of saved waypoints") self.progress("Checking number of saved waypoints")
num_wp = self.save_mission_to_file( mavproxy = self.start_mavproxy()
num_wp = self.save_mission_to_file_using_mavproxy(
mavproxy,
os.path.join(testdir, "ch7_mission.txt")) os.path.join(testdir, "ch7_mission.txt"))
self.stop_mavproxy(mavproxy)
expected = 7 # home + 6 toggled in expected = 7 # home + 6 toggled in
if num_wp != expected: if num_wp != expected:
raise NotAchievedException("Did not get %u waypoints; got %u" % raise NotAchievedException("Did not get %u waypoints; got %u" %
@ -624,24 +627,28 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
(4, 'AUTO'), (4, 'AUTO'),
(5, 'AUTO'), # non-existant mode, should stay in RTL (5, 'AUTO'), # non-existant mode, should stay in RTL
(6, 'MANUAL')] (6, 'MANUAL')]
mavproxy = self.start_mavproxy()
for (num, expected) in fnoo: for (num, expected) in fnoo:
self.mavproxy.send('switch %u\n' % num) mavproxy.send('switch %u\n' % num)
self.wait_mode(expected) self.wait_mode(expected)
self.stop_mavproxy(mavproxy)
def test_setting_modes_via_mavproxy_mode_command(self): def test_setting_modes_via_mavproxy_mode_command(self):
fnoo = [(1, 'ACRO'), fnoo = [(1, 'ACRO'),
(3, 'STEERING'), (3, 'STEERING'),
(4, 'HOLD'), (4, 'HOLD'),
] ]
mavproxy = self.start_mavproxy()
for (num, expected) in fnoo: for (num, expected) in fnoo:
self.mavproxy.send('mode manual\n') mavproxy.send('mode manual\n')
self.wait_mode("MANUAL") self.wait_mode("MANUAL")
self.mavproxy.send('mode %u\n' % num) mavproxy.send('mode %u\n' % num)
self.wait_mode(expected) self.wait_mode(expected)
self.mavproxy.send('mode manual\n') mavproxy.send('mode manual\n')
self.wait_mode("MANUAL") self.wait_mode("MANUAL")
self.mavproxy.send('mode %s\n' % expected) mavproxy.send('mode %s\n' % expected)
self.wait_mode(expected) self.wait_mode(expected)
self.stop_mavproxy(mavproxy)
def test_setting_modes_via_modeswitch(self): def test_setting_modes_via_modeswitch(self):
# test setting of modes through mode switch # test setting of modes through mode switch
@ -1169,8 +1176,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.do_set_mode_via_command_long("MANUAL") self.do_set_mode_via_command_long("MANUAL")
def test_mavproxy_do_set_mode_via_command_long(self): def test_mavproxy_do_set_mode_via_command_long(self):
self.mavproxy_do_set_mode_via_command_long("HOLD") mavproxy = self.start_mavproxy()
self.mavproxy_do_set_mode_via_command_long("MANUAL") self.mavproxy_do_set_mode_via_command_long(mavproxy, "HOLD")
self.mavproxy_do_set_mode_via_command_long(mavproxy, "MANUAL")
self.stop_mavproxy(mavproxy)
def test_sysid_enforce(self): def test_sysid_enforce(self):
'''Run the same arming code with correct then incorrect SYSID''' '''Run the same arming code with correct then incorrect SYSID'''
@ -1875,15 +1884,16 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
mavutil.mavlink.MAV_MISSION_TYPE_FENCE), mavutil.mavlink.MAV_MISSION_TYPE_FENCE),
]) ])
def click_location_from_item(self, item): def click_location_from_item(self, mavproxy, item):
self.mavproxy.send("click %f %f\n" % (item.x*1e-7, item.y*1e-7)) mavproxy.send("click %f %f\n" % (item.x*1e-7, item.y*1e-7))
def test_gcs_fence_via_mavproxy(self, target_system=1, target_component=1): def test_gcs_fence_via_mavproxy(self, target_system=1, target_component=1):
self.start_subtest("Fence via MAVProxy") self.start_subtest("Fence via MAVProxy")
if not self.mavproxy_can_do_mision_item_protocols(): if not self.mavproxy_can_do_mision_item_protocols():
return return
mavproxy = self.start_mavproxy()
self.start_subsubtest("fence addcircle") self.start_subsubtest("fence addcircle")
self.mavproxy.send("fence clear\n") self.clear_fence_using_mavproxy(mavproxy)
self.delay_sim_time(1) self.delay_sim_time(1)
radius = 20 radius = 20
item = self.mav.mav.mission_item_int_encode( item = self.mav.mav.mission_item_int_encode(
@ -1903,8 +1913,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
0.0000, # altitude 0.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_FENCE) mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
print("item is (%s)" % str(item)) print("item is (%s)" % str(item))
self.click_location_from_item(item) self.click_location_from_item(mavproxy, item)
self.mavproxy.send("fence addcircle inc %u\n" % radius) mavproxy.send("fence addcircle inc %u\n" % radius)
self.delay_sim_time(1) self.delay_sim_time(1)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
