''' Common base class for each of the autotest suites AP_FLAKE8_CLEAN ''' from __future__ import print_function import abc import copy import errno import glob import math import os import re import shutil import sys import time import traceback import pexpect import fnmatch import operator import numpy import socket import struct import random import threading from MAVProxy.modules.lib import mp_util from pymavlink import mavparm from pymavlink import mavwp, mavutil, DFReader from pymavlink import mavextra from pymavlink.rotmat import Vector3 from pysim import util, vehicleinfo try: import queue as Queue except ImportError: import Queue MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_Z_IGNORE) MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE) MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE) MAVLINK_SET_POS_TYPE_MASK_FORCE = mavutil.mavlink.POSITION_TARGET_TYPEMASK_FORCE_SET MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE = mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE = mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE MAV_FRAMES_TO_TEST = [ mavutil.mavlink.MAV_FRAME_GLOBAL, mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT, mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT ] # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) # Check python version for abstract base class if sys.version_info[0] >= 3 and sys.version_info[1] >= 4: ABC = abc.ABC else: ABC = abc.ABCMeta('ABC', (), {}) if sys.version_info[0] >= 3: import io as StringIO # srsly, we just did that. else: import StringIO try: from itertools import izip as zip except ImportError: # probably python2 pass class ErrorException(Exception): """Base class for other exceptions""" pass class AutoTestTimeoutException(ErrorException): pass if sys.version_info[0] < 3: ConnectionResetError = AutoTestTimeoutException class WaitModeTimeout(AutoTestTimeoutException): """Thrown when fails to achieve given mode change.""" pass class WaitAltitudeTimout(AutoTestTimeoutException): """Thrown when fails to achieve given altitude range.""" pass class WaitGroundSpeedTimeout(AutoTestTimeoutException): """Thrown when fails to achieve given ground speed range.""" pass class WaitRollTimeout(AutoTestTimeoutException): """Thrown when fails to achieve given roll in degrees.""" pass class WaitPitchTimeout(AutoTestTimeoutException): """Thrown when fails to achieve given pitch in degrees.""" pass class WaitHeadingTimeout(AutoTestTimeoutException): """Thrown when fails to achieve given heading.""" pass class WaitDistanceTimeout(AutoTestTimeoutException): """Thrown when fails to attain distance""" pass class WaitLocationTimeout(AutoTestTimeoutException): """Thrown when fails to attain location""" pass class WaitWaypointTimeout(AutoTestTimeoutException): """Thrown when fails to attain waypoint ranges""" pass class SetRCTimeout(AutoTestTimeoutException): """Thrown when fails to send RC commands""" pass class MsgRcvTimeoutException(AutoTestTimeoutException): """Thrown when fails to receive an expected message""" pass class NotAchievedException(ErrorException): """Thrown when fails to achieve a goal""" pass class YawSpeedNotAchievedException(NotAchievedException): """Thrown when fails to achieve given yaw speed.""" pass class SpeedVectorNotAchievedException(NotAchievedException): """Thrown when fails to achieve given speed vector.""" pass class PreconditionFailedException(ErrorException): """Thrown when a precondition for a test is not met""" pass class ArmedAtEndOfTestException(ErrorException): """Created when test left vehicle armed""" pass class Context(object): def __init__(self): self.parameters = [] self.sitl_commandline_customised = False self.message_hooks = [] 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 class TeeBoth(object): def __init__(self, name, mode, mavproxy_logfile): self.file = open(name, mode) self.stdout = sys.stdout self.stderr = sys.stderr self.mavproxy_logfile = mavproxy_logfile self.mavproxy_logfile.set_fh(self) sys.stdout = self sys.stderr = self def close(self): sys.stdout = self.stdout sys.stderr = self.stderr self.mavproxy_logfile.set_fh(None) self.mavproxy_logfile = None self.file.close() self.file = None def write(self, data): self.file.write(data) self.stdout.write(data) def flush(self): self.file.flush() class MAVProxyLogFile(object): def __init__(self): self.fh = None def close(self): pass def set_fh(self, fh): self.fh = fh def write(self, data): if self.fh is not None: self.fh.write(data) else: sys.stdout.write(data) def flush(self): if self.fh is not None: self.fh.flush() else: sys.stdout.flush() class Telem(object): def __init__(self, destination_address, progress_function=None, verbose=False): self.destination_address = destination_address self.progress_function = progress_function self.verbose = verbose self.buffer = bytes() self.connected = False self.port = None self.progress_log = "" def progress(self, message): message = "%s: %s" % (self.progress_tag(), message) if self.progress_function is not None: self.progress_function(message) return if not self.verbose: self.progress_log += message return print(message) def connect(self): try: self.connected = False self.progress("Connecting to (%s:%u)" % self.destination_address) if self.port is not None: try: self.port.close() # might be reopening except Exception: pass self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.port.connect(self.destination_address) self.port.setblocking(False) self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1) self.connected = True self.progress("Connected") except IOError as e: self.progress("Failed to connect: %s" % str(e)) time.sleep(0.5) return False return True def do_read(self): try: data = self.port.recv(1024) except socket.error as e: if e.errno not in [errno.EAGAIN, errno.EWOULDBLOCK]: self.progress("Exception: %s" % str(e)) self.connected = False return bytes() if len(data) == 0: self.progress("EOF") self.connected = False return bytes() # self.progress("Read %u bytes" % len(data)) return data def do_write(self, some_bytes): try: written = self.port.send(some_bytes) except socket.error as e: if e.errno in [errno.EAGAIN, errno.EWOULDBLOCK]: return 0 self.progress("Exception: %s" % str(e)) raise if written != len(some_bytes): raise ValueError("Short write") def update(self): if not self.connected: if not self.connect(): return self.update_read() class LTM(Telem): def __init__(self, destination_address): super(LTM, self).__init__(destination_address) self.HEADER1 = 0x24 self.HEADER2 = 0x54 self.FRAME_G = 0x47 self.FRAME_A = 0x41 self.FRAME_S = 0x53 self.frame_lengths = { self.FRAME_G: 18, self.FRAME_A: 10, self.FRAME_S: 11, } self.frame_lengths = { self.FRAME_G: 18, self.FRAME_A: 10, self.FRAME_S: 11, } self.data_by_id = {} self.frames = {} def g(self): return self.frames.get(self.FRAME_G, None) def a(self): return self.frames.get(self.FRAME_A, None) def s(self): return self.frames.get(self.FRAME_S, None) def progress_tag(self): return "LTM" def handle_data(self, dataid, value): self.progress("%u=%u" % (dataid, value)) self.data_by_id[dataid] = value def consume_frame(self): b2 = self.buffer[2] if sys.version_info.major < 3: b2 = ord(b2) frame_type = b2 frame_length = self.frame_lengths[frame_type] # check frame CRC crc = 0 count = 0 for c in self.buffer[3:frame_length-1]: if sys.version_info.major < 3: c = ord(c) crc ^= c count += 1 buffer_crc = self.buffer[frame_length-1] if sys.version_info.major < 3: buffer_crc = ord(buffer_crc) if crc != buffer_crc: raise NotAchievedException("Invalid checksum on frame type %s" % str(chr(frame_type))) # self.progress("Received valid %s frame" % str(chr(frame_type))) class Frame(object): def __init__(self, buffer): self.buffer = buffer def intn(self, offset, count): ret = 0 for i in range(offset, offset+count): ret = ret | (ord(self.buffer[i]) << ((i-offset)*8)) return ret def int32(self, offset): t = struct.unpack("> 2) def fix_type(self): s = self.buffer[16] if sys.version_info.major < 3: s = ord(s) return s & 0b11 class FrameA(Frame): def __init__(self, buffer): super(FrameA, self,).