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autotest: start MAVProxy only as needed for testing

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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
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17
Tools/autotest/arducopter.py
View File

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

10
Tools/autotest/arduplane.py
View File

@ -1291,12 +1291,13 @@ class AutoTestPlane(AutoTest):
0, # "land dir"
0) # flags
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)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.mavproxy.send('rally clear\n')
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if ex is not None:
raise ex
@ -1420,11 +1421,6 @@ class AutoTestPlane(AutoTest):
self.start_subtest(desc)
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):
'''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.mavproxy = None
self._mavproxy = None # for auto-cleanup on failed tests
self.mav = None
self.viewerip = viewerip
self.use_map = use_map
@ -1267,6 +1268,8 @@ class AutoTest(ABC):
self.expect_list = []
self.start_mavproxy_count = 0
def __del__(self):
if self.rc_thread is not None:
self.progress("Joining thread in __del__")
@ -1410,11 +1413,11 @@ class AutoTest(ABC):
count += 2 # file doesn't include return point + closing point
return count
def load_fence_using_mavproxy(self, filename):
def load_fence_using_mavproxy(self, mavproxy, filename):
self.set_parameter("FENCE_TOTAL", 0)
filepath = os.path.join(testdir, self.current_test_name_directory, filename)
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)
tstart = self.get_sim_time_cached()
while True:
@ -2916,17 +2919,19 @@ class AutoTest(ABC):
def test_log_download_mavproxy(self, upload_logs=False):
"""Download latest log."""
filename = "MAVProxy-downloaded-log.BIN"
self.mavproxy.send("module load log\n")
self.mavproxy.expect("Loaded module log")
self.mavproxy.send("log list\n")
self.mavproxy.expect("numLogs")
mavproxy = self.start_mavproxy()
mavproxy.send("module load log\n")
mavproxy.expect("Loaded module log")
mavproxy.send("log list\n")
mavproxy.expect("numLogs")
self.wait_heartbeat()
self.wait_heartbeat()
self.mavproxy.send("set shownoise 0\n")
self.mavproxy.send("log download latest %s\n" % filename)
self.mavproxy.expect("Finished downloading", timeout=120)
self.mavproxy.send("module unload log\n")
self.mavproxy.expect("Unloaded module log")
mavproxy.send("set shownoise 0\n")
mavproxy.send("log download latest %s\n" % filename)
mavproxy.expect("Finished downloading", timeout=120)
mavproxy.send("module unload log\n")
mavproxy.expect("Unloaded module log")
self.stop_mavproxy(mavproxy)
def log_upload(self):
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."""
self.progress("Loading rally points (%s)" % filename)
path = os.path.join(testdir, self.current_test_name_directory, filename)
self.mavproxy.send('rally load %s\n' % path)
self.mavproxy.expect("Loaded")
mavproxy = self.start_mavproxy()
mavproxy.send('rally load %s\n' % path)
mavproxy.expect("Loaded")
self.stop_mavproxy(mavproxy)
def load_sample_mission(self):
self.load_mission(self.sample_mission_filename())
@ -3228,12 +3235,16 @@ class AutoTest(ABC):
self.check_mission_upload_download(wpoints_int, strict=strict)
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(
mavproxy,
self.current_test_name_directory,
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."""
self.progress("Loading mission (%s)" % 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.drain_mav_unparsed()
time.sleep(0.1)
self.mavproxy.send('wp load %s\n' % path)
self.mavproxy.expect('Loaded ([0-9]+) waypoints from')
load_count = self.mavproxy.match.group(1)
mavproxy.send('wp load %s\n' % path)
mavproxy.expect('Loaded ([0-9]+) waypoints from')
load_count = mavproxy.match.group(1)
self.last_wp_load = time.time()
self.mavproxy.expect("Flight plan received")
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting ([0-9]+) waypoints')
request_count = self.mavproxy.match.group(1)
mavproxy.expect("Flight plan received")
mavproxy.send('wp list\n')
mavproxy.expect('Requesting ([0-9]+) waypoints')
request_count = mavproxy.match.group(1)
if load_count != request_count:
self.progress("request_count=%s != load_count=%s" %
(request_count, load_count))
continue
self.mavproxy.expect('Saved ([0-9]+) waypoints to (.+?way.txt)')
save_count = self.mavproxy.match.group(1)
mavproxy.expect('Saved ([0-9]+) waypoints to (.+?way.txt)')
save_count = mavproxy.match.group(1)
if save_count != request_count:
raise NotAchievedException("request count != load count")
# warning: this assumes MAVProxy was started in the CWD!
@ -3268,14 +3279,14 @@ class AutoTest(ABC):
# the git root, like this:
# timelimit 32000 APM/Tools/autotest/autotest.py --timeout=30000 > buildlogs/autotest-output.txt 2>&1
# 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()
self.assert_mission_files_same(path, saved_filepath)
break
self.mavproxy.send('wp status\n')
self.mavproxy.expect(r'Have (\d+) of (\d+)')
status_have = self.mavproxy.match.group(1)
status_want = self.mavproxy.match.group(2)
mavproxy.send('wp status\n')
mavproxy.expect(r'Have (\d+) of (\d+)')
status_have = mavproxy.match.group(1)
status_want = mavproxy.match.group(2)
if status_have != status_want:
raise ValueError("status count mismatch")
if status_have != save_count:
@ -3289,15 +3300,16 @@ class AutoTest(ABC):
(num_wp, int(status_have)))
if num_wp == 0:
raise ValueError("No waypoints loaded?!")
