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Tools: autotest: allow autotest to connect directly to SITL

This commit is contained in:
Peter Barker 2019-03-13 16:53:56 +11:00 committed by Peter Barker
parent 8c7d63433c
commit ad2ab333f9
5 changed files with 244 additions and 95 deletions
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12
Tools/autotest/arducopter.py
View File

@ -200,10 +200,6 @@ class AutoTestCopter(AutoTest):
self.hover() self.hover()
self.progress("Copter staging 50 meters east of home at 50 meters altitude In mode Alt Hold") self.progress("Copter staging 50 meters east of home at 50 meters altitude In mode Alt Hold")
# Start and stop the GCS heartbeat for GCS failsafe testing
def set_heartbeat_rate(self, rate):
self.mavproxy.send('set heartbeat %u\n' % rate)
# loiter - fly south west, then loiter within 5m position and altitude # loiter - fly south west, then loiter within 5m position and altitude
def loiter(self, holdtime=10, maxaltchange=5, maxdistchange=5): def loiter(self, holdtime=10, maxaltchange=5, maxdistchange=5):
"""Hold loiter position.""" """Hold loiter position."""
@ -711,6 +707,7 @@ class AutoTestCopter(AutoTest):
def test_gcs_failsafe(self, side=60, timeout=360): def test_gcs_failsafe(self, side=60, timeout=360):
# Test double-SmartRTL; ensure we do SmarRTL twice rather than # Test double-SmartRTL; ensure we do SmarRTL twice rather than
# landing (tests fix for actual bug) # landing (tests fix for actual bug)
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
self.context_push() self.context_push()
self.start_subtest("GCS failsafe SmartRTL twice") self.start_subtest("GCS failsafe SmartRTL twice")
self.setGCSfailsafe(3) self.setGCSfailsafe(3)
@ -4855,6 +4852,8 @@ class AutoTestCopter(AutoTest):
def test_manual_control(self): def test_manual_control(self):
'''test manual_control mavlink message''' '''test manual_control mavlink message'''
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
self.change_mode('STABILIZE') self.change_mode('STABILIZE')
self.takeoff(10) self.takeoff(10)
@ -4968,7 +4967,7 @@ class AutoTestCopter(AutoTest):
def fly_follow_mode(self): def fly_follow_mode(self):
self.set_parameter("FOLL_ENABLE", 1) self.set_parameter("FOLL_ENABLE", 1)
self.set_parameter("FOLL_SYSID", 255) self.set_parameter("FOLL_SYSID", self.mav.source_system)
foll_ofs_x = 30 # metres foll_ofs_x = 30 # metres
self.set_parameter("FOLL_OFS_X", -foll_ofs_x) self.set_parameter("FOLL_OFS_X", -foll_ofs_x)
self.set_parameter("FOLL_OFS_TYPE", 1) # relative to other vehicle heading self.set_parameter("FOLL_OFS_TYPE", 1) # relative to other vehicle heading
@ -4991,8 +4990,11 @@ class AutoTestCopter(AutoTest):
self.progress("expected_loc: %s" % str(expected_loc)) self.progress("expected_loc: %s" % str(expected_loc))
last_sent = 0 last_sent = 0
tstart = self.get_sim_time()
while True: while True:
now = self.get_sim_time_cached() now = self.get_sim_time_cached()
if now - tstart > 60:
raise NotAchievedException("Did not FOLLOW")
if now - last_sent > 0.5: if now - last_sent > 0.5:
gpi = self.global_position_int_for_location(new_loc, gpi = self.global_position_int_for_location(new_loc,
now, now,

15
Tools/autotest/ardusub.py
View File

@ -326,11 +326,16 @@ class AutoTestSub(AutoTest):
def reboot_sitl(self): def reboot_sitl(self):
"""Reboot SITL instance and wait it to reconnect.""" """Reboot SITL instance and wait it to reconnect."""