__init__(buffer) def pitch(self): return self.int16(3) def roll(self): return self.int16(5) def hdg(self): return self.int16(7) class FrameS(Frame): def __init__(self, buffer): super(FrameS, self,).__init__(buffer) if frame_type == self.FRAME_G: frame = FrameG(self.buffer[0:frame_length-1]) elif frame_type == self.FRAME_A: frame = FrameA(self.buffer[0:frame_length-1]) elif frame_type == self.FRAME_S: frame = FrameS(self.buffer[0:frame_length-1]) else: raise NotAchievedException("Bad frame?!?!?!") self.buffer = self.buffer[frame_length:] self.frames[frame_type] = frame def update_read(self): self.buffer += self.do_read() while len(self.buffer): if len(self.buffer) == 0: break b0 = self.buffer[0] if sys.version_info.major < 3: b0 = ord(b0) if b0 != self.HEADER1: self.bad_chars += 1 self.buffer = self.buffer[1:] continue b1 = self.buffer[1] if sys.version_info.major < 3: b1 = ord(b1) if b1 != self.HEADER2: self.bad_chars += 1 self.buffer = self.buffer[1:] continue b2 = self.buffer[2] if sys.version_info.major < 3: b2 = ord(b2) if b2 not in [self.FRAME_G, self.FRAME_A, self.FRAME_S]: self.bad_chars += 1 self.buffer = self.buffer[1:] continue frame_len = self.frame_lengths[b2] if len(self.buffer) < frame_len: continue self.consume_frame() def get_data(self, dataid): try: return self.data_by_id[dataid] except KeyError: pass return None class CRSF(Telem): def __init__(self, destination_address): super(CRSF, self).__init__(destination_address) self.dataid_vtx_frame = 0 self.dataid_vtx_telem = 1 self.dataid_vtx_unknown = 2 self.data_id_map = { self.dataid_vtx_frame: bytearray([0xC8, 0x8, 0xF, 0xCE, 0x30, 0x8, 0x16, 0xE9, 0x0, 0x5F]), self.dataid_vtx_telem: bytearray([0xC8, 0x7, 0x10, 0xCE, 0xE, 0x16, 0x65, 0x0, 0x1B]), self.dataid_vtx_unknown: bytearray([0xC8, 0x9, 0x8, 0x0, 0x9E, 0x0, 0x0, 0x0, 0x0, 0x0, 0x95]), } def write_data_id(self, dataid): self.do_write(self.data_id_map[dataid]) def progress_tag(self): return "CRSF" class FRSky(Telem): def __init__(self, destination_address): super(FRSky, self).__init__(destination_address) self.dataid_GPS_ALT_BP = 0x01 self.dataid_TEMP1 = 0x02 self.dataid_FUEL = 0x04 self.dataid_TEMP2 = 0x05 self.dataid_GPS_ALT_AP = 0x09 self.dataid_BARO_ALT_BP = 0x10 self.dataid_GPS_SPEED_BP = 0x11 self.dataid_GPS_LONG_BP = 0x12 self.dataid_GPS_LAT_BP = 0x13 self.dataid_GPS_COURS_BP = 0x14 self.dataid_GPS_SPEED_AP = 0x19 self.dataid_GPS_LONG_AP = 0x1A self.dataid_GPS_LAT_AP = 0x1B self.dataid_BARO_ALT_AP = 0x21 self.dataid_GPS_LONG_EW = 0x22 self.dataid_GPS_LAT_NS = 0x23 self.dataid_CURRENT = 0x28 self.dataid_VFAS = 0x39 class FRSkyD(FRSky): def __init__(self, destination_address): super(FRSkyD, self).__init__(destination_address) self.state_WANT_START_STOP_D = 16, self.state_WANT_ID = 17 self.state_WANT_BYTE1 = 18 self.state_WANT_BYTE2 = 19 self.START_STOP_D = 0x5E self.BYTESTUFF_D = 0x5D self.state = self.state_WANT_START_STOP_D self.data_by_id = {} self.bad_chars = 0 def progress_tag(self): return "FRSkyD" def handle_data(self, dataid, value): self.progress("%u=%u" % (dataid, value)) self.data_by_id[dataid] = value def update_read(self): self.buffer += self.do_read() consume = None while len(self.buffer): if consume is not None: self.buffer = self.buffer[consume:] if len(self.buffer) == 0: break consume = 1 if sys.version_info.major >= 3: b = self.buffer[0] else: b = ord(self.buffer[0]) if self.state == self.state_WANT_START_STOP_D: if b != self.START_STOP_D: # we may come into a stream mid-way, so we can't judge self.bad_chars += 1 continue self.state = self.state_WANT_ID continue elif self.state == self.state_WANT_ID: self.dataid = b self.state = self.state_WANT_BYTE1 continue elif self.state in [self.state_WANT_BYTE1, self.state_WANT_BYTE2]: if b == 0x5D: # byte-stuffed if len(self.buffer) < 2: # try again in a little while consume = 0 return if ord(self.buffer[1]) == 0x3E: b = self.START_STOP_D elif ord(self.buffer[1]) == 0x3D: b = self.BYTESTUFF_D else: raise ValueError("Unknown stuffed byte") consume = 2 if self.state == self.state_WANT_BYTE1: self.b1 = b self.state = self.state_WANT_BYTE2 continue data = self.b1 | b << 8 self.handle_data(self.dataid, data) self.state = self.state_WANT_START_STOP_D def get_data(self, dataid): try: return self.data_by_id[dataid] except KeyError: pass return None class SPortPacket(object): def __init__(self): self.START_STOP_SPORT = 0x7E self.BYTESTUFF_SPORT = 0x7D class SPortUplinkPacket(SPortPacket): def __init__(self, appid0, appid1, data0, data1, data2, data3): super(SPortUplinkPacket, self).__init__() self.appid0 = appid0 self.appid1 = appid1 self.data0 = data0 self.data1 = data1 self.data2 = data2 self.data3 = data3 self.SENSOR_ID_UPLINK_ID = 0x0D self.SPORT_UPLINK_FRAME = 0x30 self.uplink_id = self.SENSOR_ID_UPLINK_ID self.frame = self.SPORT_UPLINK_FRAME def packed(self): return struct.pack( '> 8 self.checksum &= 0xFF def checksum(self): self.checksum = 0 self.update_checksum(self.frame & 0xff) self.update_checksum(self.appid0 & 0xff) self.update_checksum(self.appid1 & 0xff) self.update_checksum(self.data0 & 0xff) self.update_checksum(self.data1 & 0xff) self.update_checksum(self.data2 & 0xff) self.update_checksum(self.data3 & 0xff) self.checksum = 0xff - ((self.checksum & 0xff) + (self.checksum >> 8)) return self.checksum & 0xff def for_wire(self): out = bytearray() out.extend(self.packed()) out.extend(struct.pack('> 8 checksum &= 0xFF return checksum def to_sport_packets(self): ret = [] all_bytes = bytearray([len(self.body), self.msgid]) all_bytes.extend(self.body) # insert sequence numbers: seq = 0 sequenced = bytearray() while len(all_bytes): chunk = all_bytes[0:5] all_bytes = all_bytes[5:] sequenced.append(seq) sequenced.extend(chunk) seq += 1 # we may need another sport packet just for the checksum: if len(sequenced) % 6 == 0: sequenced.append(seq) seq += 1 checksum = self.checksum_bytes(sequenced) sequenced.append(checksum) while len(sequenced): chunk = sequenced[0:6] sequenced = sequenced[6:] chunk.extend([0] * (6-len(chunk))) # pad to 6 packet = SPortUplinkPacket( *chunk ) ret.append(packet) return ret class SPortToMAVlite(object): def __init__(self): self.state_WANT_LEN = "want len" self.state_WANT_MSGID = "want msgid" self.state_WANT_PAYLOAD = "want payload" self.state_WANT_CHECKSUM = "want checksum" self.state_MESSAGE_RECEIVED = "message received" self.reset() def progress(self, message): print("SPortToMAVLite: %s" % message) def reset(self): self.want_seq = 0 self.all_bytes = bytearray() self.payload = bytearray() self.state = self.state_WANT_LEN def checksum_bytes(self, some_bytes): checksum = 0 for b in some_bytes: checksum += b checksum += checksum >> 8 checksum &= 0xFF return checksum def downlink_handler(self, some_bytes): '''adds some_bytes into a mavlite message''' if some_bytes[0] == 0x00: self.reset() if some_bytes[0] != self.want_seq: raise NotAchievedException("Unexpected seqno; want=%u got=%u" % (self.want_seq, some_bytes[0])) self.all_bytes.append(some_bytes[0]) self.want_seq += 1 for byte in some_bytes[1:]: if self.state == self.state_WANT_LEN: self.payload_len = byte self.all_bytes.append(byte) self.state = self.state_WANT_MSGID continue if self.state == self.state_WANT_MSGID: self.msgid = byte self.all_bytes.append(byte) if self.payload_len == 0: self.state = self.state_WANT_CHECKSUM else: self.state = self.state_WANT_PAYLOAD continue if self.state == self.state_WANT_PAYLOAD: self.payload.append(byte) self.all_bytes.append(byte) if len(self.payload) == self.payload_len: self.state = self.state_WANT_CHECKSUM continue if self.state == self.state_WANT_CHECKSUM: calculated_checksum = self.checksum_bytes(self.all_bytes) if calculated_checksum != byte: raise Exception("Checksum failure (calc=%u) (recv=%u)" % (calculated_checksum, byte)) self.state = self.state_MESSAGE_RECEIVED break def get_message(self): if self.state != self.state_MESSAGE_RECEIVED: raise Exception("Wrong state") return MAVliteMessage(self.msgid, self.payload) class FRSkySPort(FRSky): def __init__(self, destination_address, verbose=True): super(FRSkySPort, self).__init__(destination_address) self.state_SEND_POLL = "sendpoll" self.state_WANT_FRAME_TYPE = "want_frame_type" self.state_WANT_ID1 = "want_id1" self.state_WANT_ID2 = "want id2" self.state_WANT_DATA = "want data" self.state_WANT_CRC = "want crc" self.START_STOP_SPORT = 0x7E self.BYTESTUFF_SPORT = 0x7D self.SPORT_DATA_FRAME = 0x10 self.SPORT_DOWNLINK_FRAME = 0x32 self.SPORT_FRAME_XOR = 0x20 self.SENSOR_ID_VARIO = 0x00 # Sensor ID 0 self.SENSOR_ID_FAS = 0x22 # Sensor ID 2 self.SENSOR_ID_GPS = 0x83 # Sensor ID 3 self.SENSOR_ID_RPM = 0xE4 # Sensor ID 4 self.SENSOR_ID_SP2UR = 0xC6 # Sensor ID 6 self.SENSOR_ID_27 = 0x1B # Sensor ID 27 # MAVlite support: self.SENSOR_ID_DOWNLINK1_ID = 0x34 self.SENSOR_ID_DOWNLINK2_ID = 0x67 self.SENSOR_ID_UPLINK_ID = 0x0D self.state = self.state_WANT_FRAME_TYPE self.data_by_id = {} self.dataid_counts = {} self.bad_chars = 0 self.poll_sent = 0 self.sensor_id_poll_counts = {} self.id_descriptions = { 0x5000: "status text (dynamic)", 0x5006: "Attitude and range (dynamic)", 0x800: "GPS lat or lon (600 with 1 sensor)", 0x5005: "Vel and Yaw", 0x5001: "AP status", 0x5002: "GPS Status", 0x5004: "Home", 0x5008: "Battery 2 status", 0x5003: "Battery 1 status", 0x5007: "parameters", 0x500A: "rpm", # SPort non-passthrough: 0x01: "GPS_ALT_BP", 0x02: "Temp1", 0x04: "Fuel", 0x05: "Temp2", 0x09: "GPS_ALT_AP", 0x10: "BARO_ALT_BP", 0x11: "GPS_ALT_AP", 0x14: "HDG", 0x19: "GPS_SPEED_AP", 0x21: "BARO_ALT_AP", 0x28: "CURR", 0x30: "VARIO", 0x39: "VFAS", # 0x800: "GPS", ## comments as duplicated dictrionary key 0x050E: "RPM1", 0x34: "DOWNLINK1_ID", 0x67: "DOWNLINK2_ID", 0x0D: "UPLINK_ID", } self.sensors_to_poll = [ self.SENSOR_ID_VARIO, self.SENSOR_ID_FAS, self.SENSOR_ID_GPS, self.SENSOR_ID_RPM, self.SENSOR_ID_SP2UR, ] self.next_sensor_id_to_poll = 0 # offset into sensors_to_poll self.data_downlink_handler = None def progress_tag(self): return "FRSkySPort" def handle_data_downlink(self, some_bytes): self.progress("DOWNLINK %s" % (str(some_bytes),)) if self.data_downlink_handler is not None: self.data_downlink_handler(some_bytes) def handle_data(self, dataid, value): self.progress("%s (0x%x)=%u" % (self.id_descriptions[dataid], dataid, value)) self.data_by_id[dataid] = value if dataid not in self.dataid_counts: self.dataid_counts[dataid] = 0 self.dataid_counts[dataid] += 1 def dump_dataid_counts_as_progress_messages(self): for dataid in self.dataid_counts: self.progress("0x%x: %u (%s)" % (dataid, self.dataid_counts[dataid], self.id_descriptions[dataid])) def dump_sensor_id_poll_counts_as_progress_messages(self): for sensor_id in self.sensor_id_poll_counts: self.progress("(0x%x): %u" % (sensor_id, self.sensor_id_poll_counts[sensor_id])) def read_bytestuffed_byte(self): if sys.version_info.major >= 3: b = self.buffer[0] else: b = ord(self.buffer[0]) if b == 0x7D: # byte-stuffed if len(self.buffer) < 2: self.consume = 0 return None self.consume = 2 if sys.version_info.major >= 3: b2 = self.buffer[1] else: b2 = ord(self.buffer[1]) if b2 == 0x5E: return self.START_STOP_SPORT if b2 == 0x5D: return self.BYTESTUFF_SPORT raise ValueError("Unknown stuffed byte (0x%02x)" % b2) return b def calc_crc(self, byte): self.crc += byte self.crc += self.crc >> 8 self.crc &= 0xFF def next_sensor(self): ret = self.sensors_to_poll[self.next_sensor_id_to_poll] self.next_sensor_id_to_poll += 1 if self.next_sensor_id_to_poll >= len(self.sensors_to_poll): self.next_sensor_id_to_poll = 0 return ret def check_poll(self): now = time.time() if now - self.poll_sent > 2: if self.state != self.state_WANT_FRAME_TYPE: raise ValueError("Expected to be wanting a frame type when repolling") self.progress("Re-polling") self.state = self.state_SEND_POLL if self.state == self.state_SEND_POLL: sensor_id = self.next_sensor() self.progress("Sending poll for 0x%02x" % sensor_id) if sensor_id not in self.sensor_id_poll_counts: self.sensor_id_poll_counts[sensor_id] = 0 self.sensor_id_poll_counts[sensor_id] += 1 packet = SPortPollPacket(sensor_id) self.send_sport_packet(packet) self.state = self.state_WANT_FRAME_TYPE self.poll_sent = now def send_sport_packets(self, packets): for packet in packets: self.send_sport_packet(packet) def send_sport_packet(self, packet): stuffed = packet.for_wire() self.progress("Sending (%s) (%u)" % (["0x%02x" % x for x in bytearray(stuffed)], len(stuffed))) self.port.sendall(stuffed) def send_mavlite_param_request_read(self, parameter_name): mavlite_msg = MAVliteMessage( mavutil.mavlink.MAVLINK_MSG_ID_PARAM_REQUEST_READ, bytearray(parameter_name.encode()) ) packets = mavlite_msg.to_sport_packets() self.send_sport_packets(packets) def send_mavlite_param_set(self, parameter_name, value): out = bytearray(struct.pack("= 3: b = self.buffer[0] else: b = ord(self.buffer[0]) # self.progress("Have (%s) bytes state=%s b=0x%02x" % (str(len(self.buffer)), str(self.state), b)); if self.state == self.state_WANT_FRAME_TYPE: if b in [self.SPORT_DATA_FRAME, self.SPORT_DOWNLINK_FRAME]: self.frame = b self.crc = 0 self.calc_crc(b) self.state = self.state_WANT_ID1 continue # we may come into a stream mid-way, so we can't judge self.progress("############# Bad char %x" % b) raise ValueError("Bad char (0x%02x)" % b) self.bad_chars += 1 continue elif self.state == self.state_WANT_ID1: self.id1 = self.read_bytestuffed_byte() if self.id1 is None: break self.calc_crc(self.id1) self.state = self.state_WANT_ID2 continue elif self.state == self.state_WANT_ID2: self.id2 = self.read_bytestuffed_byte() if self.id2 is None: break self.calc_crc(self.id2) self.state = self.state_WANT_DATA self.data_bytes = [] self.data = 0 continue elif self.state == self.state_WANT_DATA: data_byte = self.read_bytestuffed_byte() if data_byte is None: break self.calc_crc(data_byte) self.data = self.data | (data_byte << (8*(len(self.data_bytes)))) self.data_bytes.append(data_byte) if len(self.data_bytes) == 4: self.state = self.state_WANT_CRC continue elif self.state == self.state_WANT_CRC: crc = self.read_bytestuffed_byte() if crc is None: break self.crc = 0xFF - self.crc dataid = (self.id2 << 8) | self.id1 if self.crc != crc: self.progress("Incorrect frsky checksum (received=%02x calculated=%02x id=0x%x)" % (crc, self.crc, dataid)) # raise ValueError("Incorrect frsky checksum (want=%02x got=%02x id=0x%x)" % (crc, self.crc, dataid)) else: if self.frame == self.SPORT_DOWNLINK_FRAME: self.handle_data_downlink([ self.id1, self.id2, self.data_bytes[0], self.data_bytes[1], self.data_bytes[2], self.data_bytes[3]] ) else: self.handle_data(dataid, self.data) self.state = self.state_SEND_POLL elif self.state == self.state_SEND_POLL: # this is done in check_poll print("in send_poll state") pass else: raise ValueError("Unknown state (%s)" % self.state) def get_data(self, dataid): try: return self.data_by_id[dataid] except KeyError: pass return None class FRSkyPassThrough(FRSkySPort): def __init__(self, destination_address): super(FRSkyPassThrough, self).__init__(destination_address) self.sensors_to_poll = [self.SENSOR_ID_27] def progress_tag(self): return "FRSkyPassthrough" class LocationInt(object): def __init__(self, lat, lon, alt, yaw): self.lat = lat self.lon = lon self.alt = alt self.yaw = yaw class Test(object): '''a test definition - information about a test''' def __init__(self, name, description, function, attempts=1): self.name = name self.description = description self.function = function self.attempts = attempts class AutoTest(ABC): """Base abstract class. It implements the common function for all vehicle types. """ def __init__(self, binary, valgrind=False, gdb=False, speedup=8, frame=None, params=None, gdbserver=False, lldb=False, breakpoints=[], disable_breakpoints=False, viewerip=None, use_map=False, _show_test_timings=False, logs_dir=None, force_ahrs_type=None, sup_binary=None): self.start_time = time.time() global __autotest__ # FIXME; make progress a non-staticmethod __autotest__ = self if binary is None: raise ValueError("Should always have a binary") self.binary = binary self.valgrind = valgrind self.gdb = gdb self.lldb = lldb self.frame = frame self.params = params self.gdbserver = gdbserver self.breakpoints = breakpoints self.disable_breakpoints = disable_breakpoints self.speedup = speedup self.sup_binary = sup_binary self.mavproxy = None self.mav = None