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"""
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
self.mavproxy.send('wp save %s\n' % filename)
self.mavproxy.expect('Saved ([0-9]+) waypoints')
num_wp = int(self.mavproxy.match.group(1))
mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints')
mavproxy.send('wp save %s\n' % filename)
mavproxy.expect('Saved ([0-9]+) waypoints')
num_wp = int(mavproxy.match.group(1))
self.progress("num_wp: %d" % num_wp)
return num_wp
@ -3790,18 +3802,18 @@ class AutoTest(ABC):
self.cpufailsafe_wait_servo_channel_value(2, 1660)
self.reset_SITL_commandline()
def mavproxy_arm_vehicle(self):
def mavproxy_arm_vehicle(self, mavproxy):
"""Arm vehicle with mavlink arm message send from MAVProxy."""
self.progress("Arm motors with MavProxy")
self.mavproxy.send('arm throttle\n')
mavproxy.send('arm throttle\n')
self.mav.motors_armed_wait()
self.progress("ARMED")
return True
def mavproxy_disarm_vehicle(self):
def mavproxy_disarm_vehicle(self, mavproxy):
"""Disarm vehicle with mavlink disarm message send from MAVProxy."""
self.progress("Disarm motors with MavProxy")
self.mavproxy.send('disarm\n')
mavproxy.send('disarm\n')
self.wait_disarmed()
return True
@ -4062,15 +4074,15 @@ class AutoTest(ABC):
self.progress("(%s) != (%s)" % (m.param_id, 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."""
for i in range(0, attempts):
self.mavproxy.send("param fetch %s\n" % name)
mavproxy.send("param fetch %s\n" % name)
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:
# sometimes race conditions garble the MAVProxy output
ret = float(self.mavproxy.match.group(1))
ret = float(mavproxy.match.group(1))
except ValueError:
continue
return ret
@ -4526,7 +4538,7 @@ class AutoTest(ABC):
if m.custom_mode == want_custom_mode:
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."""
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = self.get_mode_from_mode_mapping(mode)
@ -4535,8 +4547,8 @@ class AutoTest(ABC):
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise AutoTestTimeoutException("Failed to change mode")
self.mavproxy.send("long DO_SET_MODE %u %u\n" %
(base_mode, custom_mode))
mavproxy.send("long DO_SET_MODE %u %u\n" %
(base_mode, custom_mode))
m = self.wait_heartbeat()
if m.custom_mode == custom_mode:
return True
@ -5538,6 +5550,8 @@ Also, ignores heartbeats not from our target system'''
tests_total_time += test_time
self.progress(fmt % (desc, test_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):
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
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*")
if corefiles:
self.progress('Corefiles detected: %s' % str(corefiles))
@ -5717,6 +5737,9 @@ Also, ignores heartbeats not from our target system'''
return None
def start_mavproxy(self):
self.start_mavproxy_count += 1
if self.mavproxy is not None:
return self.mavproxy
self.progress("Starting MAVProxy")
# determine a good pexpect timeout for reading MAVProxy's
@ -5725,19 +5748,28 @@ Also, ignores heartbeats not from our target system'''
if self.valgrind:
pexpect_timeout *= 10
self.mavproxy = util.start_MAVProxy_SITL(
mavproxy = util.start_MAVProxy_SITL(
self.vehicleinfo_key(),
logfile=self.mavproxy_logfile,
options=self.mavproxy_options(),
pexpect_timeout=pexpect_timeout)
self.mavproxy.expect(r'Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
mavproxy.expect(r'Telemetry log: (\S+)\r\n')
self.logfile = mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
# self.progress("Waiting for Parameters")
# self.mavproxy.expect('Received [0-9]+ parameters')
self.expect_list_add(self.mavproxy)
self.expect_list_add(mavproxy)
util.expect_setup_callback(mavproxy, self.expect_callback)
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):
start_sitl_args = {
@ -5778,6 +5810,10 @@ Also, ignores heartbeats not from our target system'''
return False
return self.sitl.isalive()
def autostart_mavproxy(self):
return False
return self.use_map
def init(self):
"""Initilialize autotest feature."""