self.mavproxy.send("reboot\n") self.context_push()
self.mavproxy.expect("Init ArduSub") self.context_collect("STATUSTEXT")
# empty mav to avoid getting old timestamps: self.send_reboot_command()
while self.mav.recv_match(blocking=False): # "Init ArduSub" comes out as raw text, not a statustext
pass for i in range(2):
try:
self.wait_statustext("ArduPilot Ready", check_context=True, wallclock_timeout=True)
except ConnectionResetError as e:
pass
self.context_pop()
self.initialise_after_reboot_sitl() self.initialise_after_reboot_sitl()
def apply_defaultfile_parameters(self): def apply_defaultfile_parameters(self):

269
Tools/autotest/common.py
View File

@ -22,6 +22,7 @@ import threading
from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_util
from pymavlink import mavparm
from pymavlink import mavwp, mavutil, DFReader from pymavlink import mavwp, mavutil, DFReader
from pymavlink import mavextra from pymavlink import mavextra
from pymavlink import mavparm from pymavlink import mavparm
@ -174,6 +175,8 @@ class Context(object):
self.sitl_commandline_customised = False self.sitl_commandline_customised = False
self.message_hooks = [] self.message_hooks = []
self.collections = {} self.collections = {}
self.heartbeat_interval_ms = 1000
self.original_heartbeat_interval_ms = None
# https://stackoverflow.com/questions/616645/how-do-i-duplicate-sys-stdout-to-a-log-file-in-python # https://stackoverflow.com/questions/616645/how-do-i-duplicate-sys-stdout-to-a-log-file-in-python
class TeeBoth(object): class TeeBoth(object):
@ -1177,6 +1180,10 @@ class AutoTest(ABC):
self.logs_dir = logs_dir self.logs_dir = logs_dir
self.timesync_number = 137 self.timesync_number = 137
self.last_progress_sent_as_statustext = None self.last_progress_sent_as_statustext = None
self.last_heartbeat_time_ms = None
self.last_heartbeat_time_wc_s = 0
self.in_drain_mav = False
self.tlog = None
self.rc_thread = None self.rc_thread = None
self.rc_thread_should_quit = False self.rc_thread_should_quit = False
@ -1248,23 +1255,17 @@ class AutoTest(ABC):
"""Allow subclasses to override SITL streamrate.""" """Allow subclasses to override SITL streamrate."""
return 10 return 10
def autotest_connection_hostport(self): def autotest_connection_string_to_ardupilot(self):
'''returns host and port of connection between MAVProxy and autotest, return "tcp:127.0.0.1:5760"
colon-separated'''
return "127.0.0.1:19550"
def autotest_connection_string_from_mavproxy(self):
return "tcpin:" + self.autotest_connection_hostport()
def autotest_connection_string_to_mavproxy(self):
return "tcp:" + self.autotest_connection_hostport()
def mavproxy_options(self): def mavproxy_options(self):
"""Returns options to be passed to MAVProxy.""" """Returns options to be passed to MAVProxy."""
ret = ['--sitl=127.0.0.1:5502', ret = ['--sitl=127.0.0.1:5502',
'--out=' + self.autotest_connection_string_from_mavproxy(),
'--streamrate=%u' % self.sitl_streamrate(), '--streamrate=%u' % self.sitl_streamrate(),
'--cmd="set heartbeat %u"' % self.speedup] '--cmd="set heartbeat %u"' % self.speedup,
'--target-system=%u' % self.sysid_thismav(),
'--target-component=1',
]
if self.viewerip: if self.viewerip:
ret.append("--out=%s:14550" % self.viewerip) ret.append("--out=%s:14550" % self.viewerip)
if self.use_map: if self.use_map:
@ -1318,8 +1319,6 @@ class AutoTest(ABC):
self.set_parameter("EK3_ENABLE", 1) self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("AHRS_EKF_TYPE", self.force_ahrs_type) self.set_parameter("AHRS_EKF_TYPE", self.force_ahrs_type)
self.reboot_sitl() self.reboot_sitl()
if False: # FIXME: do do this if using MAVProxy:
self.fetch_parameters()
def count_lines_in_filepath(self, filepath): def count_lines_in_filepath(self, filepath):
return len([i for i in open(filepath)]) return len([i for i in open(filepath)])
@ -1492,10 +1491,20 @@ class AutoTest(ABC):
# run_cmd when we don't do that. # run_cmd when we don't do that.
if self.valgrind: if self.valgrind:
self.reboot_check_valgrind_log() self.reboot_check_valgrind_log()
self.progress("Stopping and restarting SITL")
self.stop_SITL() self.stop_SITL()
self.start_SITL(wipe=False) self.start_SITL(wipe=False)
else: else:
self.send_reboot_command() self.progress("Executing reboot command")
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
1, # confirmation
1, # reboot autopilot
0,
0,
0,
0,
0,
0)
self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount) self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount)
def send_cmd_enter_cpu_lockup(self): def send_cmd_enter_cpu_lockup(self):
@ -1516,6 +1525,7 @@ class AutoTest(ABC):
"""Reboot SITL instance and wait for it to reconnect.""" """Reboot SITL instance and wait for it to reconnect."""