self.viewerip = viewerip self.use_map = use_map self.contexts = [] self.context_push() self.buildlog = None self.copy_tlog = False self.logfile = None self.max_set_rc_timeout = 0 self.last_wp_load = 0 self.forced_post_test_sitl_reboots = 0 self.skip_list = [] self.run_tests_called = False self._show_test_timings = _show_test_timings self.test_timings = dict() self.total_waiting_to_arm_time = 0 self.waiting_to_arm_count = 0 self.force_ahrs_type = force_ahrs_type if self.force_ahrs_type is not None: self.force_ahrs_type = int(self.force_ahrs_type) self.logs_dir = logs_dir self.timesync_number = 137 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_should_quit = False self.rc_queue = Queue.Queue() self.expect_list = [] def __del__(self): if self.rc_thread is not None: self.progress("Joining thread in __del__") self.rc_thread_should_quit = True self.rc_thread.join() self.rc_thread = None def progress(self, text, send_statustext=True): """Display autotest progress text.""" global __autotest__ delta_time = time.time() - __autotest__.start_time formatted_text = "AT-%06.1f: %s" % (delta_time, text) print(formatted_text) if (send_statustext and self.mav is not None and self.last_progress_sent_as_statustext != text): self.send_statustext(formatted_text) self.last_progress_sent_as_statustext = text # following two functions swiped from autotest.py: @staticmethod def buildlogs_dirpath(): return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs")) def sitl_home(self): HOME = self.sitl_start_location() return "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading) def mavproxy_version(self): '''return the current version of mavproxy as a tuple e.g. (1,8,8)''' return util.MAVProxy_version() def mavproxy_version_gt(self, major, minor, point): if os.getenv("AUTOTEST_FORCE_MAVPROXY_VERSION", None) is not None: return True (got_major, got_minor, got_point) = self.mavproxy_version() self.progress("Got: %s.%s.%s" % (got_major, got_minor, got_point)) if got_major > major: return True elif got_major < major: return False if got_minor > minor: return True elif got_minor < minor: return False return got_point > point def open_mavproxy_logfile(self): return MAVProxyLogFile() def buildlogs_path(self, path): """Return a string representing path in the buildlogs directory.""" bits = [self.buildlogs_dirpath()] if isinstance(path, list): bits.extend(path) else: bits.append(path) return os.path.join(*bits) def sitl_streamrate(self): """Allow subclasses to override SITL streamrate.""" return 10 def autotest_connection_string_to_ardupilot(self): return "tcp:127.0.0.1:5760" def mavproxy_options(self): """Returns options to be passed to MAVProxy.""" ret = [ '--sitl=127.0.0.1:5502', '--streamrate=%u' % self.sitl_streamrate(), '--cmd="set heartbeat %u"' % self.speedup, '--target-system=%u' % self.sysid_thismav(), '--target-component=1', ] if self.viewerip: ret.append("--out=%s:14550" % self.viewerip) if self.use_map: ret.append('--map') return ret def vehicleinfo_key(self): return self.log_name() def repeatedly_apply_parameter_file(self, filepath): if False: return self.repeatedly_apply_parameter_file_mavproxy(filepath) parameters = mavparm.MAVParmDict() # correct_parameters = set() parameters.load(filepath) param_dict = {} for p in parameters.keys(): param_dict[p] = parameters[p] self.set_parameters(param_dict) def repeatedly_apply_parameter_file_mavproxy(self, filepath): '''keep applying a parameter file until no parameters changed''' for i in range(0, 3): self.mavproxy.send("param load %s\n" % filepath) while True: line = self.mavproxy.readline() match = re.match(".*Loaded [0-9]+ parameters.*changed ([0-9]+)", line) if match is not None: if int(match.group(1)) == 0: return break raise NotAchievedException() def apply_defaultfile_parameters(self): """Apply parameter file.""" self.progress("Applying default parameters file") # setup test parameters if self.params is None: self.params = self.model_defaults_filepath(self.vehicleinfo_key(), self.frame) for x in self.params: self.repeatedly_apply_parameter_file(os.path.join(testdir, x)) self.set_parameter('LOG_DISARMED', 1) if self.force_ahrs_type is not None: if self.force_ahrs_type == 2: self.set_parameter("EK2_ENABLE", 1) if self.force_ahrs_type == 3: self.set_parameter("EK3_ENABLE", 1) self.set_parameter("AHRS_EKF_TYPE", self.force_ahrs_type) self.reboot_sitl() def count_lines_in_filepath(self, filepath): return len([i for i in open(filepath)]) def count_expected_fence_lines_in_filepath(self, filepath): count = 0 is_qgc = False for i in open(filepath): i = re.sub("#.*", "", i) # trim comments if i.isspace(): # skip empty lines continue if re.match("QGC", i): # skip QGC header line is_qgc = True continue count += 1 if is_qgc: count += 2 # file doesn't include return point + closing point return count def load_fence_using_mavproxy(self, filename): self.set_parameter("FENCE_TOTAL", 0) filepath = os.path.join(testdir, self.current_test_name_directory, filename) count = self.count_expected_fence_lines_in_filepath(filepath) self.mavproxy.send('fence load %s\n' % filepath) # self.mavproxy.expect("Loaded %u (geo-)?fence" % count) tstart = self.get_sim_time_cached() while True: t2 = self.get_sim_time_cached() if t2 - tstart > 10: raise AutoTestTimeoutException("Failed to do load") newcount = self.get_parameter("FENCE_TOTAL") self.progress("fence total: %u want=%u" % (newcount, count)) if count == newcount: break self.delay_sim_time(1) def get_fence_point(self, idx, target_system=1, target_component=1): self.mav.mav.fence_fetch_point_send(target_system, target_component, idx) m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=2) if m is None: raise NotAchievedException("Did not get fence return point back") self.progress("m: %s" % str(m)) if m.idx != idx: raise NotAchievedException("Invalid idx returned (want=%u got=%u)" % (idx, m.seq)) return m def fencepoint_protocol_epsilon(self): return 0.00002 def roundtrip_fencepoint_protocol(self, offset, count, lat, lng, target_system=1, target_component=1): self.progress("Sending FENCE_POINT offs=%u count=%u" % (offset, count)) self.mav.mav.fence_point_send(target_system, target_component, offset, count, lat, lng) self.progress("Requesting fence point") m = self.get_fence_point(offset, target_system=target_system, target_component=target_component) if abs(m.lat - lat) > self.fencepoint_protocol_epsilon(): raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat)) if abs(m.lng - lng) > self.fencepoint_protocol_epsilon(): raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng)) self.progress("Roundtrip OK") def roundtrip_fence_using_fencepoint_protocol(self, loc_list, target_system=1, target_component=1, ordering=None): count = len(loc_list) offset = 0 self.set_parameter("FENCE_TOTAL", count) if ordering is None: ordering = range(count) elif len(ordering) != len(loc_list): raise ValueError("ordering list length mismatch") for offset in ordering: loc = loc_list[offset] self.roundtrip_fencepoint_protocol(offset, count, loc.lat, loc.lng, target_system, target_component) self.progress("Validating uploaded fence") returned_count = self.get_parameter("FENCE_TOTAL") if returned_count != count: raise NotAchievedException("Returned count mismatch (want=%u got=%u)" % (count, returned_count)) for i in range(count): self.progress("Requesting fence point") m = self.get_fence_point(offset, target_system=target_system, target_component=target_component) if abs(m.lat-loc.lat) > self.fencepoint_protocol_epsilon(): raise NotAchievedException("Returned lat mismatch (want=%f got=%f" % (loc.lat, m.lat)) if abs(m.lng-loc.lng) > self.fencepoint_protocol_epsilon(): raise NotAchievedException("Returned lng mismatch (want=%f got=%f" % (loc.lng, m.lng)) if m.count != count: raise NotAchievedException("Count mismatch (want=%u got=%u)" % (count, m.count)) def load_fence(self, filename): filepath = os.path.join(testdir, self.current_test_name_directory, filename) self.progress("Loading fence from (%s)" % str(filepath)) locs = [] for line in open(filepath, 'rb'): if len(line) == 0: continue m = re.match(r"([-\d.]+)\s+([-\d.]