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.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()
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})
def test_mag_calibration(self, compass_count=3, timeout=1000):
def reset_pos_and_start_magcal(tmask):
self.mavproxy.send("sitl_stop\n")
self.mavproxy.send("sitl_attitude 0 0 0\n")
def reset_pos_and_start_magcal(mavproxy, tmask):
mavproxy.send("sitl_stop\n")
mavproxy.send("sitl_attitude 0 0 0\n")
self.drain_mav()
self.get_sim_time()
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,
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")
MAG_OFS = 100
MAG_DIA = 1.0
@ -6325,14 +6361,14 @@ Also, ignores heartbeats not from our target system'''
self.progress("Setting calibration mode")
self.wait_heartbeat()
self.customise_SITL_commandline(["-M", "calibration"])
self.mavproxy_load_module("sitl_calibration")
self.mavproxy_load_module("calibration")
self.mavproxy_load_module("relay")
self.mavproxy_load_module(mavproxy, "sitl_calibration")
self.mavproxy_load_module(mavproxy, "calibration")
self.mavproxy_load_module(mavproxy, "relay")
self.wait_statustext("is using GPS", timeout=60)
self.mavproxy.send("accelcalsimple\n")
self.mavproxy.expect("Calibrated")
mavproxy.send("accelcalsimple\n")
mavproxy.expect("Calibrated")
# disable it to not interfert with calibration acceptation
self.mavproxy_unload_module("calibration")
self.mavproxy_unload_module(mavproxy, "calibration")
if self.is_copter():
# set frame class to pass arming check on copter
self.set_parameter("FRAME_CLASS", 1)
@ -6366,10 +6402,10 @@ Also, ignores heartbeats not from our target system'''
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.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()
reached_pct = [0] * compass_tnumber
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))
old_cal_fit = self.get_parameter("COMPASS_CAL_FIT")
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()
reached_pct = [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.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
reached_pct = [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]:
reached_pct[cid] = new_pct
self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
self.mavproxy.send("sitl_stop\n")
self.mavproxy.send("sitl_attitude 0 0 0\n")
mavproxy.send("sitl_stop\n")
mavproxy.send("sitl_attitude 0 0 0\n")
self.progress("Checking that value aren't changed without acceptation")
self.check_zero_mag_parameters(params)
self.check_zeros_mag_orient()
@ -6560,11 +6596,12 @@ Also, ignores heartbeats not from our target system'''
timeout=20,
)
self.disarm_vehicle()
self.mavproxy_unload_module("relay")
self.mavproxy_unload_module("sitl_calibration")
self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module(mavproxy, "sitl_calibration")
ex = None
mavproxy = self.start_mavproxy()
try:
self.set_parameter("AHRS_EKF_TYPE", 10)
self.set_parameter("SIM_GND_BEHAV", 0)
@ -6580,18 +6617,20 @@ Also, ignores heartbeats not from our target system'''
else:
target_mask |= (1 << run)
ntest_compass = run + 1
do_prep_mag_cal_test(curr_params)
do_test_mag_cal(curr_params, ntest_compass)
do_prep_mag_cal_test(mavproxy, curr_params)
do_test_mag_cal(mavproxy, curr_params, ntest_compass)
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.mavproxy_unload_module("relay")
self.mavproxy_unload_module("sitl_calibration")
self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module(mavproxy, "sitl_calibration")
if ex is not None:
raise ex
self.stop_mavproxy(mavproxy)
# 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
# to bad things.
@ -6851,16 +6890,17 @@ Also, ignores heartbeats not from our target system'''
def test_dataflash_over_mavlink(self):
self.context_push()
ex = None
mavproxy = self.start_mavproxy()
try:
self.set_parameter("LOG_BACKEND_TYPE", 2)
self.reboot_sitl()
self.wait_ready_to_arm(check_prearm_bit=False)
self.mavproxy.send('arm throttle\n')
self.mavproxy.expect('PreArm: Logging failed')
self.mavproxy.send("module load dataflash_logger\n")
self.mavproxy.send("dataflash_logger set verbose 1\n")
self.mavproxy.expect('logging started')
self.mavproxy.send("dataflash_logger set verbose 0\n")
mavproxy.send('arm throttle\n')
mavproxy.expect('PreArm: Logging failed')
mavproxy.send("module load dataflash_logger\n")
mavproxy.send("dataflash_logger set verbose 1\n")
mavproxy.expect('logging started')
mavproxy.send("dataflash_logger set verbose 0\n")
self.delay_sim_time(1)
self.do_timesync_roundtrip() # drain COMMAND_ACK from that failed arm
self.arm_vehicle()
@ -6872,10 +6912,10 @@ Also, ignores heartbeats not from our target system'''
break
if now - last_status > 5:
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
self.mavproxy.expect(r"Active Rate\([0-9]+s\):([0-9]+[.][0-9]+)")
rate = float(self.mavproxy.match.group(1))
mavproxy.expect(r"Active Rate\([0-9]+s\):([0-9]+[.][0-9]+)")
rate = float(mavproxy.match.group(1))
self.progress("Rate: %f" % rate)
desired_rate = 50
if self.valgrind:
@ -6888,8 +6928,9 @@ Also, ignores heartbeats not from our target system'''
self.disarm_vehicle()
ex = e
self.context_pop()
self.mavproxy.send("module unload dataflash_logger\n")
self.mavproxy.expect("Unloaded module dataflash_logger")
mavproxy.send("module unload dataflash_logger\n")
mavproxy.expect("Unloaded module dataflash_logger")
self.stop_mavproxy(mavproxy)
self.reboot_sitl()
if ex is not None:
raise ex
@ -6898,14 +6939,15 @@ Also, ignores heartbeats not from our target system'''
"""Test the basic functionality of block logging"""
self.context_push()
ex = None
mavproxy = self.start_mavproxy()
try:
self.set_parameter("LOG_BACKEND_TYPE", 4)
self.set_parameter("LOG_FILE_DSRMROT", 1)
self.reboot_sitl()
# First log created here, but we are in chip erase so ignored
self.mavproxy.send("module load log\n")
self.mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete")
mavproxy.send("module load log\n")
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
self.wait_ready_to_arm()
if self.is_copter() or self.is_plane():
@ -6920,12 +6962,12 @@ Also, ignores heartbeats not from our target system'''