self.progress("Rebooting SITL") self.progress("Rebooting SITL")
self.reboot_sitl_mav(required_bootcount=required_bootcount) self.reboot_sitl_mav(required_bootcount=required_bootcount)
self.do_heartbeats(force=True)
self.assert_simstate_location_is_at_startup_location() self.assert_simstate_location_is_at_startup_location()
def reboot_sitl_mavproxy(self, required_bootcount=None): def reboot_sitl_mavproxy(self, required_bootcount=None):
@ -1540,13 +1550,34 @@ class AutoTest(ABC):
pass pass
except AutoTestTimeoutException: except AutoTestTimeoutException:
pass pass
except ConnectionResetError:
pass
# empty mav to avoid getting old timestamps: # empty mav to avoid getting old timestamps:
self.drain_mav() self.do_timesync_roundtrip(timeout_in_wallclock=True)
self.progress("Calling initialise-after-reboot")
self.initialise_after_reboot_sitl() self.initialise_after_reboot_sitl()
def set_streamrate(self, streamrate, timeout=10): def set_streamrate(self, streamrate, timeout=20):
'''set MAV_DATA_STREAM_ALL; timeout is wallclock time'''
tstart = time.time()
while True:
if time.time() - tstart > timeout:
raise NotAchievedException("Failed to set streamrate")
self.mav.mav.request_data_stream_send(
1,
1,
mavutil.mavlink.MAV_DATA_STREAM_ALL,
streamrate,
1)
m = self.mav.recv_match(type='SYSTEM_TIME',
blocking=True,
timeout=1)
if m is not None:
break
def set_streamrate_mavproxy(self, streamrate, timeout=10):
tstart = time.time() tstart = time.time()
while True: while True:
if time.time() - tstart > timeout: if time.time() - tstart > timeout:
@ -1989,7 +2020,8 @@ class AutoTest(ABC):
# after reboot stream-rates may be zero. Prompt MAVProxy to # after reboot stream-rates may be zero. Prompt MAVProxy to
# send a rate-change message by changing away from our normal # send a rate-change message by changing away from our normal
# stream rates and back again: # stream rates and back again:
self.set_streamrate(self.sitl_streamrate()+1) self.drain_mav()
self.wait_heartbeat()
self.set_streamrate(self.sitl_streamrate()) self.set_streamrate(self.sitl_streamrate())
self.progress("Reboot complete") self.progress("Reboot complete")
@ -2001,7 +2033,15 @@ class AutoTest(ABC):
defaults_filepath=defaults_filepath, defaults_filepath=defaults_filepath,
customisations=customisations, customisations=customisations,
wipe=wipe) wipe=wipe)
self.wait_heartbeat(drain_mav=True) tstart = time.time()
while True:
if time.time() - tstart > 30:
raise NotAchievedException("Failed to customise")
try:
self.wait_heartbeat(drain_mav=True)
except IOError as e:
pass
break
# MAVProxy only checks the streamrates once every 15 seconds. # MAVProxy only checks the streamrates once every 15 seconds.
# Encourage it: # Encourage it:
self.set_streamrate(self.sitl_streamrate()+1) self.set_streamrate(self.sitl_streamrate()+1)
@ -2094,6 +2134,48 @@ class AutoTest(ABC):
global expect_list global expect_list
expect_list.remove(item) expect_list.remove(item)
def heartbeat_interval_ms(self):
c = self.context_get()
if c is None:
return 1000
return c.heartbeat_interval_ms
def set_heartbeat_interval_ms(self, interval_ms):
c = self.context_get()
if c is None:
raise ValueError("No context")
if c.original_heartbeat_interval_ms is None:
c.original_heartbeat_interval_ms = c.heartbeat_interval_ms
c.heartbeat_interval_ms = interval_ms
def set_heartbeat_rate(self, rate_hz):
if rate_hz == 0:
self.set_heartbeat_interval_ms(None)
return
self.set_heartbeat_interval_ms(1000.0/rate_hz)
def do_heartbeats(self, force=False):
# self.progress("do_heartbeats")
if self.heartbeat_interval_ms() is None and not force:
return
x = self.mav.messages.get("SYSTEM_TIME", None)
now_wc = time.time()
if (force or
x is None or
self.last_heartbeat_time_ms is None or
self.last_heartbeat_time_ms < x.time_boot_ms or
x.time_boot_ms - self.last_heartbeat_time_ms > self.heartbeat_interval_ms() or
now_wc - self.last_heartbeat_time_wc_s > 1):
# self.progress("Sending heartbeat")
if x is not None:
self.last_heartbeat_time_ms = x.time_boot_ms
self.last_heartbeat_time_wc_s = now_wc
self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
mavutil.mavlink.MAV_AUTOPILOT_INVALID,
0,
0,
0)
def drain_all_pexpects(self): def drain_all_pexpects(self):
global expect_list global expect_list
for p in expect_list: for p in expect_list:
@ -2101,11 +2183,32 @@ class AutoTest(ABC):
def idle_hook(self, mav): def idle_hook(self, mav):
"""Called when waiting for a mavlink message.""" """Called when waiting for a mavlink message."""