+)\s*", line.decode('ascii')) if m is None: raise ValueError("Did not match (%s)" % line) locs.append(mavutil.location(float(m.group(1)), float(m.group(2)), 0, 0)) if self.is_plane(): # create return point as the centroid: total_lat = 0 total_lng = 0 total_cnt = 0 for loc in locs: total_lat += loc.lat total_lng += loc.lng total_cnt += 1 locs2 = [mavutil.location(total_lat/total_cnt, total_lng/total_cnt, 0, 0)] # return point locs2.extend(locs) locs2.append(copy.copy(locs2[1])) return self.roundtrip_fence_using_fencepoint_protocol(locs2) self.upload_fences_from_locations( mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ locs ]) def send_reboot_command(self): self.mav.mav.command_long_send(self.sysid_thismav(), 1, mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, # confirmation 1, # reboot autopilot 0, 0, 0, 0, 0, 0) def reboot_check_valgrind_log(self): valgrind_log = util.valgrind_log_filepath(binary=self.binary, model=self.frame) if os.path.getsize(valgrind_log) > 0: backup_valgrind_log = ("%s-%s" % (str(int(time.time())), valgrind_log)) shutil.move(valgrind_log, backup_valgrind_log) def run_cmd_reboot(self): self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, # confirmation 1, # reboot autopilot 0, 0, 0, 0, 0, 0) def reboot_sitl_mav(self, required_bootcount=None): """Reboot SITL instance using mavlink and wait for it to reconnect.""" old_bootcount = self.get_parameter('STAT_BOOTCNT') # ardupilot SITL may actually NAK the reboot; replace with # run_cmd when we don't do that. if self.valgrind: self.reboot_check_valgrind_log() self.progress("Stopping and restarting SITL") self.stop_SITL() self.start_SITL(wipe=False) else: self.progress("Executing reboot command") self.run_cmd_reboot() self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount) def send_cmd_enter_cpu_lockup(self): """Poke ArduPilot to stop the main loop from running""" self.mav.mav.command_long_send(self.sysid_thismav(), 1, mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, # confirmation 42, # lockup autopilot 24, # no, really, we mean it 71, # seriously, we're not kidding 93, # we know exactly what we're 0, 0, 0) def reboot_sitl(self, required_bootcount=None): """Reboot SITL instance and wait for it to reconnect.""" self.progress("Rebooting SITL") self.reboot_sitl_mav(required_bootcount=required_bootcount) self.do_heartbeats(force=True) self.assert_simstate_location_is_at_startup_location() def reboot_sitl_mavproxy(self, required_bootcount=None): """Reboot SITL instance using MAVProxy and wait for it to reconnect.""" old_bootcount = self.get_parameter('STAT_BOOTCNT') self.mavproxy.send("reboot\n") self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount) def detect_and_handle_reboot(self, old_bootcount, required_bootcount=None, timeout=10): tstart = time.time() if required_bootcount is None: required_bootcount = old_bootcount + 1 while True: if time.time() - tstart > timeout: raise AutoTestTimeoutException("Did not detect reboot") try: current_bootcount = self.get_parameter('STAT_BOOTCNT', timeout=1, attempts=1, verbose=True, timeout_in_wallclock=True) self.progress("current=%s required=%u" % (str(current_bootcount), required_bootcount)) if current_bootcount == required_bootcount: break except NotAchievedException: pass except AutoTestTimeoutException: pass except ConnectionResetError: pass except socket.error: pass except Exception as e: self.progress("Got unexpected exception (%s)" % str(type(e))) pass # empty mav to avoid getting old timestamps: self.do_timesync_roundtrip(timeout_in_wallclock=True) self.progress("Calling initialise-after-reboot") self.initialise_after_reboot_sitl() 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() while True: if time.time() - tstart > timeout: raise AutoTestTimeoutException("stream rate change failed") self.mavproxy.send("set streamrate %u\n" % (streamrate)) self.mavproxy.send("set streamrate\n") try: self.mavproxy.expect('.*streamrate ((?:-)?[0-9]+)', timeout=1) except pexpect.TIMEOUT: continue rate = self.mavproxy.match.group(1) # self.progress("rate: %s" % str(rate)) if int(rate) == int(streamrate): break if streamrate <= 0: return self.progress("Waiting for SYSTEM_TIME for confirmation streams are working") self.drain_mav_unparsed() timeout = 60 tstart = time.time() while True: self.drain_all_pexpects() if time.time() - tstart > timeout: raise NotAchievedException("Did not get SYSTEM_TIME within %f seconds" % timeout) m = self.mav.recv_match(timeout=0.1) if m is None: continue # self.progress("Received (%s)" % str(m)) if m.get_type() == 'SYSTEM_TIME': break self.drain_mav() def htree_from_xml(self, xml_filepath): '''swiped from mavproxy_param.py''' xml = open(xml_filepath, 'rb').read() from lxml import objectify objectify.enable_recursive_str() tree = objectify.fromstring(xml) htree = {} for p in tree.vehicles.parameters.param: n = p.get('name').split(':')[1] htree[n] = p for lib in tree.libraries.parameters: for p in lib.param: n = p.get('name') htree[n] = p return htree def test_parameter_documentation_get_all_parameters(self): xml_filepath = os.path.join(self.buildlogs_dirpath(), "apm.pdef.xml") param_parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'param_metadata', 'param_parse.py') try: os.unlink(xml_filepath) except OSError: pass vehicle = self.log_name() if vehicle == "HeliCopter": vehicle = "ArduCopter" if vehicle == "QuadPlane": vehicle = "ArduPlane" cmd = [param_parse_filepath, '--vehicle', vehicle] # cmd.append("--verbose") if util.run_cmd(cmd, directory=self.buildlogs_dirpath()) != 0: self.progress("Failed param_parse.py (%s)" % vehicle) return False htree = self.htree_from_xml(xml_filepath) target_system = self.sysid_thismav() target_component = 1 self.customise_SITL_commandline([ "--unhide-groups" ]) (parameters, seq_id) = self.download_parameters(target_system, target_component) self.reset_SITL_commandline() fail = False for param in parameters.keys(): if param.startswith("SIM_"): # too many of these to worry about continue if param not in htree: self.progress("%s not in XML" % param) fail = True if fail: raise NotAchievedException("Downloaded parameters missing in XML") # FIXME: this should be doable if we filter out e.g BRD_* and CAN_*? # self.progress("Checking no extra parameters present in XML") # fail = False # for param in htree: # if param.startswith("SIM_"): # # too many of these to worry about # continue # if param not in parameters: # print("%s not in downloaded parameters but in XML" % param) # fail = True # if fail: # raise NotAchievedException("Extra parameters in XML") def find_format_defines(self, lines): ret = {} for line in lines: if type(line) == bytes: line = line.decode("utf-8") m = re.match(r'#define (\w+_(?:LABELS|FMT|UNITS|MULTS))\s+(".*")', line) if m is None: continue (a, b) = (m.group(1), m.group(2)) if a in ret: raise NotAchievedException("Duplicate define for (%s)" % a) ret[a] = b return ret def vehicle_code_dirpath(self): '''returns path to vehicle-specific code directory e.g. ~/ardupilot/Rover''' dirname = self.log_name() if dirname == "QuadPlane": dirname = "ArduPlane" elif dirname == "HeliCopter": dirname = "ArduCopter" return os.path.join(self.rootdir(), dirname) def find_LogStructureFiles(self): '''return list of files named LogStructure.h''' ret = [] for root, _, files in os.walk(self.rootdir()): for f in files: if f == 'LogStructure.h': ret.append(os.path.join(root, f)) return ret def all_log_format_ids(self): structure_files = self.find_LogStructureFiles() structure_lines = [] for f in structure_files: structure_lines.extend(open(f).readlines()) ids = {} state_outside = 0 state_inside = 1 state = state_outside defines = self.find_format_defines(structure_lines) linestate_none = 45 linestate_within = 46 linestate = linestate_none message_infos = [] for line in structure_lines: # print("line: %s" % line) if type(line) == bytes: line = line.decode("utf-8") line = re.sub("//.*", "", line) # trim comments if re.match(r"\s*$", line): # blank line continue if state == state_outside: if ("#define LOG_BASE_STRUCTURES" in line or re.match("#define LOG_STRUCTURE_FROM_.