print("downloaded items: %s" % str(downloaded_items)) print("downloaded items: %s" % str(downloaded_items))
@ -1927,8 +1937,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
int(1.0017 * 1e7), # longitude int(1.0017 * 1e7), # longitude
0.0000, # altitude 0.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_FENCE) mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
self.click_location_from_item(item2) self.click_location_from_item(mavproxy, item2)
self.mavproxy.send("fence addcircle exc %f\n" % radius_exc) mavproxy.send("fence addcircle exc %f\n" % radius_exc)
self.delay_sim_time(1) self.delay_sim_time(1)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
print("downloaded items: %s" % str(downloaded_items)) print("downloaded items: %s" % str(downloaded_items))
@ -1936,10 +1946,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.end_subsubtest("fence addcircle") self.end_subsubtest("fence addcircle")
self.start_subsubtest("fence addpoly") self.start_subsubtest("fence addpoly")
self.mavproxy.send("fence clear\n") self.clear_fence_using_mavproxy(mavproxy)
self.delay_sim_time(1) self.delay_sim_time(1)
pointcount = 7 pointcount = 7
self.mavproxy.send("fence addpoly inc 20 %u 37.2\n" % pointcount) # radius, pointcount, rotaiton mavproxy.send("fence addpoly inc 20 %u 37.2\n" % pointcount) # radius, pointcount, rotaiton
self.delay_sim_time(5) self.delay_sim_time(5)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
if len(downloaded_items) != pointcount: if len(downloaded_items) != pointcount:
@ -1948,31 +1958,33 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.end_subsubtest("fence addpoly") self.end_subsubtest("fence addpoly")
self.start_subsubtest("fence movepolypoint") self.start_subsubtest("fence movepolypoint")
self.mavproxy.send("fence clear\n") self.clear_fence_using_mavproxy(mavproxy)
self.delay_sim_time(1) self.delay_sim_time(1)
triangle = self.test_gcs_fence_boring_triangle( triangle = self.test_gcs_fence_boring_triangle(
target_system=target_system, target_system=target_system,
target_component=target_component) target_component=target_component)
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
triangle) triangle)
self.mavproxy.send("fence list\n") mavproxy.send("fence list\n")
self.delay_sim_time(1) self.delay_sim_time(1)
triangle[2].x += 500 triangle[2].x += 500
triangle[2].y += 700 triangle[2].y += 700
self.click_location_from_item(triangle[2]) self.click_location_from_item(mavproxy, triangle[2])
self.mavproxy.send("fence movepolypoint 0 2\n") mavproxy.send("fence movepolypoint 0 2\n")
self.delay_sim_time(10) self.delay_sim_time(10)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
self.check_fence_items_same(triangle, downloaded_items) self.check_fence_items_same(triangle, downloaded_items)
self.end_subsubtest("fence movepolypoint") self.end_subsubtest("fence movepolypoint")
self.start_subsubtest("fence enable and disable") self.start_subsubtest("fence enable and disable")
self.mavproxy.send("fence enable\n") mavproxy.send("fence enable\n")
self.mavproxy.expect("fence enabled") mavproxy.expect("fence enabled")
self.mavproxy.send("fence disable\n") mavproxy.send("fence disable\n")
self.mavproxy.expect("fence disabled") mavproxy.expect("fence disabled")
self.end_subsubtest("fence enable and disable") self.end_subsubtest("fence enable and disable")
self.stop_mavproxy(mavproxy)
# MANUAL> usage: fence <addcircle|addpoly|changealt|clear|disable|draw|enable|list|load|move|movemulti|movepolypoint|param|remove|save|savecsv|savelocal|show|status|undo|update> # noqa # MANUAL> usage: fence <addcircle|addpoly|changealt|clear|disable|draw|enable|list|load|move|movemulti|movepolypoint|param|remove|save|savecsv|savelocal|show|status|undo|update> # noqa
def test_gcs_fence(self): def test_gcs_fence(self):
@ -2382,18 +2394,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1'] check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1']
return self.check_mission_items_same(check_atts, want, got, epsilon=epsilon) return self.check_mission_items_same(check_atts, want, got, epsilon=epsilon)
def click_three_in(self, target_system=1, target_component=1): def click_three_in(self, mavproxy, target_system=1, target_component=1):
self.mavproxy.send('rally clear\n') mavproxy.send('rally clear\n')
self.drain_mav_unparsed() self.drain_mav_unparsed()