if self.in_drain_mav:
return
self.drain_all_pexpects() self.drain_all_pexpects()
def message_hook(self, mav, msg): def message_hook(self, mav, msg):
"""Called as each mavlink msg is received.""" """Called as each mavlink msg is received."""
# print("msg: %s" % str(msg))
if msg.get_type() == 'STATUSTEXT':
self.progress("AP: %s" % msg.text)
self.write_msg_to_tlog(msg)
self.idle_hook(mav) self.idle_hook(mav)
self.do_heartbeats()
def send_message_hook(self, msg, x):
self.write_msg_to_tlog(msg)
def write_msg_to_tlog(self, msg):
usec = int(time.time() * 1.0e6)
if self.tlog is None:
tlog_filename = "autotest-%u.tlog" % usec
self.tlog = open(tlog_filename, 'wb')
content = bytearray(struct.pack('>Q', usec) + msg.get_msgbuf())
self.tlog.write(content)
def expect_callback(self, e): def expect_callback(self, e):
"""Called when waiting for a expect pattern.""" """Called when waiting for a expect pattern."""
@ -2114,6 +2217,8 @@ class AutoTest(ABC):
if p == e: if p == e:
continue continue
util.pexpect_drain(p) util.pexpect_drain(p)
self.drain_mav(quiet=True)
self.do_heartbeats()
def drain_mav_unparsed(self, mav=None, quiet=True, freshen_sim_time=False): def drain_mav_unparsed(self, mav=None, quiet=True, freshen_sim_time=False):
if mav is None: if mav is None:
@ -2141,6 +2246,7 @@ class AutoTest(ABC):
return self.drain_mav_unparsed(quiet=quiet, mav=mav) return self.drain_mav_unparsed(quiet=quiet, mav=mav)
if mav is None: if mav is None:
mav = self.mav mav = self.mav
self.in_drain_mav = True
count = 0 count = 0
tstart = time.time() tstart = time.time()
while mav.recv_match(blocking=False) is not None: while mav.recv_match(blocking=False) is not None:
@ -2153,16 +2259,24 @@ class AutoTest(ABC):
else: else:
rate = "%f/s" % (count/float(tdelta),) rate = "%f/s" % (count/float(tdelta),)
self.progress("Drained %u messages from mav (%s)" % (count, rate), send_statustext=False) if not quiet:
self.progress("Drained %u messages from mav (%s)" % (count, rate), send_statustext=False)
self.in_drain_mav = False
def do_timesync_roundtrip(self, quiet=False): def do_timesync_roundtrip(self, quiet=False, timeout_in_wallclock=False):
if not quiet: if not quiet:
self.progress("Doing timesync roundtrip") self.progress("Doing timesync roundtrip")
tstart = self.get_sim_time() if timeout_in_wallclock:
tstart = time.time()
else:
tstart = self.get_sim_time()
self.mav.mav.timesync_send(0, self.timesync_number * 1000 + self.mav.source_system) self.mav.mav.timesync_send(0, self.timesync_number * 1000 + self.mav.source_system)
while True: while True:
now = self.get_sim_time_cached() if timeout_in_wallclock:
if now - tstart > 1: now = time.time()
else:
now = self.get_sim_time_cached()
if now - tstart > 5:
raise AutoTestTimeoutException("Did not get timesync response") raise AutoTestTimeoutException("Did not get timesync response")
m = self.mav.recv_match(type='TIMESYNC', blocking=True, timeout=1) m = self.mav.recv_match(type='TIMESYNC', blocking=True, timeout=1)
if not quiet: if not quiet:
@ -2959,15 +3073,16 @@ class AutoTest(ABC):
"""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)
tstart = self.get_sim_time_cached() tstart = self.get_sim_time()
while True: while True:
t2 = self.get_sim_time_cached() t2 = self.get_sim_time()
if t2 - tstart > 10: if t2 - tstart > 10:
raise AutoTestTimeoutException("Failed to do waypoint thing") raise AutoTestTimeoutException("Failed to do waypoint thing")
# the following hack is to get around MAVProxy statustext deduping: # the following hack is to get around MAVProxy statustext deduping:
while time.time() - self.last_wp_load < 3: while time.time() - self.last_wp_load < 3:
self.progress("Waiting for MAVProxy de-dupe timer to expire") self.progress("Waiting for MAVProxy de-dupe timer to expire")
time.sleep(1) self.drain_mav_unparsed()
time.sleep(0.1)
self.mavproxy.send('wp load %s\n' % path) self.mavproxy.send('wp load %s\n' % path)