*", line)): # self.progress("Moving inside") state = state_inside continue if state == state_inside: if linestate == linestate_none: allowed_list = ['LOG_SBP_STRUCTURES', 'LOG_STRUCTURE_FROM_'] allowed = False for a in allowed_list: if a in line: allowed = True if allowed: continue m = re.match(r"\s*{(.*)},\s*", line) if m is not None: # complete line # print("Complete line: %s" % str(line)) message_infos.append(m.group(1)) continue m = re.match(r"\s*{(.*)\\", line) if m is None: state = state_outside continue partial_line = m.group(1) linestate = linestate_within continue if linestate == linestate_within: m = re.match("(.*)}", line) if m is None: raise NotAchievedException("Bad closing line (%s)" % line) message_infos.append(partial_line + m.group(1)) linestate = linestate_none continue raise NotAchievedException("Bad line (%s)") if linestate != linestate_none: raise NotAchievedException("Must be linestate-none at end of file") # now look in the vehicle-specific logfile: filepath = os.path.join(self.vehicle_code_dirpath(), "Log.cpp") state_outside = 67 state_inside = 68 state = state_outside linestate_none = 89 linestate_within = 90 linestate = linestate_none for line in open(filepath, 'rb').readlines(): if type(line) == bytes: line = line.decode("utf-8") line = re.sub("//.*", "", line) # trim comments if re.match(r"\s*$", line): # blank line continue if state == state_outside: if ("const LogStructure" in line or "const struct LogStructure" in line): state = state_inside continue if state == state_inside: if re.match("};", line): state = state_outside break if linestate == linestate_none: if "#if FRAME_CONFIG == HELI_FRAME" in line: continue if "#if PRECISION_LANDING == ENABLED" in line: continue if "#end" in line: continue if "LOG_COMMON_STRUCTURES" in line: continue m = re.match(r"\s*{(.*)},\s*", line) if m is not None: # complete line # print("Complete line: %s" % str(line)) message_infos.append(m.group(1)) continue m = re.match(r"\s*{(.*)", line) if m is None: raise NotAchievedException("Bad line %s" % line) partial_line = m.group(1) linestate = linestate_within continue if linestate == linestate_within: m = re.match("(.*)}", line) if m is None: raise NotAchievedException("Bad closing line (%s)" % line) message_infos.append(partial_line + m.group(1)) linestate = linestate_none continue raise NotAchievedException("Bad line (%s)") if state == state_inside: raise NotAchievedException("Should not be in state_inside at end") for message_info in message_infos: for define in defines: message_info = re.sub(define, defines[define], message_info) m = re.match(r'\s*LOG_\w+\s*,\s*sizeof\([^)]+\)\s*,\s*"(\w+)"\s*,\s*"(\w+)"\s*,\s*"([\w,]+)"\s*,\s*"([^"]+)"\s*,\s*"([^"]+)"\s*$', message_info) # noqa if m is None: continue (name, fmt, labels, units, multipliers) = (m.group(1), m.group(2), m.group(3), m.group(4), m.group(5)) if name in ids: raise NotAchievedException("Already seen a (%s) message" % name) ids[name] = { "name": name, "format": fmt, "labels": labels, "units": units, "multipliers": multipliers, } # now look for Log_Write(...) messages: base_directories = [ os.path.join(self.rootdir(), 'libraries'), self.vehicle_code_dirpath(), ] log_write_statements = [] for base_directory in base_directories: for root, dirs, files in os.walk(base_directory): state_outside = 37 state_inside = 38 state = state_outside for f in files: if not re.search("[.]cpp$", f): continue filepath = os.path.join(root, f) if "AP_Logger/examples" in filepath: # this is the sample file which contains examples... continue count = 0 for line in open(filepath, 'rb').readlines(): if type(line) == bytes: line = line.decode("utf-8") if state == state_outside: if (re.match(r"\s*AP::logger\(\)[.]Write\(", line) or re.match(r"\s*logger[.]Write\(", line)): state = state_inside line = re.sub("//.*", "", line) # trim comments log_write_statement = line continue if state == state_inside: line = re.sub("//.*", "", line) # trim comments log_write_statement += line if re.match(r".*\);", line): log_write_statements.append(log_write_statement) state = state_outside count += 1 if state != state_outside: raise NotAchievedException("Expected to be outside at end of file") # print("%s has %u lines" % (f, count)) # change all whitespace to single space log_write_statements = [re.sub(r"\s+", " ", x) for x in log_write_statements] # print("Got log-write-statements: %s" % str(log_write_statements)) results = [] for log_write_statement in log_write_statements: for define in defines: log_write_statement = re.sub(define, defines[define], log_write_statement) # fair warning: order is important here because of the # NKT/XKT special case below.... my_re = r' logger[.]Write\(\s*"(\w+)"\s*,\s*"([\w,]+)".*\);' m = re.match(my_re, log_write_statement) if m is None: my_re = r' AP::logger\(\)[.]Write\(\s*"(\w+)"\s*,\s*"([\w,]+)".*\);' m = re.match(my_re, log_write_statement) if m is None: raise NotAchievedException("Did not match (%s) with (%s)" % (log_write_statement, str(my_re))) else: results.append((m.group(1), m.group(2))) for result in results: (name, labels) = result if name in ids: raise Exception("Already have id for (%s)" % name) # self.progress("Adding Log_Write result (%s)" % name) ids[name] = { "name": name, "labels": labels, } if len(ids) == 0: raise NotAchievedException("Did not get any ids") return ids def test_onboard_logging_generation(self): '''just generates, as we can't do a lot of testing''' xml_filepath = os.path.join(self.buildlogs_dirpath(), "LogMessages.xml") parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'logger_metadata', 'parse.py') try: os.unlink(xml_filepath) except OSError: pass vehicle = self.log_name() vehicle_map = { "ArduCopter": "Copter", "HeliCopter": "Copter", "ArduPlane": "Plane", "QuadPlane": "Plane", "Rover": "Rover", "AntennaTracker": "Tracker", "ArduSub": "Sub", } vehicle = vehicle_map[vehicle] cmd = [parse_filepath, '--vehicle', vehicle] # cmd.append("--verbose") if util.run_cmd(cmd, directory=self.buildlogs_dirpath()) != 0: self.progress("Failed parse.py (%s)" % vehicle) return False length = os.path.getsize(xml_filepath) min_length = 1024 if length < min_length: raise NotAchievedException("short xml file (%u < %u)" % (length, min_length)) self.progress("xml file length is %u" % length) from lxml import objectify xml = open(xml_filepath, 'rb').read() objectify.enable_recursive_str() tree = objectify.fromstring(xml) # we allow for no docs for replay messages, as these are not for end-users. They are # effectively binary blobs for replay REPLAY_MSGS = ['RFRH', 'RFRF', 'REV2', 'RSO2', 'RWA2', 'REV3', 'RSO3', 'RWA3', 'RMGI', 'REY3', 'RFRN', 'RISH', 'RISI', 'RISJ', 'RBRH', 'RBRI', 'RRNH', 'RRNI', 'RGPH', 'RGPI', 'RGPJ', 'RASH', 'RASI', 'RBCH', 'RBCI', 'RVOH', 'RMGH', 'ROFH', 'REPH', 'REVH', 'RWOH', 'RBOH'] docco_ids = {} for thing in tree.logformat: name = str(thing.get("name")) docco_ids[name] = { "name": name, "labels": [], } if getattr(thing.fields, 'field', None) is None: if name in REPLAY_MSGS: continue raise NotAchievedException("no doc fields for %s" % name) for field in thing.fields.field: # print("field: (%s)" % str(field)) fieldname = field.get("name") # print("Got (%s.%s)" % (name,str(fieldname))) docco_ids[name]["labels"].append(fieldname) code_ids = self.all_log_format_ids() # self.progress("Code ids: (%s)" % str(sorted(code_ids.keys()))) # self.progress("Docco ids: (%s)" % str(sorted(docco_ids.keys()))) for name in sorted(code_ids.keys()): if name not in docco_ids: self.progress("Undocumented message: %s" % str(name)) continue seen_labels = {} for label in code_ids[name]["labels"].split(","): if label in seen_labels: raise NotAchievedException("%s.%s is duplicate label" % (name, label)) seen_labels[label] = True if label not in docco_ids[name]["labels"]: raise NotAchievedException("%s.%s not in documented fields (have (%s))" % (name, label, ",".join(docco_ids[name]["labels"]))) missing = [] for name in sorted(docco_ids): if name not in code_ids and name not in REPLAY_MSGS: missing.append(name) continue for label in docco_ids[name]["labels"]: if label not in code_ids[name]["labels"].split(","): raise NotAchievedException("documented field %s.%s not found in code" % (name, label)) if len(missing) > 0: raise NotAchievedException("Documented messages (%s) not in code" % missing) def initialise_after_reboot_sitl(self): # after reboot stream-rates may be zero. Prompt MAVProxy to # send a rate-change message by changing away from our normal # stream rates and back again: self.drain_mav() self.wait_heartbeat() self.set_streamrate(self.sitl_streamrate()) self.progress("Reboot complete") def customise_SITL_commandline(self, customisations, model=None, defaults_filepath=None, wipe=False): '''customisations could be "--uartF=sim:nmea" ''' self.contexts[-1].sitl_commandline_customised = True self.stop_SITL() self.start_SITL(model=model, defaults_filepath=defaults_filepath, customisations=customisations, wipe=wipe) tstart = time.time() while True: if time.time() - tstart > 30: raise NotAchievedException("Failed to customise") try: self.wait_heartbeat(drain_mav=True) except IOError: pass break # MAVProxy only checks the streamrates once every 15 seconds. # Encourage it: self.set_streamrate(self.sitl_streamrate()+1) self.set_streamrate(self.sitl_streamrate()) # we also need to wait for MAVProxy to requests streams again # - in particular, RC_CHANNELS. m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=15) if m is None: raise NotAchievedException("No RC_CHANNELS message after restarting SITL") def reset_SITL_commandline(self): self.progress("Resetting SITL commandline to default") self.stop_SITL() self.start_SITL(wipe=True) self.set_streamrate(self.sitl_streamrate()+1) self.set_streamrate(self.sitl_streamrate()) self.apply_defaultfile_parameters() self.progress("Reset SITL commandline to default") def stop_SITL(self): self.progress("Stopping SITL") self.expect_list_remove(self.sitl) util.pexpect_close(self.sitl) self.sitl = None def close(self): """Tidy up after running all tests.""" if self.use_map: self.mavproxy.send("module unload map\n") self.mavproxy.expect("Unloaded module map") if self.mav is not None: self.mav.close() self.mav = None util.pexpect_close(self.mavproxy) self.stop_SITL() valgrind_log = util.valgrind_log_filepath(binary=self.binary, model=self.frame) files = glob.glob("*" + valgrind_log) for valgrind_log in files: os.chmod(valgrind_log, 0o644) if os.path.getsize(valgrind_log) > 0: target = self.buildlogs_path("%s-%s" % ( self.log_name(), os.path.basename(valgrind_log))) self.progress("Valgrind log: moving %s to %s" % (valgrind_log, target)) shutil.move(valgrind_log, target) def start_test(self, description): self.progress("##################################################################################") self.progress("########## %s ##########" % description) self.progress("##################################################################################") def try_symlink_tlog(self): self.buildlog = self.buildlogs_path(self.log_name() + "-test.tlog") self.progress("buildlog=%s" % self.buildlog) if os.path.exists(self.buildlog): os.unlink(self.buildlog) try: os.link(self.logfile, self.buildlog) except OSError as error: self.progress("OSError [%d]: %s" % (error.errno, error.strerror)) self.progress("WARN: Failed to create symlink: %s => %s, " "will copy tlog manually to target location" % (self.logfile, self.buildlog)) self.copy_tlog = True ################################################# # GENERAL UTILITIES ################################################# def expect_list_clear(self): """clear the expect list.""" for p in self.expect_list[:]: self.expect_list.remove(p) def expect_list_extend(self, list_to_add): """Extend the expect list.""" self.expect_list.extend(list_to_add) def expect_list_add(self, item): """Extend the expect list.""" self.expect_list.extend([item]) def expect_list_remove(self, item): """Remove item from the expect list.""" self.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): 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): for p in self.expect_list: util.pexpect_drain(p) def idle_hook(self, mav): """Called when waiting for a mavlink message.""" if self.in_drain_mav: return self.drain_all_pexpects() def message_hook(self, mav, msg): """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.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): """Called when waiting for a expect pattern.""" for p in self.expect_list: if p == e: continue 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): if mav is None: mav = self.mav count = 0 tstart = time.time() while True: this = self.mav.recv(1000000) if len(this) == 0: break count += len(this) if quiet: return tdelta = time.time() - tstart if tdelta == 0: rate = "instantly" else: rate = "%f/s" % (count/float(tdelta),) self.progress("Drained %u bytes from mav (%s). These were unparsed." % (count, rate), send_statustext=False) if freshen_sim_time: self.get_sim_time() def drain_mav(self, mav=None, unparsed=False, quiet=True): if unparsed: return self.drain_mav_unparsed(quiet=quiet, mav=mav) if mav is None: mav = self.mav self.in_drain_mav = True count = 0 tstart = time.time() while mav.recv_match(blocking=False) is not None: count += 1 if quiet: return tdelta = time.time() - tstart if tdelta == 0: rate = "instantly" else: rate = "%f/s" % (count/float(tdelta),) 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, timeout_in_wallclock=False): if not quiet: self.progress("Doing timesync roundtrip") 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) while True: if timeout_in_wallclock: now = time.time() else: now = self.get_sim_time_cached() if now - tstart > 5: raise AutoTestTimeoutException("Did not get timesync response") m = self.mav.recv_match(type='TIMESYNC', blocking=True, timeout=1) if not quiet: self.progress("Received: %s" % str(m)) if m is None: continue if m.tc1 == 0: self.progress("this is a timesync request, which we don't answer") continue if m.ts1 % 1000 != self.mav.source_system: self.progress("this isn't a response to our timesync (%s)" % (m.ts1 % 1000)) continue if int(m.ts1 / 1000) != self.timesync_number: self.progress("this isn't the one we just sent") continue if m.get_srcSystem() != self.mav.target_system: self.progress("response from system other than our target") continue # no component check ATM because we send broadcast... # if m.get_srcComponent() != self.mav.target_component: # self.progress("response from component other than our target (got=%u want=%u)" % (m.get_srcComponent(), self.mav.target_component)) # noqa # continue if not quiet: self.progress("Received TIMESYNC response after %fs" % (now - tstart)) self.timesync_number += 1 break def log_filepath(self, lognum): '''return filepath to lognum (where lognum comes from LOG_ENTRY''' log_list = self.log_list() return log_list[lognum-1] def assert_bytes_equal(self, bytes1, bytes2, maxlen=None): tocheck = len(bytes1) if maxlen is not None: if tocheck > maxlen: tocheck = maxlen for i in range(0, tocheck): if bytes1[i] != bytes2[i]: raise NotAchievedException("differ at offset %u" % i) def test_log_download(self): if self.is_tracker(): # tracker starts armed, which is annoying return self.progress("Ensuring we have contents we care about") self.set_parameter("LOG_FILE_DSRMROT", 1) self.set_parameter("LOG_DISARMED", 0) self.reboot_sitl() original_log_list = self.log_list() for i in range(0, 10): self.wait_ready_to_arm() self.arm_vehicle() self.delay_sim_time(1) self.disarm_vehicle() new_log_list = self.log_list() new_log_count = len(new_log_list) - len(original_log_list) if new_log_count != 10: raise NotAchievedException("Expected exactly 10 new logs got %u (%s) to (%s)" % (new_log_count, original_log_list, new_log_list)) self.progress("Directory contents: %s" % str(new_log_list)) tstart = self.get_sim_time() self.mav.mav.log_request_list_send(self.sysid_thismav(), 1, # target component 0, 0xff) logs = [] last_id = None num_logs = None while True: now = self.get_sim_time_cached() if now - tstart > 5: raise NotAchievedException("Did not download list") m = self.mav.recv_match(type='LOG_ENTRY', blocking=True, timeout=1) self.progress("Received (%s)" % str(m)) if m is None: continue logs.append(m) if last_id is None: if m.num_logs == 0: # caller to guarantee