# there are race conditions in MAVProxy. Beware. # there are race conditions in MAVProxy. Beware.
self.mavproxy.send("click 1.0 1.0\n") mavproxy.send("click 1.0 1.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.delay_sim_time(1) self.delay_sim_time(1)
self.mavproxy.send("click 2.0 2.0\n") mavproxy.send("click 2.0 2.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.delay_sim_time(1) self.delay_sim_time(1)
self.mavproxy.send("click 3.0 3.0\n") mavproxy.send("click 3.0 3.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.delay_sim_time(10) self.delay_sim_time(10)
self.assert_mission_count_on_link( self.assert_mission_count_on_link(
self.mav, self.mav,
@ -2403,20 +2415,25 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
mavutil.mavlink.MAV_MISSION_TYPE_RALLY, mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
) )
def test_gcs_rally_via_mavproxy(self, target_system=1, target_component=1): def test_gcs_rally(self, target_system=1, target_component=1):
self.start_subtest("Testing mavproxy CLI for rally points") self.start_subtest("Testing mavproxy CLI for rally points")
if not self.mavproxy_can_do_mision_item_protocols(): if not self.mavproxy_can_do_mision_item_protocols():
return return
mavproxy = self.start_mavproxy()
mavproxy.send('rally clear\n')
self.start_subsubtest("rally add") self.start_subsubtest("rally add")
self.mavproxy.send('rally clear\n') mavproxy.send('rally clear\n')
lat_s = "-5.6789" lat_s = "-5.6789"
lng_s = "98.2341" lng_s = "98.2341"
lat = float(lat_s) lat = float(lat_s)
lng = float(lng_s) lng = float(lng_s)
self.mavproxy.send('click %s %s\n' % (lat_s, lng_s)) mavproxy.send('click %s %s\n' % (lat_s, lng_s))
self.drain_mav_unparsed() self.drain_mav_unparsed()
self.mavproxy.send('rally add\n') mavproxy.send('rally add\n')
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255, target_system=255,
target_component=0) target_component=0)
@ -2437,21 +2454,21 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.end_subsubtest("rally add") self.end_subsubtest("rally add")
self.start_subsubtest("rally list") self.start_subsubtest("rally list")
util.pexpect_drain(self.mavproxy) util.pexpect_drain(mavproxy)
self.mavproxy.send('rally list\n') mavproxy.send('rally list\n')
self.mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s") mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s")
filename = self.mavproxy.match.group(1) filename = mavproxy.match.group(1)
self.assert_rally_filepath_content(filename, '''QGC WPL 110 self.assert_rally_filepath_content(filename, '''QGC WPL 110
0 0 3 5100 0.000000 0.000000 0.000000 0.000000 -5.678900 98.234100 90.000000 0 0 0 3 5100 0.000000 0.000000 0.000000 0.000000 -5.678900 98.234100 90.000000 0
''') ''')
self.end_subsubtest("rally list") self.end_subsubtest("rally list")
self.start_subsubtest("rally save") self.start_subsubtest("rally save")
util.pexpect_drain(self.mavproxy) util.pexpect_drain(mavproxy)
save_tmppath = self.buildlogs_path("rally-testing-tmp.txt") save_tmppath = self.buildlogs_path("rally-testing-tmp.txt")
self.mavproxy.send('rally save %s\n' % save_tmppath) mavproxy.send('rally save %s\n' % save_tmppath)
self.mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s") mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s")
filename = self.mavproxy.match.group(1) filename = mavproxy.match.group(1)
if filename != save_tmppath: if filename != save_tmppath:
raise NotAchievedException("Bad save filepath; want=%s got=%s" % (save_tmppath, filename)) raise NotAchievedException("Bad save filepath; want=%s got=%s" % (save_tmppath, filename))
self.assert_rally_filepath_content(filename, '''QGC WPL 110 self.assert_rally_filepath_content(filename, '''QGC WPL 110
@ -2460,10 +2477,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.end_subsubtest("rally save") self.end_subsubtest("rally save")
self.start_subsubtest("rally savecsv") self.start_subsubtest("rally savecsv")
util.pexpect_drain(self.mavproxy) util.pexpect_drain(mavproxy)
csvpath = self.buildlogs_path("rally-testing-tmp.csv") csvpath = self.buildlogs_path("rally-testing-tmp.csv")
self.mavproxy.send('rally savecsv %s\n' % csvpath) mavproxy.send('rally savecsv %s\n' % csvpath)
self.mavproxy.expect('"Seq","Frame"') mavproxy.expect('"Seq","Frame"')
expected_content = '''"Seq","Frame","Cmd","P1","P2","P3","P4","X","Y","Z" expected_content = '''"Seq","Frame","Cmd","P1","P2","P3","P4","X","Y","Z"
"0","Rel","NAV_RALLY_POINT","0.0","0.0","0.0","0.0","-5.67890024185","98.2341003418","90.0" "0","Rel","NAV_RALLY_POINT","0.0","0.0","0.0","0.0","-5.67890024185","98.2341003418","90.0"
''' '''
@ -2478,7 +2495,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subsubtest("rally load") self.start_subsubtest("rally load")
self.drain_mav() self.drain_mav()
self.mavproxy.send('rally clear\n') mavproxy.send('rally clear\n')
self.assert_mission_count_on_link(self.mav, self.assert_mission_count_on_link(self.mav,
0, 0,
target_system, target_system,
@ -2487,9 +2504,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
# warning: uses file saved from previous test # warning: uses file saved from previous test
self.start_subtest("Check rally load from filepath") self.start_subtest("Check rally load from filepath")
self.mavproxy.send('rally load %s\n' % save_tmppath) mavproxy.send('rally load %s\n' % save_tmppath)
self.mavproxy.expect(r"Loaded 1 rally items from ([^\s]*)\s") mavproxy.expect(r"Loaded 1 rally items from ([^\s]*)\s")
self.mavproxy.expect("Sent all .* rally items") # notional race condition here mavproxy.expect("Sent all .* rally items") # notional race condition here
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if len(downloaded_items) != 1: if len(downloaded_items) != 1:
raise NotAchievedException("Unexpected item count (%u)" % len(downloaded_items)) raise NotAchievedException("Unexpected item count (%u)" % len(downloaded_items))
@ -2502,11 +2519,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.end_subsubtest("rally load") self.end_subsubtest("rally load")
self.start_subsubtest("rally changealt") self.start_subsubtest("rally changealt")
self.mavproxy.send('rally clear\n') mavproxy.send('rally clear\n')
self.mavproxy.send("click 1.0 1.0\n") mavproxy.send("click 1.0 1.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.mavproxy.send("click 2.0 2.0\n") mavproxy.send("click 2.0 2.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.delay_sim_time(10) self.delay_sim_time(10)
self.assert_mission_count_on_link( self.assert_mission_count_on_link(
self.mav, self.mav,
@ -2516,12 +2533,12 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
mavutil.mavlink.MAV_MISSION_TYPE_RALLY, mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
) )
self.drain_mav() self.drain_mav()
self.mavproxy.send("rally changealt 1 17.6\n") mavproxy.send("rally changealt 1 17.6\n")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255, target_system=255,
target_component=0) target_component=0)
self.delay_sim_time(10) self.delay_sim_time(10)
self.mavproxy.send("rally changealt 2 19.1\n") mavproxy.send("rally changealt 2 19.1\n")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255, target_system=255,
target_component=0) target_component=0)
@ -2548,7 +2565,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise NotAchievedException("Expected alt=%f got=%f" % (19.1, downloaded_items[1].z)) raise NotAchievedException("Expected alt=%f got=%f" % (19.1, downloaded_items[1].z))
self.progress("Now change two at once") self.progress("Now change two at once")
self.mavproxy.send("rally changealt 1 17.3 2\n") mavproxy.send("rally changealt 1 17.3 2\n")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255, target_system=255,
target_component=0) target_component=0)
@ -2577,11 +2594,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.end_subsubtest("rally changealt") self.end_subsubtest("rally changealt")
self.start_subsubtest("rally move") self.start_subsubtest("rally move")
self.mavproxy.send('rally clear\n') mavproxy.send('rally clear\n')
self.mavproxy.send("click 1.0 1.0\n") mavproxy.send("click 1.0 1.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.mavproxy.send("click 2.0 2.0\n") mavproxy.send("click 2.0 2.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.assert_mission_count_on_link( self.assert_mission_count_on_link(
self.mav, self.mav,
@ -2590,13 +2607,13 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target_component, target_component,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY, mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
) )
self.mavproxy.send("click 3.0 3.0\n") mavproxy.send("click 3.0 3.0\n")
self.mavproxy.send("rally move 2\n") mavproxy.send("rally move 2\n")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255, target_system=255,
target_component=0) target_component=0)
self.mavproxy.send("click 4.12345 4.987654\n") mavproxy.send("click 4.12345 4.987654\n")
self.mavproxy.send("rally move 1\n") mavproxy.send("rally move 1\n")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255, target_system=255,
target_component=0) target_component=0)
@ -2623,15 +2640,15 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subsubtest("rally movemulti") self.start_subsubtest("rally movemulti")
self.drain_mav_unparsed() self.drain_mav_unparsed()
self.mavproxy.send('rally clear\n') mavproxy.send('rally clear\n')
self.drain_mav_unparsed() self.drain_mav_unparsed()
# there are race conditions in MAVProxy. Beware. # there are race conditions in MAVProxy. Beware.
self.mavproxy.send("click 1.0 1.0\n") mavproxy.send("click 1.0 1.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.mavproxy.send("click 2.0 2.0\n") mavproxy.send("click 2.0 2.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.mavproxy.send("click 3.0 3.0\n") mavproxy.send("click 3.0 3.0\n")
self.mavproxy.send("rally add\n") mavproxy.send("rally add\n")
self.delay_sim_time(10) self.delay_sim_time(10)
self.assert_mission_count_on_link( self.assert_mission_count_on_link(
self.mav, self.mav,
@ -2645,8 +2662,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
unmoved_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) unmoved_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if len(unmoved_items) != 3: if len(unmoved_items) != 3:
raise NotAchievedException("Unexpected item count") raise NotAchievedException("Unexpected item count")
self.mavproxy.send("click %f %f\n" % (click_lat, click_lon)) mavproxy.send("click %f %f\n" % (click_lat, click_lon))
self.mavproxy.send("rally movemulti 2 1 3\n") mavproxy.send("rally movemulti 2 1 3\n")
# MAVProxy currently sends three separate items up. That's # MAVProxy currently sends three separate items up. That's
# not great and I don't want to lock that behaviour in here. # not great and I don't want to lock that behaviour in here.
self.delay_sim_time(10) self.delay_sim_time(10)
@ -2663,8 +2680,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.check_rally_items_same(expected_moved_items, moved_items, epsilon=10000) self.check_rally_items_same(expected_moved_items, moved_items, epsilon=10000)
self.progress("now move back and rotate through 90 degrees") self.progress("now move back and rotate through 90 degrees")
self.mavproxy.send("click %f %f\n" % (2, 2)) mavproxy.send("click %f %f\n" % (2, 2))
self.mavproxy.send("rally movemulti 2 1 3 90\n") mavproxy.send("rally movemulti 2 1 3 90\n")
# MAVProxy currently sends three separate items up. That's # MAVProxy currently sends three separate items up. That's
# not great and I don't want to lock that behaviour in here. # not great and I don't want to lock that behaviour in here.
