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autotest: added --viewerip option

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this allows you to specify an IP that will receive all MAVLink logs
and fg data for realtime viewing
This commit is contained in:
Andrew Tridgell 2011-11-11 08:03:27 +11:00
parent dd96b146b5
commit dafbdd1f2b
2 changed files with 17 additions and 8 deletions
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21
Tools/autotest/arducopter.py
View File

@ -275,8 +275,12 @@ def setup_rc(mavproxy):
mavproxy.send('rc 3 1000\n') mavproxy.send('rc 3 1000\n')
def fly_ArduCopter(): def fly_ArduCopter(viewerip=None):
'''fly ArduCopter in SIL''' '''fly ArduCopter in SIL
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
'''
global expect_list, homeloc global expect_list, homeloc
sil = util.start_SIL('ArduCopter', wipe=True) sil = util.start_SIL('ArduCopter', wipe=True)
@ -295,12 +299,13 @@ def fly_ArduCopter():
mavproxy.expect('Loaded [0-9]+ parameters') mavproxy.expect('Loaded [0-9]+ parameters')
# reboot with new parameters # reboot with new parameters
print("CLOSING")
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
util.pexpect_close(sil) util.pexpect_close(sil)
print("CLOSED THEM")
sil = util.start_SIL('ArduCopter') sil = util.start_SIL('ArduCopter')
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --out=192.168.2.15:14550 --quadcopter --streamrate=1') options = '--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=1'
if viewerip:
options += ' --out=%s:14550' % viewerip
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
mavproxy.expect('Logging to (\S+)') mavproxy.expect('Logging to (\S+)')
logfile = mavproxy.match.group(1) logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile) print("LOGFILE %s" % logfile)
@ -317,8 +322,10 @@ def fly_ArduCopter():
util.expect_setup_callback(mavproxy, expect_callback) util.expect_setup_callback(mavproxy, expect_callback)
# start hil_quad.py # start hil_quad.py
hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --fgrate=200 --home=%s' % HOME_LOCATION, cmd = util.reltopdir('../HILTest/hil_quad.py') + ' --fgrate=200 --home=%s' % HOME_LOCATION
logfile=sys.stdout, timeout=10) if viewerip:
cmd += ' --fgout=192.168.2.15:9123'
hquad = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
util.pexpect_autoclose(hquad) util.pexpect_autoclose(hquad)
hquad.expect('Starting at') hquad.expect('Starting at')

4
Tools/autotest/autotest.py
View File

@ -81,6 +81,7 @@ You can get it from git://git.samba.org/tridge/UAV/HILTest.git
parser = optparse.OptionParser("autotest") parser = optparse.OptionParser("autotest")
parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)') parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)')
parser.add_option("--list", action='store_true', default=False, help='list the available steps') parser.add_option("--list", action='store_true', default=False, help='list the available steps')
parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to')
opts, args = parser.parse_args() opts, args = parser.parse_args()
@ -145,7 +146,7 @@ def run_step(step):
return dump_logs('ArduCopter') return dump_logs('ArduCopter')
if step == 'fly.ArduCopter': if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter() return arducopter.fly_ArduCopter(viewerip=opts.viewerip)
if step == 'convertgpx': if step == 'convertgpx':
return convert_gpx() return convert_gpx()
@ -264,6 +265,7 @@ try:
if not run_tests(steps): if not run_tests(steps):
sys.exit(1) sys.exit(1)
except KeyboardInterrupt: except KeyboardInterrupt:
print("INTERRUPT: Stopping child processes ....")
util.pexpect_close_all() util.pexpect_close_all()
sys.exit(1) sys.exit(1)
except Exception: except Exception: