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Tools: autotest: pull common MAVProxy options into common.py

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This commit is contained in:
Peter Barker 2018-03-15 22:31:19 +11:00
parent b908af10b7
commit b2cb6e196c
7 changed files with 58 additions and 83 deletions
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20
Tools/autotest/apmrover2.py
View File

@ -28,20 +28,15 @@ HOME = mavutil.location(40.071374969556928,
class AutoTestRover(AutoTest):
def __init__(self,
binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False):
super(AutoTestRover, self).__init__()
gdbserver=False,
**kwargs):
super(AutoTestRover, self).__init__(**kwargs)
self.binary = binary
self.options = ("--sitl=127.0.0.1:5501 --out=127.0.0.1:19550"
" --streamrate=10")
self.viewerip = viewerip
self.use_map = use_map
self.valgrind = valgrind
self.gdb = gdb
self.frame = frame
@ -63,11 +58,6 @@ class AutoTestRover(AutoTest):
if self.frame is None:
self.frame = 'rover'
if self.viewerip:
self.options += " --out=%s:14550" % self.viewerip
if self.use_map:
self.options += ' --map'
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
@ -103,8 +93,8 @@ class AutoTestRover(AutoTest):
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL('APMrover2',
options=self.options)
self.mavproxy = util.start_MAVProxy_SITL(
'APMrover2', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)')
logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % logfile)

34
Tools/autotest/arducopter.py
View File

@ -30,21 +30,15 @@ AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
class AutoTestCopter(AutoTest):
def __init__(self, binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False):
super(AutoTestCopter, self).__init__()
gdbserver=False,
**kwargs):
super(AutoTestCopter, self).__init__(**kwargs)
self.binary = binary
self.options = ('--sitl=127.0.0.1:5501 '
' --out=127.0.0.1:19550 '
' --streamrate=5')
self.viewerip = viewerip
self.use_map = use_map
self.valgrind = valgrind
self.gdb = gdb
self.frame = frame
@ -67,6 +61,15 @@ class AutoTestCopter(AutoTest):
self.sitl = None
self.hasInit = False
def mavproxy_options(self):
ret = super(AutoTestCopter, self).mavproxy_options()
if self.frame != 'heli':
ret.append('--quadcopter')
return ret
def sitl_streamrate(self):
return 5
def init(self):
if self.frame is None:
self.frame = '+'
@ -77,13 +80,6 @@ class AutoTestCopter(AutoTest):
AVCHOME.lng,
AVCHOME.alt,
AVCHOME.heading)
else:
self.options += " --quadcopter"
if self.viewerip:
self.options += " --out=%s:14550" % self.viewerip
if self.use_map:
self.options += ' --map'
self.sitl = util.start_SITL(self.binary,
wipe=True,
@ -120,8 +116,8 @@ class AutoTestCopter(AutoTest):
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL('ArduCopter',
options=self.options)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduCopter', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
@ -278,7 +274,7 @@ class AutoTestCopter(AutoTest):
# TESTS FLY
#################################################
# fly a square in stabilize mode
# fly a square in alt_hold mode
def fly_square(self, side=50, timeout=300):
"""Fly a square, flying N then E ."""
tstart = self.get_sim_time()

20
Tools/autotest/arduplane.py
View File

@ -22,20 +22,15 @@ WIND = "0,180,0.2" # speed,direction,variance
class AutoTestPlane(AutoTest):
def __init__(self,
binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False):
super(AutoTestPlane, self).__init__()
gdbserver=False,
**kwargs):
super(AutoTestPlane, self).__init__(**kwargs)
self.binary = binary
self.options = ('--sitl=127.0.0.1:5501 --out=127.0.0.1:19550'
' --streamrate=10')
self.viewerip = viewerip
self.use_map = use_map
self.valgrind = valgrind
self.gdb = gdb
self.frame = frame
@ -57,11 +52,6 @@ class AutoTestPlane(AutoTest):
if self.frame is None:
self.frame = 'plane-elevrev'
if self.viewerip:
self.options += " --out=%s:14550" % self.viewerip
if self.use_map:
self.options += ' --map'
defaults_file = os.path.join(testdir,
'default_params/plane-jsbsim.parm')
self.sitl = util.start_SITL(self.binary,
@ -73,8 +63,8 @@ class AutoTestPlane(AutoTest):
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL('ArduPlane',
options=self.options)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduPlane', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)')
logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % logfile)

20
Tools/autotest/ardusub.py
View File

@ -21,20 +21,15 @@ HOME = mavutil.location(33.810313, -118.393867, 0, 185)
class AutoTestSub(AutoTest):
def __init__(self,
binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False):
super(AutoTestSub, self).__init__()
gdbserver=False,
**kwargs):
super(AutoTestSub, self).__init__(**kwargs)
self.binary = binary
self.options = ('--sitl=127.0.0.1:5501 --out=127.0.0.1:19550'
' --streamrate=10')
self.viewerip = viewerip
self.use_map = use_map
self.valgrind = valgrind
self.gdb = gdb
self.frame = frame
@ -56,11 +51,6 @@ class AutoTestSub(AutoTest):
if self.frame is None:
self.frame = 'vectored'
if self.viewerip:
self.options += " --out=%s:14550" % self.viewerip
if self.use_map:
self.options += ' --map'
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
@ -96,8 +86,8 @@ class AutoTestSub(AutoTest):
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL('ArduSub',
options=self.options)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduSub', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)')
logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % logfile)

22
Tools/autotest/common.py
View File

@ -32,9 +32,13 @@ class AutoTest(ABC):
"""Base abstract class.
It implements the common function for all vehicle types.
"""
def __init__(self):
def __init__(self,
viewerip=None,
use_map=False):
self.mavproxy = None
self.mav = None
self.viewerip = viewerip
self.use_map = use_map
def progress(self, text):
"""Display autotest progress text."""
@ -53,6 +57,22 @@ class AutoTest(ABC):
bits.append(path)
return os.path.join(*bits)
def sitl_streamrate(self):
'''allow subclasses to override SITL streamrate'''
return 10
def mavproxy_options(self):
'''returns options to be passed to MAVProxy'''
ret = ['--sitl=127.0.0.1:5501',
'--out=127.0.0.1:19550',
'--streamrate=%u' % self.sitl_streamrate()]
if self.viewerip:
ret.append("--out=%s:14550" % self.viewerip)
if self.use_map:
ret.append('--map')
return ret
#################################################
# GENERAL UTILITIES
#################################################

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

@ -246,7 +246,7 @@ def start_SITL(binary, valgrind=False, gdb=False, wipe=False,
def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
options=None, logfile=sys.stdout):
options=[], logfile=sys.stdout):
"""Launch mavproxy connected to a SITL instance."""
import pexpect
global close_list
@ -257,8 +257,7 @@ def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1
if aircraft is None:
aircraft = 'test.%s' % atype
cmd += ' --aircraft=%s' % aircraft
if options is not None:
cmd += ' ' + options
cmd += ' ' + ' '.join(options)
ret = pexpect.spawn(cmd, logfile=logfile, encoding=ENCODING, timeout=60)
ret.delaybeforesend = 0
pexpect_autoclose(ret)

20
Tools/autotest/quadplane.py
View File

@ -21,20 +21,15 @@ WIND = "0,180,0.2" # speed,direction,variance
class AutoTestQuadPlane(AutoTest):
def __init__(self,
binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False):
super(AutoTestQuadPlane, self).__init__()
gdbserver=False,
**kwargs):
super(AutoTestQuadPlane, self).__init__(**kwargs)
self.binary = binary
self.options = ('--sitl=127.0.0.1:5501 --out=127.0.0.1:19550'
' --streamrate=10')
self.viewerip = viewerip
self.use_map = use_map
self.valgrind = valgrind
self.gdb = gdb
self.frame = frame
@ -61,11 +56,6 @@ class AutoTestQuadPlane(AutoTest):
if self.frame is None:
self.frame = 'quadplane'
if self.viewerip:
self.options += " --out=%s:14550" % self.viewerip
if self.use_map:
self.options += ' --map'
defaults_file = os.path.join(testdir, 'default_params/quadplane.parm')
self.sitl = util.start_SITL(self.binary,
wipe=True,
@ -76,8 +66,8 @@ class AutoTestQuadPlane(AutoTest):
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL('QuadPlane',
options=self.options)
self.mavproxy = util.start_MAVProxy_SITL(
'QuadPlane', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)')
logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % logfile)