@ -2683,15 +2700,15 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.end_subsubtest("rally movemulti") self.end_subsubtest("rally movemulti")
self.start_subsubtest("rally param") self.start_subsubtest("rally param")
self.mavproxy.send("rally param 3 2 5\n") mavproxy.send("rally param 3 2 5\n")
self.mavproxy.expect("Set param 2 for 3 to 5.000000") mavproxy.expect("Set param 2 for 3 to 5.000000")
self.end_subsubtest("rally param") self.end_subsubtest("rally param")
self.start_subsubtest("rally remove") self.start_subsubtest("rally remove")
self.click_three_in(target_system=target_system, target_component=target_component) self.click_three_in(target_system=target_system, target_component=target_component)
pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Removing last in list") self.progress("Removing last in list")
self.mavproxy.send("rally remove 3\n") mavproxy.send("rally remove 3\n")
self.delay_sim_time(10) self.delay_sim_time(10)
self.assert_mission_count_on_link( self.assert_mission_count_on_link(
self.mav, self.mav,
@ -2708,7 +2725,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.check_rally_items_same(shorter_items, fewer_downloaded_items) self.check_rally_items_same(shorter_items, fewer_downloaded_items)
self.progress("Removing first in list") self.progress("Removing first in list")
self.mavproxy.send("rally remove 1\n") mavproxy.send("rally remove 1\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.drain_mav_unparsed() self.drain_mav_unparsed()
self.assert_mission_count_on_link( self.assert_mission_count_on_link(
@ -2725,7 +2742,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.check_rally_items_same(shorter_items, fewer_downloaded_items) self.check_rally_items_same(shorter_items, fewer_downloaded_items)
self.progress("Removing remaining item") self.progress("Removing remaining item")
self.mavproxy.send("rally remove 1\n") mavproxy.send("rally remove 1\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.drain_mav_unparsed() self.drain_mav_unparsed()
self.assert_mission_count_on_link( self.assert_mission_count_on_link(
@ -2739,14 +2756,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subsubtest("rally show") self.start_subsubtest("rally show")
# what can we test here? # what can we test here?
self.mavproxy.send("rally show %s\n" % save_tmppath) mavproxy.send("rally show %s\n" % save_tmppath)
self.end_subsubtest("rally show") self.end_subsubtest("rally show")
# savelocal must be run immediately after show! # savelocal must be run immediately after show!
self.start_subsubtest("rally savelocal") self.start_subsubtest("rally savelocal")
util.pexpect_drain(self.mavproxy) util.pexpect_drain(mavproxy)
savelocal_path = self.buildlogs_path("rally-testing-tmp-local.txt") savelocal_path = self.buildlogs_path("rally-testing-tmp-local.txt")
self.mavproxy.send('rally savelocal %s\n' % savelocal_path) mavproxy.send('rally savelocal %s\n' % savelocal_path)
self.delay_sim_time(5) self.delay_sim_time(5)
self.assert_rally_filepath_content(savelocal_path, '''QGC WPL 110 self.assert_rally_filepath_content(savelocal_path, '''QGC WPL 110
0 0 3 5100 0.000000 0.000000 0.000000 0.000000 -5.678900 98.234100 90.000000 0 0 0 3 5100 0.000000 0.000000 0.000000 0.000000 -5.678900 98.234100 90.000000 0
@ -2755,11 +2772,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subsubtest("rally status") self.start_subsubtest("rally status")
self.click_three_in(target_system=target_system, target_component=target_component) self.click_three_in(target_system=target_system, target_component=target_component)
self.mavproxy.send("rally status\n") mavproxy.send("rally status\n")
self.mavproxy.expect("Have 3 of 3 rally items") mavproxy.expect("Have 3 of 3 rally items")
self.mavproxy.send("rally clear\n") mavproxy.send("rally clear\n")
self.mavproxy.send("rally status\n") mavproxy.send("rally status\n")
self.mavproxy.expect("Have 0 of 0 rally items") mavproxy.expect("Have 0 of 0 rally items")
self.end_subsubtest("rally status") self.end_subsubtest("rally status")
self.start_subsubtest("rally undo") self.start_subsubtest("rally undo")
@ -2767,7 +2784,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.click_three_in(target_system=target_system, target_component=target_component) self.click_three_in(target_system=target_system, target_component=target_component)
pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Removing first in list") self.progress("Removing first in list")
self.mavproxy.send("rally remove 1\n") mavproxy.send("rally remove 1\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.drain_mav_unparsed() self.drain_mav_unparsed()
self.assert_mission_count_on_link( self.assert_mission_count_on_link(
@ -2777,7 +2794,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target_component, target_component,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY, mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
) )
self.mavproxy.send("rally undo\n") mavproxy.send("rally undo\n")
self.delay_sim_time(5) self.delay_sim_time(5)
undone_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) undone_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.check_rally_items_same(pure_items, undone_items) self.check_rally_items_same(pure_items, undone_items)
@ -2785,12 +2802,12 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Testing undo-move") self.progress("Testing undo-move")
pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.mavproxy.send("click 4.12345 4.987654\n") mavproxy.send("click 4.12345 4.987654\n")
self.mavproxy.send("rally move 1\n") mavproxy.send("rally move 1\n")