self.mavproxy.expect('Loaded ([0-9]+) waypoints from') self.mavproxy.expect('Loaded ([0-9]+) waypoints from')
load_count = self.mavproxy.match.group(1) load_count = self.mavproxy.match.group(1)
@ -3113,6 +3228,7 @@ class AutoTest(ABC):
def check_rc_defaults(self): def check_rc_defaults(self):
"""Ensure all rc outputs are at defaults""" """Ensure all rc outputs are at defaults"""
self.do_timesync_roundtrip()
_defaults = self.rc_defaults() _defaults = self.rc_defaults()
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=5) m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=5)
if m is None: if m is None:
@ -3348,8 +3464,7 @@ class AutoTest(ABC):
# motors are not, and we can't disarm further because Copter # motors are not, and we can't disarm further because Copter
# looks at whether its *motors* are armed as part of its # looks at whether its *motors* are armed as part of its
# disarm process. # disarm process.
self.stop_SITL() self.reset_SITL_commandline()
self.start_SITL(wipe=False)
def cpufailsafe_wait_servo_channel_value(self, channel, value, timeout=30): def cpufailsafe_wait_servo_channel_value(self, channel, value, timeout=30):
'''we get restricted messages while doing cpufailsafe, this working then''' '''we get restricted messages while doing cpufailsafe, this working then'''
@ -3379,15 +3494,19 @@ class AutoTest(ABC):
# so get_sim_time breaks: # so get_sim_time breaks:
self.send_cmd_enter_cpu_lockup() self.send_cmd_enter_cpu_lockup()
start_time = time.time() # not sim time! start_time = time.time() # not sim time!
self.context_push()
self.context_collect("STATUSTEXT")
while True: while True:
want = "Initialising ArduPilot" want = "Initialising ArduPilot"
if time.time() - start_time > 30: if time.time() - start_time > 30:
raise NotAchievedException("Did not get %s" % want) raise NotAchievedException("Did not get %s" % want)
# we still need to parse the incoming messages: # we still need to parse the incoming messages:
m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=0.1) try:
x = self.mav.messages.get("STATUSTEXT", None) self.wait_statustext(want, timeout=0.1, check_context=True, wallclock_timeout=1)
if x is not None and want in x.text:
break break
except AutoTestTimeoutException as e:
pass
self.context_pop()
# Different scaling for RC input and servo output means the # Different scaling for RC input and servo output means the
# servo output value isn't the rc input value: # servo output value isn't the rc input value:
self.progress("Setting RC to 1200") self.progress("Setting RC to 1200")
@ -3543,8 +3662,6 @@ class AutoTest(ABC):
def send_set_parameter(self, name, value, verbose=False): def send_set_parameter(self, name, value, verbose=False):
if verbose: if verbose:
self.progress("Send set param for (%s) (%f)" % (name, value)) self.progress("Send set param for (%s) (%f)" % (name, value))
if False:
return self.send_set_parameter_mavproxy(name, value)
return self.send_set_parameter_direct(name, value) return self.send_set_parameter_direct(name, value)
def set_parameter(self, name, value, **kwargs): def set_parameter(self, name, value, **kwargs):
@ -4707,7 +4824,7 @@ class AutoTest(ABC):
Also, ignores heartbeats not from our target system''' Also, ignores heartbeats not from our target system'''
if drain_mav: if drain_mav:
self.drain_mav(quiet=quiet) self.drain_mav(quiet=quiet)
orig_timeout = x.get("timeout", 10) orig_timeout = x.get("timeout", 20)
x["timeout"] = 1 x["timeout"] = 1
tstart = time.time() tstart = time.time()
while True: while True:
@ -4814,7 +4931,7 @@ Also, ignores heartbeats not from our target system'''
return True return True
return False return False
def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False): def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False, wallclock_timeout=False):
"""Wait for a specific STATUSTEXT.""" """Wait for a specific STATUSTEXT."""
# Statustexts are often triggered by something we've just # Statustexts are often triggered by something we've just
@ -4842,33 +4959,47 @@ Also, ignores heartbeats not from our target system'''
self.progress("Received expected text: %s" % m.text.lower()) self.progress("Received expected text: %s" % m.text.lower())
statustext_found = True statustext_found = True
self.install_message_hook(mh) self.install_message_hook(mh)
try: if wallclock_timeout:
tstart = time.time()
else:
tstart = self.get_sim_time() tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + timeout: try:
if statustext_found: while not statustext_found:
return if wallclock_timeout:
now = time.time()
else:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException("Failed to receive text: %s" %
text.lower())
if the_function is not None: if the_function is not None:
the_function() the_function()
m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=0.1) m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=0.1)
finally: finally:
self.remove_message_hook(mh) self.remove_message_hook(mh)
raise AutoTestTimeoutException("Failed to receive text: %s" %
text.lower())
def get_mavlink_connection_going(self): def get_mavlink_connection_going(self):
# get a mavlink connection going # get a mavlink connection going
connection_string = self.autotest_connection_string_to_mavproxy()
try: try:
self.mav = mavutil.mavlink_connection(connection_string, self.mav = mavutil.mavlink_connection(
robust_parsing=True, self.autotest_connection_string_to_ardupilot(),
source_component=250) retries=1000,
robust_parsing=True,
source_system=250,
source_component=250,
autoreconnect = True,
dialect="ardupilotmega", # if we don't pass this in we end up with the wrong mavlink version...
)
except Exception as msg: except Exception as msg:
self.progress("Failed to start mavlink connection on %s: %s" % self.progress("Failed to start mavlink connection on %s: %s" %
(connection_string, msg,)) (connection_string, msg,))
raise raise
self.mav.message_hooks.append(self.message_hook) self.mav.message_hooks.append(self.message_hook)
self.mav.mav.set_send_callback(self.send_message_hook, self)
self.mav.idle_hooks.append(self.idle_hook) self.mav.idle_hooks.append(self.idle_hook)
self.set_streamrate(self.sitl_streamrate())
def show_test_timings_key_sorter(self, t): def show_test_timings_key_sorter(self, t):
(k, v) = t (k, v) = t
return ((v, k)) return ((v, k))
@ -5067,8 +5198,8 @@ Also, ignores heartbeats not from our target system'''
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.progress("Waiting for Parameters")
self.mavproxy.expect('Received [0-9]+ parameters') # self.mavproxy.expect('Received [0-9]+ parameters')
def start_SITL(self, **sitl_args): def start_SITL(self, **sitl_args):
start_sitl_args = { start_sitl_args = {
@ -5089,7 +5220,7 @@ Also, ignores heartbeats not from our target system'''
if "model" not in start_sitl_args or start_sitl_args["model"] is None: if "model" not in start_sitl_args or start_sitl_args["model"] is None:
start_sitl_args["model"] = self.frame start_sitl_args["model"] = self.frame
self.progress("Starting SITL") self.progress("Starting SITL", send_statustext=False)
self.sitl = util.start_SITL(self.binary, **start_sitl_args) self.sitl = util.start_SITL(self.binary, **start_sitl_args)
self.expect_list_add(self.sitl) self.expect_list_add(self.sitl)
if self.sup_binary is not None: if self.sup_binary is not None:
@ -5119,10 +5250,11 @@ Also, ignores heartbeats not from our target system'''
self.progress("Starting simulator") self.progress("Starting simulator")
self.start_SITL() self.start_SITL()
self.start_mavproxy() os.environ['MAVLINK20'] = '1'
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) util.expect_setup_callback(self.mavproxy, self.expect_callback)
@ -6649,22 +6781,18 @@ Also, ignores heartbeats not from our target system'''
