mirror of https://github.com/ArduPilot/ardupilot
Tools: removed unused file
This commit is contained in:
Andrew Tridgell
parent
d691cfc3d8
commit
b56538ff70
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@ -1,148 +0,0 @@
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import os.path
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import random
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import sys
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import time
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import pexpect
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MODULE_DIR = os.path.dirname(os.path.realpath(__file__))
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from pymavlink import mavutil, mavwp
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# So is this.
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sys.path.insert(0, os.path.join(MODULE_DIR, 'autotest'))
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sys.path.insert(0, os.path.join(MODULE_DIR, 'autotest', 'pysim'))
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import arducopter
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import common
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import util
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testdir = os.path.dirname(os.path.realpath(__file__))
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def error(msg, *args):
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sys.stdout.flush()
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sys.stderr.write((msg % args) + '\n')
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def run_mission(mission_path, frame, home, viewerip=None):
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sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py')
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sim_cmd += ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
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frame, home.lat, home.lng, home.alt, home.heading)
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sim_cmd += ' --wind=6,45,.3'
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if viewerip:
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sim_cmd += ' --fgout=%s:5503' % viewerip
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sil = util.start_SIL('ArduCopter', wipe=True)
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mavproxy = util.start_MAVProxy_SIL(
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'ArduCopter',
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options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
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mavproxy.expect('Received [0-9]+ parameters')
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# setup test parameters
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mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
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mavproxy.send("param load %s/autotest/ArduCopter.parm\n" % testdir)
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mavproxy.expect('Loaded [0-9]+ parameters')
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mavproxy.send('module load mmap\n')
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# reboot with new parameters
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('ArduCopter', height=home.alt)
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print 'Executing command %s' % (sim_cmd,)
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sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
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sim.delaybeforesend = 0
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util.pexpect_autoclose(sim)
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options = ('--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter '
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'--streamrate=5')
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if viewerip:
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options += ' --out=%s:14550' % viewerip
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
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mavproxy.expect('Logging to (\S+)')
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logfile = mavproxy.match.group(1)
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print 'Saving log %s' % (logfile,)
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# the received parameters can come before or after the ready to fly message
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mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
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mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
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mavproxy.send('module load mmap\n')
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util.expect_setup_callback(mavproxy, common.expect_callback)
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common.expect_list_clear()
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common.expect_list_extend([sim, sil, mavproxy])
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# get a mavlink connection going
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try:
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mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
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except Exception, msg:
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error("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
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raise
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mav.message_hooks.append(common.message_hook)
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mav.idle_hooks.append(common.idle_hook)
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failed = False
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e = 'None'
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try:
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mav.wait_heartbeat()
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arducopter.setup_rc(mavproxy)
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print 'Calibrating level...'
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if not arducopter.calibrate_level(mavproxy, mav):
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error('Failed to calibrate level.')
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failed = True
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print 'Arming motors...'
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if not arducopter.arm_motors(mavproxy, mav):
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error('Failed to arm motors.')
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failed = True
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if (mission_path and
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arducopter.load_mission_from_file(mavproxy, mav, mission_path)):
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error('Failed to load mission %s' % (mission_path,))
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failed = True
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print 'Taking off.'
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if not arducopter.takeoff(mavproxy, mav, 10):
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error('Failed to takeoff.')
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if mission_path:
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print 'Beginning mission in...'
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for i in range(3, 0, -1):
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print i
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time.sleep(1)
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print 'Flying mission.'
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if not arducopter.fly_mission(mavproxy, mav, height_accuracy=0.5,
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target_altitude=10):
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error("fly_mission failed")
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failed = True
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else:
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print 'MISSION COMPLETE.'
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except pexpect.TIMEOUT, e:
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error('Command timed out: %s', e)
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failed = True
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mav.close()
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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util.pexpect_close(sim)
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return not failed
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def main():
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mission_path = None
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if len(sys.argv) > 1:
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mission_path = sys.argv[1]
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frame = '+'
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# If we were given a mission, use its first waypoint as home.
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if mission_path:
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wploader = mavwp.MAVWPLoader()
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wploader.load(mission_path)
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wp = wploader.wp(0)
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home = mavutil.location(wp.x, wp.y, wp.z, 0)
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run_mission(mission_path, frame, home)
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if __name__ == '__main__':
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main()
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