self.disarm_vehicle()
# Second log created here
self.delay_sim_time(2)
self.mavproxy.send("log list\n")
self.mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
log_num = int(self.mavproxy.match.group(1))
numlogs = int(self.mavproxy.match.group(2))
lastlog = int(self.mavproxy.match.group(3))
size = int(self.mavproxy.match.group(4))
mavproxy.send("log list\n")
mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
log_num = int(mavproxy.match.group(1))
numlogs = int(mavproxy.match.group(2))
lastlog = int(mavproxy.match.group(3))
size = int(mavproxy.match.group(4))
if numlogs != 2 or log_num != 1 or size <= 0:
raise NotAchievedException("Unexpected log information %d %d %d" % (log_num, numlogs, lastlog))
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
self.wait_ready_to_arm()
# Third log created here
self.mavproxy.send("log list\n")
self.mavproxy.expect("Log 1 numLogs 3 lastLog 3 size")
mavproxy.send("log list\n")
mavproxy.expect("Log 1 numLogs 3 lastLog 3 size")
# Download second and third logs
self.mavproxy.send("log download 2 logs/dataflash-log-002.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120)
self.mavproxy.send("log download 3 logs/dataflash-log-003.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120)
mavproxy.send("log download 2 logs/dataflash-log-002.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
mavproxy.send("log download 3 logs/dataflash-log-003.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
# Erase the logs
self.mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete")
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.mavproxy.send("module unload log\n")
mavproxy.send("module unload log\n")
self.stop_mavproxy(mavproxy)
self.context_pop()
self.reboot_sitl()
if ex is not None:
@ -6990,19 +7033,21 @@ Also, ignores heartbeats not from our target system'''
def test_dataflash_erase(self):
"""Test that erasing the dataflash chip and creating a new log is error free"""
mavproxy = self.start_mavproxy()
ex = None
self.context_push()
try:
self.set_parameter("LOG_BACKEND_TYPE", 4)
self.reboot_sitl()
self.mavproxy.send("module load log\n")
self.mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete")
mavproxy.send("module load log\n")
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
self.set_parameter("LOG_DISARMED", 1)
self.delay_sim_time(3)
self.set_parameter("LOG_DISARMED", 0)
self.mavproxy.send("log download 1 logs/dataflash-log-erase.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120)
mavproxy.send("log download 1 logs/dataflash-log-erase.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
# read the downloaded log - it must parse without error
self.validate_log_file("logs/dataflash-log-erase.BIN")
@ -7026,41 +7071,45 @@ Also, ignores heartbeats not from our target system'''
self.disarm_vehicle()
# make sure we have finished logging
self.delay_sim_time(15)
self.mavproxy.send("log list\n")
mavproxy.send("log list\n")
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:
if self.sitl_is_running():
self.progress("SITL is running")
else:
self.progress("SITL is NOT running")
raise NotAchievedException("Received %s" % str(e))
if int(self.mavproxy.match.group(2)) != 3:
raise NotAchievedException("Expected 3 logs got %s" % (self.mavproxy.match.group(2)))
if int(mavproxy.match.group(2)) != 3:
raise NotAchievedException("Expected 3 logs got %s" % (mavproxy.match.group(2)))
self.mavproxy.send("log download 1 logs/dataflash-log-erase2.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120)
mavproxy.send("log download 1 logs/dataflash-log-erase2.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
self.validate_log_file("logs/dataflash-log-erase2.BIN", 1)
self.mavproxy.send("log download latest logs/dataflash-log-erase3.BIN\n")
self.mavproxy.expect("Finished downloading", timeout=120)
mavproxy.send("log download latest logs/dataflash-log-erase3.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
self.validate_log_file("logs/dataflash-log-erase3.BIN", 1)
# clean up
self.mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete")
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
# clean up
self.mavproxy.send("log erase\n")
self.mavproxy.expect("Chip erase complete")
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.mavproxy.send("module unload log\n")
mavproxy.send("module unload log\n")
self.context_pop()
self.reboot_sitl()
self.stop_mavproxy(mavproxy)
if ex is not None:
raise ex
@ -7091,11 +7140,13 @@ Also, ignores heartbeats not from our target system'''
if not self.disarm_vehicle():
raise NotAchievedException("Failed to DISARM")
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")
self.progress("disarm with mavproxy")
if not self.mavproxy_disarm_vehicle():
if not self.mavproxy_disarm_vehicle(mavproxy):
raise NotAchievedException("Failed to DISARM")
self.stop_mavproxy(mavproxy)
if not self.is_sub():
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:
self.last_wp_load = time.time()
def clear_fence_using_mavproxy(self, timeout=10):
self.mavproxy.send("fence clear\n")
def clear_fence_using_mavproxy(self, mavproxy, timeout=10):
mavproxy.send("fence clear\n")
tstart = self.get_sim_time_cached()
while True:
now = self.get_sim_time_cached()
@ -7572,15 +7623,6 @@ Also, ignores heartbeats not from our target system'''
def clear_fence(self):
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):
'''test the sensor config error loop works and that parameter sets are persistent'''
parameter_name = "SERVO8_MIN"
@ -8457,20 +8499,22 @@ switch value'''
def last_onboard_log(self):
'''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
self.mavproxy.expect(["Loaded module log", "module log already loaded"])
if self.mavproxy.match.group(0) == "Loaded module log":
mavproxy.expect(["Loaded module log", "module log already loaded"])
if mavproxy.match.group(0) == "Loaded module log":
loaded_module = True
self.mavproxy.send("log list\n")
self.mavproxy.expect(["lastLog ([0-9]+)", "No logs"])
if self.mavproxy.match.group(0) == "No logs":
mavproxy.send("log list\n")
mavproxy.expect(["lastLog ([0-9]+)", "No logs"])