# move has already been tested, assume it works... # move has already been tested, assume it works...
self.delay_sim_time(5) self.delay_sim_time(5)
self.drain_mav_unparsed() self.drain_mav_unparsed()
self.mavproxy.send("rally undo\n") mavproxy.send("rally undo\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.drain_mav_unparsed() self.drain_mav_unparsed()
undone_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) undone_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
@ -2802,27 +2819,27 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.click_three_in(target_system=target_system, target_component=target_component) self.click_three_in(target_system=target_system, target_component=target_component)
pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
rally_update_tmpfilepath = self.buildlogs_path("rally-tmp-update.txt") rally_update_tmpfilepath = self.buildlogs_path("rally-tmp-update.txt")
self.mavproxy.send("rally save %s\n" % rally_update_tmpfilepath) mavproxy.send("rally save %s\n" % rally_update_tmpfilepath)
self.delay_sim_time(5) self.delay_sim_time(5)
self.progress("Moving waypoint") self.progress("Moving waypoint")
self.mavproxy.send("click 13.0 13.0\n") mavproxy.send("click 13.0 13.0\n")
self.mavproxy.send("rally move 1\n") mavproxy.send("rally move 1\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.progress("Reverting to original") self.progress("Reverting to original")
self.mavproxy.send("rally update %s\n" % rally_update_tmpfilepath) mavproxy.send("rally update %s\n" % rally_update_tmpfilepath)
self.delay_sim_time(5) self.delay_sim_time(5)
reverted_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) reverted_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.check_rally_items_same(pure_items, reverted_items) self.check_rally_items_same(pure_items, reverted_items)
self.progress("Making sure specifying a waypoint to be updated works") self.progress("Making sure specifying a waypoint to be updated works")
self.mavproxy.send("click 13.0 13.0\n") mavproxy.send("click 13.0 13.0\n")
self.mavproxy.send("rally move 1\n") mavproxy.send("rally move 1\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.mavproxy.send("click 17.0 17.0\n") mavproxy.send("click 17.0 17.0\n")
self.mavproxy.send("rally move 2\n") mavproxy.send("rally move 2\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.progress("Reverting to original item 2") self.progress("Reverting to original item 2")
self.mavproxy.send("rally update %s 2\n" % rally_update_tmpfilepath) mavproxy.send("rally update %s 2\n" % rally_update_tmpfilepath)
self.delay_sim_time(5) self.delay_sim_time(5)
reverted_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) reverted_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if reverted_items[0].x != 130000000: if reverted_items[0].x != 130000000:
@ -2831,28 +2848,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise NotAchievedException("Expected item2 x to revert") raise NotAchievedException("Expected item2 x to revert")
self.end_subsubtest("rally update") self.end_subsubtest("rally update")
# MANUAL> usage: rally <add|alt|changealt|clear|list|load|move|movemulti|param|remove|save|savecsv|savelocal|show|status|undo|update> # noqa
def test_gcs_rally(self):
target_system = 1
target_component = 1
self.test_gcs_rally_via_mavproxy(target_system=target_system,
target_component=target_component)
self.mavproxy.send('rally clear\n')
self.delay_sim_time(1) self.delay_sim_time(1)
if self.get_parameter("RALLY_TOTAL") != 0: if self.get_parameter("RALLY_TOTAL") != 0:
raise NotAchievedException("Failed to clear rally points") raise NotAchievedException("Failed to clear rally points")
self.stop_mavproxy(mavproxy)
# MANUAL> usage: rally <add|alt|changealt|clear|list|load|move|movemulti|param|remove|save|savecsv|savelocal|show|status|undo|update> # noqa
def test_rally(self, target_system=1, target_component=1):
old_srcSystem = self.mav.mav.srcSystem old_srcSystem = self.mav.mav.srcSystem
# stop MAVProxy poking the autopilot:
self.mavproxy.send('module unload rally\n')
self.mavproxy.expect("Unloaded module rally")
self.mavproxy.send('module unload wp\n')
self.mavproxy.expect("Unloaded module wp")
self.drain_mav() self.drain_mav()
try: try:
item1_lat = int(2.0000 * 1e7) item1_lat = int(2.0000 * 1e7)
@ -3437,17 +3444,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Received exception (%s)" % self.get_exception_stacktrace(e)) self.progress("Received exception (%s)" % self.get_exception_stacktrace(e))
self.mav.mav.srcSystem = old_srcSystem self.mav.mav.srcSystem = old_srcSystem
raise e raise e
self.mavproxy.send('module load rally\n')
self.mavproxy.expect("Loaded module rally")
self.mavproxy.send('module load wp\n')
self.mavproxy.expect("Loaded module wp")
self.reboot_sitl() self.reboot_sitl()
def test_gcs_mission(self): def test_gcs_mission(self):
'''check MAVProxy's waypoint handling of missions''' '''check MAVProxy's waypoint handling of missions'''
target_system = 1 target_system = 1
target_component = 1 target_component = 1
self.mavproxy.send('wp clear\n') mavproxy = self.start_mavproxy()
mavproxy.send('wp clear\n')
self.delay_sim_time(1) self.delay_sim_time(1)
if self.get_parameter("MIS_TOTAL") != 0: if self.get_parameter("MIS_TOTAL") != 0:
raise NotAchievedException("Failed to clear mission") raise NotAchievedException("Failed to clear mission")
@ -3457,9 +3461,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise NotAchievedException("Did not get expected MISSION_CURRENT") raise NotAchievedException("Did not get expected MISSION_CURRENT")
if m.seq != 0: if m.seq != 0:
raise NotAchievedException("Bad mission current") raise NotAchievedException("Bad mission current")
self.load_mission_using_mavproxy("rover-gripper-mission.txt") self.load_mission_using_mavproxy(mavproxy, "rover-gripper-mission.txt")
set_wp = 1 set_wp = 1
self.mavproxy.send('wp set %u\n' % set_wp) mavproxy.send('wp set %u\n' % set_wp)
self.drain_mav() self.drain_mav()
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True, timeout=5) m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True, timeout=5)
if m is None: if m is None:
@ -3473,7 +3477,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
changealt_item = 1 changealt_item = 1
# oldalt = downloaded_items[changealt_item].z # oldalt = downloaded_items[changealt_item].z
want_newalt = 37.2 want_newalt = 37.2
self.mavproxy.send('wp changealt %u %f\n' % (changealt_item, want_newalt)) mavproxy.send('wp changealt %u %f\n' % (changealt_item, want_newalt))
self.delay_sim_time(5) self.delay_sim_time(5)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
if abs(downloaded_items[changealt_item].z - want_newalt) > 0.0001: if abs(downloaded_items[changealt_item].z - want_newalt) > 0.0001:
@ -3485,8 +3489,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subsubtest("wp sethome") self.start_subsubtest("wp sethome")
new_home_lat = 3.14159 new_home_lat = 3.14159
new_home_lng = 2.71828 new_home_lng = 2.71828
self.mavproxy.send('click %f %f\n' % (new_home_lat, new_home_lng)) mavproxy.send('click %f %f\n' % (new_home_lat, new_home_lng))
self.mavproxy.send('wp sethome\n') mavproxy.send('wp sethome\n')
self.delay_sim_time(5) self.delay_sim_time(5)
# any way to close the loop on this one? # any way to close the loop on this one?
# downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) # downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
@ -3497,8 +3501,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.end_subsubtest("wp sethome") self.end_subsubtest("wp sethome")
self.start_subsubtest("wp slope") self.start_subsubtest("wp slope")
self.mavproxy.send('wp slope\n') mavproxy.send('wp slope\n')
self.mavproxy.expect("WP3: slope 0.1") mavproxy.expect("WP3: slope 0.1")
self.delay_sim_time(5) self.delay_sim_time(5)
self.end_subsubtest("wp slope") self.end_subsubtest("wp slope")
@ -3507,9 +3511,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
return return
self.start_subsubtest("wp split") self.start_subsubtest("wp split")
self.mavproxy.send("wp clear\n") mavproxy.send("wp clear\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.mavproxy.send("wp list\n") mavproxy.send("wp list\n")
self.delay_sim_time(5) self.delay_sim_time(5)
items = [ items = [
None, None,
@ -3546,18 +3550,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
33.0000, # altitude 33.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION), mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
] ]
self.mavproxy.send("click 5 5\n") # space for home position mavproxy.send("click 5 5\n") # space for home position
self.mavproxy.send("wp add\n") mavproxy.send("wp add\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.click_location_from_item(items[1]) self.click_location_from_item(mavproxy, items[1])
self.mavproxy.send("wp add\n") mavproxy.send("wp add\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.click_location_from_item(items[2]) self.click_location_from_item(mavproxy, items[2])
self.mavproxy.send("wp add\n") mavproxy.send("wp add\n")
self.delay_sim_time(5) self.delay_sim_time(5)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.check_mission_waypoint_items_same(items, downloaded_items) self.check_mission_waypoint_items_same(items, downloaded_items)
self.mavproxy.send("wp split 2\n") mavproxy.send("wp split 2\n")
self.delay_sim_time(5) self.delay_sim_time(5)
items_with_split_in = [ items_with_split_in = [
items[0], items[0],
@ -3584,6 +3588,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.check_mission_waypoint_items_same(items_with_split_in, self.check_mission_waypoint_items_same(items_with_split_in,
downloaded_items) downloaded_items)
self.stop_mavproxy(mavproxy)
# MANUAL> usage: wp <changealt|clear|draw|editor|list|load|loop|move|movemulti|noflyadd|param|remove|save|savecsv|savelocal|set|sethome|show|slope|split|status|undo|update> # noqa # MANUAL> usage: wp <changealt|clear|draw|editor|list|load|loop|move|movemulti|noflyadd|param|remove|save|savecsv|savelocal|set|sethome|show|slope|split|status|undo|update> # noqa
def wait_location_sending_target(self, loc, target_system=1, target_component=1, timeout=60, max_delta=2): def wait_location_sending_target(self, loc, target_system=1, target_component=1, timeout=60, max_delta=2):
@ -4357,7 +4363,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"loc": self.offset_location_ne(here, 20, 0), "loc": self.offset_location_ne(here, 20, 0),
}, },
]) ])
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
# handy for getting pretty pictures
self.mavproxy.send("fence list\n")
self.delay_sim_time(5) self.delay_sim_time(5)
self.progress("Drive outside top circle") self.progress("Drive outside top circle")
@ -4398,7 +4406,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
]) ])
self.delay_sim_time(5) self.delay_sim_time(5)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.progress("Drive outside polygon") self.progress("Drive outside polygon")
fence_middle = self.offset_location_ne(here, -150, 0) fence_middle = self.offset_location_ne(here, -150, 0)
self.drive_somewhere_breach_boundary_and_rtl( self.drive_somewhere_breach_boundary_and_rtl(
@ -4432,7 +4441,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
]) ])
self.delay_sim_time(5) self.delay_sim_time(5)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.progress("Drive outside top polygon") self.progress("Drive outside top polygon")
fence_middle = self.offset_location_ne(here, -150, 0) fence_middle = self.offset_location_ne(here, -150, 0)
self.drive_somewhere_breach_boundary_and_rtl( self.drive_somewhere_breach_boundary_and_rtl(
@ -4469,7 +4479,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
}, },
]) ])
self.delay_sim_time(5) self.delay_sim_time(5)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.progress("Breach eastern boundary") self.progress("Breach eastern boundary")
fence_middle = self.offset_location_ne(here, 0, 30) fence_middle = self.offset_location_ne(here, 0, 30)
@ -4572,7 +4583,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.set_parameter("FENCE_ENABLE", 1) self.set_parameter("FENCE_ENABLE", 1)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