0) 0)
def send_get_message_interval(self, victim_message_id): def send_get_message_interval(self, victim_message_id):
if False: self.mav.mav.command_long_send(
self.mavproxy.send("long GET_MESSAGE_INTERVAL %u\n" % 1,
(victim_message_id)) 1,
else: mavutil.mavlink.MAV_CMD_GET_MESSAGE_INTERVAL,
self.mav.mav.command_long_send( 1, # confirmation
1, float(victim_message_id),
1, 0,
mavutil.mavlink.MAV_CMD_GET_MESSAGE_INTERVAL, 0,
1, # confirmation 0,
float(victim_message_id), 0,
0, 0,
0, 0)
0,
0,
0,
0)
def test_rate(self, desc, in_rate, expected_rate): def test_rate(self, desc, in_rate, expected_rate):
self.progress("###### %s" % desc) self.progress("###### %s" % desc)
@ -6882,7 +7010,7 @@ Also, ignores heartbeats not from our target system'''
self.reboot_sitl(required_bootcount=1); self.reboot_sitl(required_bootcount=1);
self.progress("Waiting for 'Config error'") self.progress("Waiting for 'Config error'")
self.mavproxy.expect("Config error"); self.wait_statustext("Config error");
self.progress("Setting %s to %f" % (parameter_name, new_parameter_value)) self.progress("Setting %s to %f" % (parameter_name, new_parameter_value))
self.set_parameter(parameter_name, new_parameter_value) self.set_parameter(parameter_name, new_parameter_value)
except Exception as e: except Exception as e:
@ -7718,6 +7846,7 @@ switch value'''
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
for test in tests: for test in tests:
self.drain_mav_unparsed()
self.run_one_test(test) self.run_one_test(test)
except pexpect.TIMEOUT: except pexpect.TIMEOUT:
@ -8082,7 +8211,6 @@ switch value'''
self.mavproxy_load_module("relay") self.mavproxy_load_module("relay")
self.mavproxy.send("sitl_accelcal\n") self.mavproxy.send("sitl_accelcal\n")
self.mavproxy.send("accelcal\n") self.mavproxy.send("accelcal\n")
self.mavproxy.expect("Init Gyro")
self.mavproxy.expect("Calibrated") self.mavproxy.expect("Calibrated")
for wanted in [ "level", for wanted in [ "level",
"on its LEFT side", "on its LEFT side",
@ -8123,10 +8251,11 @@ switch value'''
def test_button(self): def test_button(self):
self.set_parameter("SIM_PIN_MASK", 0) self.set_parameter("SIM_PIN_MASK", 0)
self.set_parameter("BTN_ENABLE", 1) self.set_parameter("BTN_ENABLE", 1)
self.drain_mav()
self.do_heartbeats(force=True)
btn = 4 btn = 4
pin = 3 pin = 3
self.drain_mav() self.set_parameter("BTN_PIN%u" % btn, pin, verbose=True)
self.set_parameter("BTN_PIN%u" % btn, pin)
m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1) m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
self.progress("### m: %s" % str(m)) self.progress("### m: %s" % str(m))
if m is not None: if m is not None:

5
Tools/autotest/pysim/util.py
View File

@ -352,6 +352,9 @@ def start_SITL(binary,
cmd.extend(['--unhide-groups']) cmd.extend(['--unhide-groups'])
cmd.extend(customisations) cmd.extend(customisations)
# somewhere for MAVProxy to connect to:
cmd.append('--uartC=tcp:2')
if (gdb or lldb) and sys.platform == "darwin" and os.getenv('DISPLAY'): if (gdb or lldb) and sys.platform == "darwin" and os.getenv('DISPLAY'):
global windowID global windowID
# on MacOS record the window IDs so we can close them later # on MacOS record the window IDs so we can close them later
@ -428,7 +431,7 @@ def MAVProxy_version():
raise ValueError("Unable to determine MAVProxy version from (%s)" % output) raise ValueError("Unable to determine MAVProxy version from (%s)" % output)
return (int(match.group(1)), int(match.group(2)), int(match.group(3))) return (int(match.group(1)), int(match.group(2)), int(match.group(3)))
def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760', def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5762',
options=[], logfile=sys.stdout): options=[], logfile=sys.stdout):
"""Launch mavproxy connected to a SITL instance.""" """Launch mavproxy connected to a SITL instance."""