if mavproxy.match.group(0) == "No logs":
num_log = None
else:
num_log = int(self.mavproxy.match.group(1))
num_log = int(mavproxy.match.group(1))
if loaded_module:
self.mavproxy.send("module unload log\n")
self.mavproxy.expect("Unloaded module log")
mavproxy.send("module unload log\n")
mavproxy.expect("Unloaded module log")
self.stop_mavproxy(mavproxy)
return num_log
def current_onboard_log_filepath(self):
@ -8670,9 +8714,11 @@ switch value'''
if self.get_parameter("MIS_OPTIONS") != 1:
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:
raise NotAchievedException("MAVProxy failed to get parameter")
self.stop_mavproxy(mavproxy)
def test_parameter_documentation(self):
'''ensure parameter documentation is valid'''
@ -8842,16 +8888,17 @@ switch value'''
raise NotAchievedException("NMEA output inaccurate (dist=%f want<%f)" %
(distance, max_distance))
def mavproxy_load_module(self, module):
self.mavproxy.send("module load %s\n" % module)
self.mavproxy.expect("Loaded module %s" % module)
def mavproxy_load_module(self, mavproxy, module):
mavproxy.send("module load %s\n" % module)
mavproxy.expect("Loaded module %s" % module)
def mavproxy_unload_module(self, module):
self.mavproxy.send("module unload %s\n" % module)
self.mavproxy.expect("Unloaded module %s" % module)
def mavproxy_unload_module(self, mavproxy, module):
mavproxy.send("module unload %s\n" % module)
mavproxy.expect("Unloaded module %s" % module)
def accelcal(self):
ex = None
mavproxy = self.start_mavproxy()
try:
# setup with pre-existing accel offsets, to show that existing offsets don't
# adversely affect a new cal
@ -8880,12 +8927,12 @@ switch value'''
initial_params[sim_prefix + "_" + axis] = getattr(post_value, axis.lower())
self.set_parameters(initial_params)
self.customise_SITL_commandline(["-M", "calibration"])
self.mavproxy_load_module("sitl_calibration")
self.mavproxy_load_module("calibration")
self.mavproxy_load_module("relay")
self.mavproxy.send("sitl_accelcal\n")
self.mavproxy.send("accelcal\n")
self.mavproxy.expect("Calibrated")
self.mavproxy_load_module(mavproxy, "sitl_calibration")
self.mavproxy_load_module(mavproxy, "calibration")
self.mavproxy_load_module(mavproxy, "relay")
mavproxy.send("sitl_accelcal\n")
mavproxy.send("accelcal\n")
mavproxy.expect("Calibrated")
for wanted in [
"level",
"on its LEFT side",
@ -8895,11 +8942,11 @@ switch value'''
"on its BACK",
]:
timeout = 2
self.mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout)
self.mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout)
self.mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout)
self.mavproxy.send("\n")
self.mavproxy.expect("APM: Calibration successful", timeout=timeout)
mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout)
mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout)
mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout)
mavproxy.send("\n")
mavproxy.expect("APM: Calibration successful", timeout=timeout)
self.drain_mav()
self.progress("Checking results")
@ -8921,9 +8968,10 @@ switch value'''
except Exception as e:
self.print_exception_caught(e)
ex = e
self.mavproxy_unload_module("relay")
self.mavproxy_unload_module("calibration")
self.mavproxy_unload_module("sitl_calibration")
self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module(mavproxy, "calibration")
self.mavproxy_unload_module(mavproxy, "sitl_calibration")
self.stop_mavproxy(mavproxy)
if ex is not None:
raise ex

8
Tools/autotest/quadplane.py
View File

@ -284,8 +284,8 @@ class AutoTestQuadPlane(AutoTest):
self.load_mission(filename)
if fence is not None:
self.load_fence(fence)
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
if self.mavproxy is not None:
self.mavproxy.send('wp list\n')
self.wait_ready_to_arm()
self.arm_vehicle()
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
self.progress("Flying with gyro FFT - vtol to plane")
self.load_mission("quadplane-gyro-mission.txt")
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
if self.mavproxy is not None:
self.mavproxy.send('wp list\n')
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()

345
Tools/autotest/rover.py
View File

@ -142,8 +142,11 @@ class AutoTestRover(AutoTest):
self.save_wp()
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"))
self.stop_mavproxy(mavproxy)
expected = 7 # home + 6 toggled in
if num_wp != expected:
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'),
(5, 'AUTO'), # non-existant mode, should stay in RTL
(6, 'MANUAL')]
mavproxy = self.start_mavproxy()
for (num, expected) in fnoo:
self.mavproxy.send('switch %u\n' % num)
mavproxy.send('switch %u\n' % num)
self.wait_mode(expected)
self.stop_mavproxy(mavproxy)
def test_setting_modes_via_mavproxy_mode_command(self):
fnoo = [(1, 'ACRO'),
(3, 'STEERING'),
(4, 'HOLD'),
]
mavproxy = self.start_mavproxy()
for (num, expected) in fnoo:
self.mavproxy.send('mode manual\n')
mavproxy.send('mode manual\n')
self.wait_mode("MANUAL")
self.mavproxy.send('mode %u\n' % num)
mavproxy.send('mode %u\n' % num)
self.wait_mode(expected)
self.mavproxy.send('mode manual\n')
mavproxy.send('mode manual\n')
self.wait_mode("MANUAL")
self.mavproxy.send('mode %s\n' % expected)
mavproxy.send('mode %s\n' % expected)
self.wait_mode(expected)
self.stop_mavproxy(mavproxy)
def test_setting_modes_via_modeswitch(self):
# 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")
def test_mavproxy_do_set_mode_via_command_long(self):
self.mavproxy_do_set_mode_via_command_long("HOLD")
self.mavproxy_do_set_mode_via_command_long("MANUAL")
mavproxy = self.start_mavproxy()
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):
'''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),
])
def click_location_from_item(self, item):
self.mavproxy.send("click %f %f\n" % (item.x*1e-7, item.y*1e-7))
def click_location_from_item(self, mavproxy, item):
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):
self.start_subtest("Fence via MAVProxy")
if not self.mavproxy_can_do_mision_item_protocols():
return
mavproxy = self.start_mavproxy()
self.start_subsubtest("fence addcircle")
self.mavproxy.send("fence clear\n")