# target_loc is copied from the mission file # target_loc is copied from the mission file
target_loc = mavutil.location(40.073799, -105.229156) target_loc = mavutil.location(40.073799, -105.229156)
self.wait_location(target_loc, timeout=300) self.wait_location(target_loc, timeout=300)
@ -4618,7 +4630,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.set_parameter("FENCE_ENABLE", 1) self.set_parameter("FENCE_ENABLE", 1)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
target_loc = mavutil.location(40.073800, -105.229172) target_loc = mavutil.location(40.073800, -105.229172)
self.send_guided_mission_item(target_loc, self.send_guided_mission_item(target_loc,
target_system=target_system, target_system=target_system,
@ -4691,7 +4704,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.offset_location_ne(here, -60, 80), # br, self.offset_location_ne(here, -60, 80), # br,
], ],
]) ])
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.context_push() self.context_push()
ex = None ex = None
try: try:
@ -4701,7 +4715,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.change_mode('GUIDED') self.change_mode('GUIDED')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.set_parameter("FENCE_ENABLE", 1) self.set_parameter("FENCE_ENABLE", 1)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.arm_vehicle() self.arm_vehicle()
self.change_mode("GUIDED") self.change_mode("GUIDED")
@ -4741,7 +4756,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"loc": self.offset_location_ne(here, -60, 0), "loc": self.offset_location_ne(here, -60, 0),
}, },
]) ])
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.set_parameter("FENCE_ENABLE", 1) self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("AVOID_ENABLE", 3) self.set_parameter("AVOID_ENABLE", 3)
fence_middle = self.offset_location_ne(here, 0, 30) fence_middle = self.offset_location_ne(here, 0, 30)
@ -4788,7 +4804,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.arm_vehicle() self.arm_vehicle()
self.set_parameter("FENCE_ENABLE", 1) self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("WP_RADIUS", 5) self.set_parameter("WP_RADIUS", 5)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
target_loc = mavutil.location(40.071060, -105.227734, 0, 0) target_loc = mavutil.location(40.071060, -105.227734, 0, 0)
self.send_guided_mission_item(target_loc, self.send_guided_mission_item(target_loc,
target_system=target_system, target_system=target_system,
@ -4834,7 +4851,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.arm_vehicle() self.arm_vehicle()
self.set_parameter("FENCE_ENABLE", 1) self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("WP_RADIUS", 5) self.set_parameter("WP_RADIUS", 5)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
target_loc = mavutil.location(40.071260, -105.227000, 0, 0) target_loc = mavutil.location(40.071260, -105.227000, 0, 0)
self.send_guided_mission_item(target_loc, self.send_guided_mission_item(target_loc,
target_system=target_system, target_system=target_system,
@ -4874,7 +4892,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.arm_vehicle() self.arm_vehicle()
self.set_parameter("FENCE_ENABLE", 1) self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("WP_RADIUS", 5) self.set_parameter("WP_RADIUS", 5)
self.mavproxy.send("fence list\n") if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
target_loc = mavutil.location(40.071260, -105.227000, 0, 0) target_loc = mavutil.location(40.071260, -105.227000, 0, 0)
# target_loc is copied from the mission file # target_loc is copied from the mission file
self.wait_location(target_loc, timeout=300) self.wait_location(target_loc, timeout=300)
@ -5563,8 +5582,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise ex raise ex
def test_mavproxy_param(self): def test_mavproxy_param(self):
self.mavproxy.send("param fetch\n") mavproxy = self.start_mavproxy()
self.mavproxy.expect("Received [0-9]+ parameters") mavproxy.send("param fetch\n")
mavproxy.expect("Received [0-9]+ parameters")
self.stop_mavproxy(mavproxy)
def MAV_CMD_DO_SET_MISSION_CURRENT_mission(self, target_system=1, target_component=1): def MAV_CMD_DO_SET_MISSION_CURRENT_mission(self, target_system=1, target_component=1):
return copy.copy([ return copy.copy([
@ -5766,14 +5787,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"Upload and download of fence", "Upload and download of fence",
self.test_gcs_fence), self.test_gcs_fence),
("GCSRally", ("Rally",
"Upload and download of rally", "Upload and download of rally",
self.test_gcs_rally), self.test_rally),
("GCSMission", ("GCSMission",
"Upload and download of mission", "Upload and download of mission",
self.test_gcs_mission), self.test_gcs_mission),
("GCSRally",
"Upload and download of rally using MAVProxy",
self.test_gcs_rally),
("MotorTest", ("MotorTest",
"Motor Test triggered via mavlink", "Motor Test triggered via mavlink",
self.test_motor_test), self.test_motor_test),