local_mp_modules_dir = os.path.abspath( local_mp_modules_dir = os.path.abspath(

38
Tools/autotest/rover.py
View File

@ -675,6 +675,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise ex raise ex
def test_rc_override_cancel(self): def test_rc_override_cancel(self):
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
self.change_mode('MANUAL') self.change_mode('MANUAL')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.zero_throttle() self.zero_throttle()
@ -745,6 +746,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def test_rc_overrides(self): def test_rc_overrides(self):
self.context_push() self.context_push()
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
ex = None ex = None
try: try:
self.set_parameter("RC12_OPTION", 46) self.set_parameter("RC12_OPTION", 46)
@ -996,6 +998,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def test_manual_control(self): def test_manual_control(self):
self.context_push() self.context_push()
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
ex = None ex = None
try: try:
self.set_parameter("RC12_OPTION", 46) # enable/disable rc overrides self.set_parameter("RC12_OPTION", 46) # enable/disable rc overrides
@ -1140,13 +1143,16 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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'''
if self.mav.source_system != self.mav.mav.srcSystem:
raise PreconditionFailedException("Expected mav.source_system and mav.srcSystem to match")
self.context_push() self.context_push()
old_srcSystem = self.mav.mav.srcSystem
ex = None ex = None
try: try:
# if set_parameter is ever changed to not use MAVProxy self.set_parameter("SYSID_MYGCS", self.mav.source_system)
# this test is going to break horribly. Sorry. self.set_parameter("SYSID_ENFORCE", 1, add_to_context=False)
self.set_parameter("SYSID_MYGCS", 255) # assume MAVProxy does this!
self.set_parameter("SYSID_ENFORCE", 1) # assume MAVProxy does this!
self.change_mode('MANUAL') self.change_mode('MANUAL')
@ -1155,23 +1161,25 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.arm_vehicle(timeout=5) self.arm_vehicle(timeout=5)
self.disarm_vehicle() self.disarm_vehicle()
# temporarily set a different system ID than MAVProxy: self.do_timesync_roundtrip()
self.progress("Attempting to arm vehicle myself")
old_srcSystem = self.mav.mav.srcSystem # should not be able to arm from a system id which is not MY_SYSID
self.progress("Attempting to arm vehicle from bad system-id")
success = None
try: try:
self.mav.mav.srcSystem = 243 # temporarily set a different system ID than normal:
self.mav.mav.srcSystem = 72
self.arm_vehicle(timeout=5) self.arm_vehicle(timeout=5)
self.disarm_vehicle() self.disarm_vehicle()
success = False success = False
except AutoTestTimeoutException as e: except AutoTestTimeoutException:
success = True success = True
self.mav.mav.srcSystem = old_srcSystem self.mav.mav.srcSystem = old_srcSystem
if not success: if not success:
raise NotAchievedException( raise NotAchievedException("Managed to arm with SYSID_ENFORCE set")
"Managed to arm with SYSID_ENFORCE set")
# should be able to arm from the vehicle's own components:
self.progress("Attempting to arm vehicle from vehicle component") self.progress("Attempting to arm vehicle from vehicle component")
old_srcSystem = self.mav.mav.srcSystem
comp_arm_exception = None comp_arm_exception = None
try: try:
self.mav.mav.srcSystem = 1 self.mav.mav.srcSystem = 1
@ -1187,6 +1195,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Exception caught: %s" % ( self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e))) self.get_exception_stacktrace(e)))
ex = e ex = e
self.mav.mav.srcSystem = old_srcSystem
self.set_parameter("SYSID_ENFORCE", 0, add_to_context=False)
self.context_pop() self.context_pop()
if ex is not None: if ex is not None:
raise ex raise ex
@ -2944,9 +2954,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target_component, target_component,
1) 1)
m = self.mav.recv_match(type="RALLY_POINT", blocking=True, timeout=1) m = self.mav.recv_match(type="RALLY_POINT", blocking=True, timeout=1)
if m.target_system != 255: if m.target_system != self.mav.source_system:
raise NotAchievedException("Bad target_system on received rally point (want=%u got=%u)" % (255, m.target_system)) raise NotAchievedException("Bad target_system on received rally point (want=%u got=%u)" % (255, m.target_system))
if m.target_component != 250: # autotest's component ID if m.target_component != self.mav.source_component: # autotest's component ID
raise NotAchievedException("Bad target_component on received rally point") raise NotAchievedException("Bad target_component on received rally point")
if m.lat != item1_lat: if m.lat != item1_lat:
raise NotAchievedException("Bad latitude on received rally point") raise NotAchievedException("Bad latitude on received rally point")