self.clear_fence_using_mavproxy(mavproxy)
self.delay_sim_time(1)
radius = 20
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
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
print("item is (%s)" % str(item))
self.click_location_from_item(item)
self.mavproxy.send("fence addcircle inc %u\n" % radius)
self.click_location_from_item(mavproxy, item)
mavproxy.send("fence addcircle inc %u\n" % radius)
self.delay_sim_time(1)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
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
0.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
self.click_location_from_item(item2)
self.mavproxy.send("fence addcircle exc %f\n" % radius_exc)
self.click_location_from_item(mavproxy, item2)
mavproxy.send("fence addcircle exc %f\n" % radius_exc)
self.delay_sim_time(1)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
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.start_subsubtest("fence addpoly")
self.mavproxy.send("fence clear\n")
self.clear_fence_using_mavproxy(mavproxy)
self.delay_sim_time(1)
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)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
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.start_subsubtest("fence movepolypoint")
self.mavproxy.send("fence clear\n")
self.clear_fence_using_mavproxy(mavproxy)
self.delay_sim_time(1)
triangle = self.test_gcs_fence_boring_triangle(
target_system=target_system,
target_component=target_component)
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
triangle)
self.mavproxy.send("fence list\n")
mavproxy.send("fence list\n")
self.delay_sim_time(1)
triangle[2].x += 500
triangle[2].y += 700
self.click_location_from_item(triangle[2])
self.mavproxy.send("fence movepolypoint 0 2\n")
self.click_location_from_item(mavproxy, triangle[2])
mavproxy.send("fence movepolypoint 0 2\n")
self.delay_sim_time(10)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
self.check_fence_items_same(triangle, downloaded_items)
self.end_subsubtest("fence movepolypoint")
self.start_subsubtest("fence enable and disable")
self.mavproxy.send("fence enable\n")
self.mavproxy.expect("fence enabled")
self.mavproxy.send("fence disable\n")
self.mavproxy.expect("fence disabled")
mavproxy.send("fence enable\n")
mavproxy.expect("fence enabled")
mavproxy.send("fence disable\n")
mavproxy.expect("fence disabled")
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
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']
return self.check_mission_items_same(check_atts, want, got, epsilon=epsilon)
def click_three_in(self, target_system=1, target_component=1):
self.mavproxy.send('rally clear\n')
def click_three_in(self, mavproxy, target_system=1, target_component=1):
mavproxy.send('rally clear\n')
self.drain_mav_unparsed()
# there are race conditions in MAVProxy. Beware.
self.mavproxy.send("click 1.0 1.0\n")
self.mavproxy.send("rally add\n")
mavproxy.send("click 1.0 1.0\n")
mavproxy.send("rally add\n")
self.delay_sim_time(1)
self.mavproxy.send("click 2.0 2.0\n")
self.mavproxy.send("rally add\n")
mavproxy.send("click 2.0 2.0\n")
mavproxy.send("rally add\n")
self.delay_sim_time(1)
self.mavproxy.send("click 3.0 3.0\n")
self.mavproxy.send("rally add\n")
mavproxy.send("click 3.0 3.0\n")
mavproxy.send("rally add\n")
self.delay_sim_time(10)
self.assert_mission_count_on_link(
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,
)
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")
if not self.mavproxy_can_do_mision_item_protocols():
return
mavproxy = self.start_mavproxy()
mavproxy.send('rally clear\n')
self.start_subsubtest("rally add")
self.mavproxy.send('rally clear\n')
mavproxy.send('rally clear\n')
lat_s = "-5.6789"
lng_s = "98.2341"
lat = float(lat_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.mavproxy.send('rally add\n')
mavproxy.send('rally add\n')
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255,
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.start_subsubtest("rally list")
util.pexpect_drain(self.mavproxy)
self.mavproxy.send('rally list\n')
self.mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s")
filename = self.mavproxy.match.group(1)
util.pexpect_drain(mavproxy)
mavproxy.send('rally list\n')
mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s")
filename = mavproxy.match.group(1)
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
''')
self.end_subsubtest("rally list")
self.start_subsubtest("rally save")
util.pexpect_drain(self.mavproxy)
util.pexpect_drain(mavproxy)
save_tmppath = self.buildlogs_path("rally-testing-tmp.txt")
self.mavproxy.send('rally save %s\n' % save_tmppath)
self.mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s")
filename = self.mavproxy.match.group(1)
mavproxy.send('rally save %s\n' % save_tmppath)
mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s")
filename = mavproxy.match.group(1)
if filename != save_tmppath:
raise NotAchievedException("Bad save filepath; want=%s got=%s" % (save_tmppath, filename))
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.start_subsubtest("rally savecsv")
util.pexpect_drain(self.mavproxy)
util.pexpect_drain(mavproxy)
csvpath = self.buildlogs_path("rally-testing-tmp.csv")
self.mavproxy.send('rally savecsv %s\n' % csvpath)
self.mavproxy.expect('"Seq","Frame"')
mavproxy.send('rally savecsv %s\n' % csvpath)
mavproxy.expect('"Seq","Frame"')
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"
'''
@ -2478,7 +2495,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subsubtest("rally load")
self.drain_mav()
self.mavproxy.send('rally clear\n')
mavproxy.send('rally clear\n')
self.assert_mission_count_on_link(self.mav,
0,
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
self.start_subtest("Check rally load from filepath")
self.mavproxy.send('rally load %s\n' % save_tmppath)
self.mavproxy.expect(r"Loaded 1 rally items from ([^\s]*)\s")
self.mavproxy.expect("Sent all .* rally items") # notional race condition here
mavproxy.send('rally load %s\n' % save_tmppath)
mavproxy.expect(r"Loaded 1 rally items from ([^\s]*)\s")
mavproxy.expect("Sent all .* rally items") # notional race condition here
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if len(downloaded_items) != 1:
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.start_subsubtest("rally changealt")
self.mavproxy.send('rally clear\n')
self.mavproxy.send("click 1.0 1.0\n")
self.mavproxy.send("rally add\n")
self.mavproxy.send("click 2.0 2.0\n")
self.mavproxy.send("rally add\n")
mavproxy.send('rally clear\n')
mavproxy.send("click 1.0 1.0\n")
mavproxy.send("rally add\n")
mavproxy.send("click 2.0 2.0\n")
mavproxy.send("rally add\n")
self.delay_sim_time(10)
self.assert_mission_count_on_link(
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,
)
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,
target_system=255,
target_component=0)
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,
target_system=255,
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))
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,
target_system=255,
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.start_subsubtest("rally move")
self.mavproxy.send('rally clear\n')
self.mavproxy.send("click 1.0 1.0\n")
self.mavproxy.send("rally add\n")
self.mavproxy.send("click 2.0 2.0\n")
self.mavproxy.send("rally add\n")
mavproxy.send('rally clear\n')
mavproxy.send("click 1.0 1.0\n")
mavproxy.send("rally add\n")
mavproxy.send("click 2.0 2.0\n")
mavproxy.send("rally add\n")
self.delay_sim_time(5)
self.assert_mission_count_on_link(
self.mav,
@ -2590,13 +2607,13 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target_component,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
)
self.mavproxy.send("click 3.0 3.0\n")
self.mavproxy.send("rally move 2\n")
mavproxy.send("click 3.0 3.0\n")
mavproxy.send("rally move 2\n")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255,
target_component=0)
self.mavproxy.send("click 4.12345 4.987654\n")
self.mavproxy.send("rally move 1\n")
mavproxy.send("click 4.12345 4.987654\n")
mavproxy.send("rally move 1\n")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=255,
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.drain_mav_unparsed()
self.mavproxy.send('rally clear\n')
mavproxy.send('rally clear\n')
self.drain_mav_unparsed()
# there are race conditions in MAVProxy. Beware.
self.mavproxy.send("click 1.0 1.0\n")
self.mavproxy.send("rally add\n")
self.mavproxy.send("click 2.0 2.0\n")
self.mavproxy.send("rally add\n")
self.mavproxy.send("click 3.0 3.0\n")
self.mavproxy.send("rally add\n")
mavproxy.send("click 1.0 1.0\n")
mavproxy.send("rally add\n")
mavproxy.send("click 2.0 2.0\n")
mavproxy.send("rally add\n")
mavproxy.send("click 3.0 3.0\n")
mavproxy.send("rally add\n")
self.delay_sim_time(10)
self.assert_mission_count_on_link(
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)
if len(unmoved_items) != 3:
raise NotAchievedException("Unexpected item count")
self.mavproxy.send("click %f %f\n" % (click_lat, click_lon))
self.mavproxy.send("rally movemulti 2 1 3\n")
mavproxy.send("click %f %f\n" % (click_lat, click_lon))
mavproxy.send("rally movemulti 2 1 3\n")
# MAVProxy currently sends three separate items up. That's
# not great and I don't want to lock that behaviour in here.
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.progress("now move back and rotate through 90 degrees")
self.mavproxy.send("click %f %f\n" % (2, 2))
self.mavproxy.send("rally movemulti 2 1 3 90\n")
mavproxy.send("click %f %f\n" % (2, 2))
mavproxy.send("rally movemulti 2 1 3 90\n")
# MAVProxy currently sends three separate items up. That's
# 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.start_subsubtest("rally param")
self.mavproxy.send("rally param 3 2 5\n")
self.mavproxy.expect("Set param 2 for 3 to 5.000000")
mavproxy.send("rally param 3 2 5\n")
mavproxy.expect("Set param 2 for 3 to 5.000000")
self.end_subsubtest("rally param")
self.start_subsubtest("rally remove")
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)
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.assert_mission_count_on_link(
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.progress("Removing first in list")
self.mavproxy.send("rally remove 1\n")
mavproxy.send("rally remove 1\n")
self.delay_sim_time(5)
self.drain_mav_unparsed()
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.progress("Removing remaining item")
self.mavproxy.send("rally remove 1\n")
mavproxy.send("rally remove 1\n")
self.delay_sim_time(5)
self.drain_mav_unparsed()
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")
# 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")
# savelocal must be run immediately after show!
self.start_subsubtest("rally savelocal")
util.pexpect_drain(self.mavproxy)
util.pexpect_drain(mavproxy)
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.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
@ -2755,11 +2772,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subsubtest("rally status")
self.click_three_in(target_system=target_system, target_component=target_component)
self.mavproxy.send("rally status\n")
self.mavproxy.expect("Have 3 of 3 rally items")
self.mavproxy.send("rally clear\n")
self.mavproxy.send("rally status\n")
self.mavproxy.expect("Have 0 of 0 rally items")
mavproxy.send("rally status\n")
mavproxy.expect("Have 3 of 3 rally items")
mavproxy.send("rally clear\n")
mavproxy.send("rally status\n")
mavproxy.expect("Have 0 of 0 rally items")
self.end_subsubtest("rally status")
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)
pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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.drain_mav_unparsed()
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,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
)
self.mavproxy.send("rally undo\n")
mavproxy.send("rally undo\n")
self.delay_sim_time(5)
undone_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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")
pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.mavproxy.send("click 4.12345 4.987654\n")
self.mavproxy.send("rally move 1\n")
mavproxy.send("click 4.12345 4.987654\n")
mavproxy.send("rally move 1\n")
