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autotest: added Rover testing in autotest

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This commit is contained in:
Andrew Tridgell 2012-11-28 10:43:11 +11:00
parent 918b0eb0d7
commit 649ef905f0
4 changed files with 227 additions and 3 deletions
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14
Tools/autotest/Rover.parm Normal file
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@ -0,0 +1,14 @@
LOG_BITMASK 4095
MAG_ENABLE 1
TRIM_ARSPD_CM 1000
TRIM_THROTTLE 100
THR_MAX 100
RC3_MAX 2000
RC3_MIN 1000
RC3_TRIM 1500
FLTMODE1 0
FLTMODE2 0
FLTMODE3 11
FLTMODE4 10
FLTMODE5 2
FLTMODE6 0

170
Tools/autotest/apmrover2.py Normal file
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@ -0,0 +1,170 @@
# drive APMrover2 in SITL
import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
HOME=mavutil.location(-35.362938,149.165085,584,270)
homeloc = None
def drive_left_circuit(mavproxy, mav):
'''drive a left circuit, 50m on a side'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
mavproxy.send('rc 3 2000\n')
print("Driving left circuit")
# do 4 turns
for i in range(0,4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 1 1000\n')
if not wait_heading(mav, 270 - (90*i), accuracy=10):
return False
mavproxy.send('rc 1 1500\n')
print("Starting leg %u" % i)
if not wait_distance(mav, 50, accuracy=7):
return False
print("Circuit complete")
return True
def drive_RTL(mavproxy, mav):
'''drive to home'''
print("Driving home in RTL")
mavproxy.send('switch 3\n')
wait_mode(mav, 'RTL')
if not wait_location(mav, homeloc, accuracy=22, timeout=90):
return False
print("RTL Complete")
return True
def setup_rc(mavproxy):
'''setup RC override control'''
for chan in [1,2,3,4,5,6,7]:
mavproxy.send('rc %u 1500\n' % chan)
mavproxy.send('rc 8 1800\n')
def drive_mission(mavproxy, mav, filename):
'''drive a mission from a file'''
global homeloc
print("Driving mission %s" % filename)
mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('flight plan received')
mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints')
mavproxy.send('switch 4\n') # auto mode
mavproxy.send('rc 3 1500\n')
wait_mode(mav, 'AUTO')
if not wait_waypoint(mav, 1, 4, max_dist=5):
return False
wait_mode(mav, 'MANUAL')
print("Mission OK")
return True
def drive_APMrover2(viewerip=None):
'''drive APMrover2 in SIL
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the mission in real time
'''
global homeloc
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
sil = util.start_SIL('APMrover2', wipe=True)
mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
mavproxy.send("param load %s/Rover.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=50 --home=%f,%f,%u,%u' % (
HOME.lat, HOME.lng, HOME.alt, HOME.heading)
runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
runsim.delaybeforesend = 0
util.pexpect_autoclose(runsim)
runsim.expect('Starting at lat')
sil = util.start_SIL('APMrover2')
mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
mavproxy.expect('Logging to (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/APMrover2-test.mavlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
os.link(logfile, buildlog)
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([runsim, sil, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception, msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Setting up RC parameters")
setup_rc(mavproxy)
print("Waiting for GPS fix")
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not drive_left_circuit(mavproxy, mav):
print("Failed left circuit")
failed = True
if not drive_RTL(mavproxy, mav):
print("Failed RTL")
failed = True
if not drive_mission(mavproxy, mav, os.path.join(testdir, "rover1.txt")):
print("Failed mission")
failed = True
except pexpect.TIMEOUT, e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(runsim)
if os.path.exists('APMrover2-valgrind.log'):
os.chmod('APMrover2-valgrind.log', 0644)
shutil.copy("APMrover2-valgrind.log", util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True

40
Tools/autotest/autotest.py
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@ -119,6 +119,8 @@ def alarm_handler(signum, frame):
results.addfile('ArduPlane defaults', 'ArduPlane.defaults.txt')
results.addfile('ArduCopter build log', 'ArduCopter.txt')
results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt')
results.addfile('APMrover2 build log', 'APMrover2.txt')
results.addfile('APMrover2 defaults', 'APMrover2.defaults.txt')
write_webresults(results)
os.killpg(0, signal.SIGKILL)
except Exception:
@ -135,23 +137,33 @@ parser.add_option("--timeout", default=2400, type='int', help='maximum runtime i
opts, args = parser.parse_args()
import arducopter, arduplane
import arducopter, arduplane, apmrover2
steps = [
'prerequesites',
'build1280.ArduPlane',
'build2560.ArduPlane',
'build.All',
'build.Examples',
'build1280.ArduPlane',
'build2560.ArduPlane',
'build.ArduPlane',
'defaults.ArduPlane',
'fly.ArduPlane',
'logs.ArduPlane',
'build1280.APMrover2',
'build2560.APMrover2',
'build.APMrover2',
'defaults.APMrover2',
'drive.APMrover2',
'logs.APMrover2',
'build2560.ArduCopter',
'build.ArduCopter',
'defaults.ArduCopter',
'fly.ArduCopter',
'logs.ArduCopter',
'convertgpx',
]
@ -176,6 +188,9 @@ def run_step(step):
if step == 'build.ArduPlane':
return util.build_SIL('ArduPlane')
if step == 'build.APMrover2':
return util.build_SIL('APMrover2')
if step == 'build.ArduCopter':
return util.build_SIL('ArduCopter')
@ -191,24 +206,39 @@ def run_step(step):
if step == 'build2560.ArduPlane':
return util.build_AVR('ArduPlane', board='mega2560')
if step == 'build1280.APMrover2':
return util.build_AVR('APMrover2', board='mega')
if step == 'build2560.APMrover2':
return util.build_AVR('APMrover2', board='mega2560')
if step == 'defaults.ArduPlane':
return get_default_params('ArduPlane')
if step == 'defaults.ArduCopter':
return get_default_params('ArduCopter')
if step == 'defaults.APMrover2':
return get_default_params('APMrover2')
if step == 'logs.ArduPlane':
return dump_logs('ArduPlane')
if step == 'logs.ArduCopter':
return dump_logs('ArduCopter')
if step == 'logs.APMrover2':
return dump_logs('APMrover2')
if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter(viewerip=opts.viewerip)
if step == 'fly.ArduPlane':
return arduplane.fly_ArduPlane(viewerip=opts.viewerip)
if step == 'drive.APMrover2':
return apmrover2.drive_APMrover2(viewerip=opts.viewerip)
if step == 'build.All':
return build_all()
@ -320,6 +350,10 @@ def run_tests(steps):
results.addfile('ArduCopter code size', 'ArduCopter.sizes.txt')
results.addfile('ArduCopter stack sizes', 'ArduCopter.framesizes.txt')
results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt')
results.addfile('APMrover2 build log', 'APMrover2.txt')
results.addfile('APMrover2 code size', 'APMrover2.sizes.txt')
results.addfile('APMrover2 stack sizes', 'APMrover2.framesizes.txt')
results.addfile('APMrover2 defaults', 'APMrover2.defaults.txt')
write_webresults(results)

6
Tools/autotest/rover1.txt Normal file
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@ -0,0 +1,6 @@
QGC WPL 110
0 1 0 16 0.000000 0.000000 0.000000 0.000000 -35.362938 149.165085 584.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362049 149.164810 97.790001 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363449 149.164978 97.809998 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363430 149.165359 98.580002 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361992 149.165176 98.720001 1