# move has already been tested, assume it works...
self.delay_sim_time(5)
self.drain_mav_unparsed()
self.mavproxy.send("rally undo\n")
mavproxy.send("rally undo\n")
self.delay_sim_time(5)
self.drain_mav_unparsed()
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)
pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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.progress("Moving waypoint")
self.mavproxy.send("click 13.0 13.0\n")
self.mavproxy.send("rally move 1\n")
mavproxy.send("click 13.0 13.0\n")
mavproxy.send("rally move 1\n")
self.delay_sim_time(5)
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)
reverted_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.check_rally_items_same(pure_items, reverted_items)
self.progress("Making sure specifying a waypoint to be updated works")
self.mavproxy.send("click 13.0 13.0\n")
self.mavproxy.send("rally move 1\n")
mavproxy.send("click 13.0 13.0\n")
mavproxy.send("rally move 1\n")
self.delay_sim_time(5)
self.mavproxy.send("click 17.0 17.0\n")
self.mavproxy.send("rally move 2\n")
mavproxy.send("click 17.0 17.0\n")
mavproxy.send("rally move 2\n")
self.delay_sim_time(5)
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)
reverted_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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")
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)
if self.get_parameter("RALLY_TOTAL") != 0:
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
# 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()
try:
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.mav.mav.srcSystem = old_srcSystem
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()
def test_gcs_mission(self):
'''check MAVProxy's waypoint handling of missions'''
target_system = 1
target_component = 1
self.mavproxy.send('wp clear\n')
mavproxy = self.start_mavproxy()
mavproxy.send('wp clear\n')
self.delay_sim_time(1)
if self.get_parameter("MIS_TOTAL") != 0:
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")
if m.seq != 0:
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
self.mavproxy.send('wp set %u\n' % set_wp)
mavproxy.send('wp set %u\n' % set_wp)
self.drain_mav()
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True, timeout=5)
if m is None:
@ -3473,7 +3477,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
changealt_item = 1
# oldalt = downloaded_items[changealt_item].z
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)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
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")
new_home_lat = 3.14159
new_home_lng = 2.71828
self.mavproxy.send('click %f %f\n' % (new_home_lat, new_home_lng))
self.mavproxy.send('wp sethome\n')
mavproxy.send('click %f %f\n' % (new_home_lat, new_home_lng))
mavproxy.send('wp sethome\n')
self.delay_sim_time(5)
# any way to close the loop on this one?
# 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.start_subsubtest("wp slope")
self.mavproxy.send('wp slope\n')
self.mavproxy.expect("WP3: slope 0.1")
mavproxy.send('wp slope\n')
mavproxy.expect("WP3: slope 0.1")
self.delay_sim_time(5)
self.end_subsubtest("wp slope")
@ -3507,9 +3511,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
return
self.start_subsubtest("wp split")
self.mavproxy.send("wp clear\n")
mavproxy.send("wp clear\n")
self.delay_sim_time(5)
self.mavproxy.send("wp list\n")
mavproxy.send("wp list\n")
self.delay_sim_time(5)
items = [
None,
@ -3546,18 +3550,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
33.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
]
self.mavproxy.send("click 5 5\n") # space for home position
self.mavproxy.send("wp add\n")
mavproxy.send("click 5 5\n") # space for home position
mavproxy.send("wp add\n")
self.delay_sim_time(5)
self.click_location_from_item(items[1])
self.mavproxy.send("wp add\n")
self.click_location_from_item(mavproxy, items[1])
mavproxy.send("wp add\n")
self.delay_sim_time(5)
self.click_location_from_item(items[2])
self.mavproxy.send("wp add\n")
self.click_location_from_item(mavproxy, items[2])
mavproxy.send("wp add\n")
self.delay_sim_time(5)
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
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)
items_with_split_in = [
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,
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
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),
},
])
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.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.mavproxy.send("fence list\n")
if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.progress("Drive outside polygon")
fence_middle = self.offset_location_ne(here, -150, 0)
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.mavproxy.send("fence list\n")
if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.progress("Drive outside top polygon")
fence_middle = self.offset_location_ne(here, -150, 0)
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.mavproxy.send("fence list\n")
if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.progress("Breach eastern boundary")
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.arm_vehicle()
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 = mavutil.location(40.073799, -105.229156)
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.arm_vehicle()
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)
self.send_guided_mission_item(target_loc,
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.mavproxy.send("fence list\n")
if self.mavproxy is not None:
self.mavproxy.send("fence list\n")
self.context_push()
ex = None
try:
@ -4701,7 +4715,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.change_mode('GUIDED')
self.wait_ready_to_arm()
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.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),
},
])
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("AVOID_ENABLE", 3)
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.set_parameter("FENCE_ENABLE", 1)
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)
self.send_guided_mission_item(target_loc,
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.set_parameter("FENCE_ENABLE", 1)
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)
self.send_guided_mission_item(target_loc,
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.set_parameter("FENCE_ENABLE", 1)
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 is copied from the mission file
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
def test_mavproxy_param(self):
self.mavproxy.send("param fetch\n")
self.mavproxy.expect("Received [0-9]+ parameters")
mavproxy = self.start_mavproxy()
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):
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",
self.test_gcs_fence),
("GCSRally",
("Rally",
"Upload and download of rally",
self.test_gcs_rally),
self.test_rally),
("GCSMission",
"Upload and download of mission",
self.test_gcs_mission),
("GCSRally",
"Upload and download of rally using MAVProxy",
self.test_gcs_rally),
("MotorTest",
"Motor Test triggered via mavlink",
self.test_motor_test),