this works: raise NotAchievedException("num_logs is zero") num_logs = m.num_logs else: if m.id != last_id + 1: raise NotAchievedException("Sequence not increasing") if m.num_logs != num_logs: raise NotAchievedException("Number of logs changed") if m.time_utc < 1000: raise NotAchievedException("Bad timestamp") if m.id != m.last_log_num: if m.size == 0: raise NotAchievedException("Zero-sized log") last_id = m.id if m.id == m.last_log_num: self.progress("Got all logs") break # ensure we don't get any extras: m = self.mav.recv_match(type='LOG_ENTRY', blocking=True, timeout=2) if m is not None: raise NotAchievedException("Received extra LOG_ENTRY?!") # download the 6th and seventh byte of the fifth log log_id = 5 ofs = 6 count = 2 self.mav.mav.log_request_data_send(self.sysid_thismav(), 1, # target component log_id, ofs, count) m = self.mav.recv_match(type='LOG_DATA', blocking=True, timeout=2) if m is None: raise NotAchievedException("Did not get log data") if m.ofs != ofs: raise NotAchievedException("Incorrect offset") if m.count != count: raise NotAchievedException("Did not get correct number of bytes") log_filepath = self.log_filepath(log_id) self.progress("Checking against log_filepath (%s)" % str(log_filepath)) with open(log_filepath, "rb") as bob: bob.seek(ofs) actual_bytes = bob.read(2) actual_bytes = bytearray(actual_bytes) if m.data[0] != actual_bytes[0]: raise NotAchievedException("Bad first byte got=(0x%02x) want=(0x%02x)" % (m.data[0], actual_bytes[0])) if m.data[1] != actual_bytes[1]: raise NotAchievedException("Bad second byte") # make file contents available # download an entire file log_id = 7 log_filepath = self.log_filepath(log_id) with open(log_filepath, "rb") as bob: actual_bytes = bytearray(bob.read()) # get the size first self.mav.mav.log_request_list_send(self.sysid_thismav(), 1, # target component log_id, log_id) log_entry = self.mav.recv_match(type='LOG_ENTRY', blocking=True, timeout=2) if log_entry.size != len(actual_bytes): raise NotAchievedException("Incorrect bytecount") self.progress("Using log entry (%s)" % str(log_entry)) if log_entry.id != log_id: raise NotAchievedException("Incorrect log id received") # download the log file in the normal way: bytes_to_fetch = 100000 self.progress("Sending request for %u bytes at offset 0" % (bytes_to_fetch,)) tstart = self.get_sim_time() self.mav.mav.log_request_data_send( self.sysid_thismav(), 1, # target component log_id, 0, bytes_to_fetch ) bytes_to_read = bytes_to_fetch if log_entry.size < bytes_to_read: bytes_to_read = log_entry.size data_downloaded = [] bytes_read = 0 last_print = 0 while True: if bytes_read >= bytes_to_read: break if self.get_sim_time_cached() - tstart > 120: raise NotAchievedException("Did not download log in good time") m = self.mav.recv_match(type='LOG_DATA', blocking=True, timeout=2) if m is None: raise NotAchievedException("Did not get data") if m.ofs != bytes_read: raise NotAchievedException("Unexpected offset") if m.id != log_id: raise NotAchievedException("Unexpected id") if m.count == 0: raise NotAchievedException("Zero bytes read") data_downloaded.extend(m.data[0:m.count]) bytes_read += m.count # self.progress("Read %u bytes at offset %u" % (m.count, m.ofs)) if time.time() - last_print > 10: last_print = time.time() self.progress("Read %u/%u" % (bytes_read, bytes_to_read)) self.progress("actual_bytes_len=%u data_downloaded_len=%u" % (len(actual_bytes), len(data_downloaded))) self.assert_bytes_equal(actual_bytes, data_downloaded, maxlen=bytes_to_read) if False: bytes_to_read = log_entry.size bytes_read = 0 data_downloaded = [] while bytes_read < bytes_to_read: bytes_to_fetch = int(random.random() * 100) if bytes_to_fetch > 90: bytes_to_fetch = 90 self.progress("Sending request for %u bytes at offset %u" % (bytes_to_fetch, bytes_read)) self.mav.mav.log_request_data_send( self.sysid_thismav(), 1, # target component log_id, bytes_read, bytes_to_fetch ) m = self.mav.recv_match(type='LOG_DATA', blocking=True, timeout=2) if m is None: raise NotAchievedException("Did not get reply") self.progress("Read %u bytes at offset %u" % (m.count, m.ofs)) if m.ofs != bytes_read: raise NotAchievedException("Incorrect offset in reply want=%u got=%u (%s)" % (bytes_read, m.ofs, str(m))) stuff = m.data[0:m.count] data_downloaded.extend(stuff) bytes_read += m.count if len(data_downloaded) != bytes_read: raise NotAchievedException("extend fail") if len(actual_bytes) != len(data_downloaded): raise NotAchievedException("Incorrect length: disk:%u downloaded: %u" % (len(actual_bytes), len(data_downloaded))) self.assert_bytes_equal(actual_bytes, data_downloaded) # ... and now download it reading backwards... bytes_to_read = bytes_to_fetch bytes_read = 0 backwards_data_downloaded = [] last_print = 0 while bytes_read < bytes_to_read: bytes_to_fetch = int(random.random() * 99) + 1 if bytes_to_fetch > 90: bytes_to_fetch = 90 if bytes_to_fetch > bytes_to_read - bytes_read: bytes_to_fetch = bytes_to_read - bytes_read ofs = bytes_to_read - bytes_read - bytes_to_fetch # self.progress("bytes_to_read=%u bytes_read=%u bytes_to_fetch=%u ofs=%d" % # (bytes_to_read, bytes_read, bytes_to_fetch, ofs)) self.mav.mav.log_request_data_send( self.sysid_thismav(), 1, # target component log_id, ofs, bytes_to_fetch ) m = self.mav.recv_match(type='LOG_DATA', blocking=True, timeout=2) if m is None: raise NotAchievedException("Did not get reply") if m.count == 0: raise NotAchievedException("xZero bytes read") stuff = m.data[0:m.count] stuff.extend(backwards_data_downloaded) backwards_data_downloaded = stuff bytes_read += m.count # self.progress("Read %u bytes at offset %u" % (m.count, m.ofs)) if time.time() - last_print > 10: last_print = time.time() self.progress("xRead %u/%u" % (bytes_read, bytes_to_read)) self.assert_bytes_equal(actual_bytes, backwards_data_downloaded, maxlen=bytes_to_read) # if len(actual_bytes) != len(backwards_data_downloaded): # raise NotAchievedException("Size delta: actual=%u vs downloaded=%u" % # (len(actual_bytes), len(backwards_data_downloaded))) ################################################# # SIM UTILITIES ################################################# def get_sim_time(self, timeout=60): """Get SITL time in seconds.""" m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True, timeout=timeout) if m is None: raise AutoTestTimeoutException("Did not get SYSTEM_TIME message after %f seconds" % timeout) return m.time_boot_ms * 1.0e-3 def get_sim_time_cached(self): """Get SITL time in seconds.""" x = self.mav.messages.get("SYSTEM_TIME", None) if x is None: raise NotAchievedException("No cached time available (%s)" % (self.mav.sysid,)) return x.time_boot_ms * 1.0e-3 def sim_location(self): """Return current simulator location.""" m = self.mav.recv_match(type='SIMSTATE', blocking=True) return mavutil.location(m.lat*1.0e-7, m.lng*1.0e-7, 0, math.degrees(m.yaw)) def sim_location_int(self): """Return current simulator location.""" m = self.mav.recv_match(type='SIMSTATE', blocking=True) return mavutil.location(m.lat, m.lng, 0, math.degrees(m.yaw)) def save_wp(self, ch=7): """Trigger RC Aux to save waypoint.""" self.set_rc(ch, 1000) self.delay_sim_time(1) self.set_rc(ch, 2000) self.delay_sim_time(1) self.set_rc(ch, 1000) self.delay_sim_time(1) def clear_wp(self, ch=8): """Trigger RC Aux to clear waypoint.""" self.progress("Clearing waypoints") self.set_rc(ch, 1000) self.delay_sim_time(0.5) self.set_rc(ch, 2000) self.delay_sim_time(0.5) self.set_rc(ch, 1000) self.mavproxy.send('wp list\n') self.mavproxy.expect('Requesting 0 waypoints') def log_list(self): '''return a list of log files present in POSIX-style loging dir''' ret = sorted(glob.glob("logs/00*.BIN")) self.progress("log list: %s" % str(ret)) return ret def assert_parameter_value(self, parameter, required): got = self.get_parameter(parameter) if got != required: raise NotAchievedException("%s has unexpected value; want=%f got=%f" % (parameter, required, got)) self.progress("%s has value %f" % (parameter, required)) def assert_reach_imu_temperature(self, target, timeout): '''wait to reach a target temperature''' tstart = self.get_sim_time() temp_ok = False last_print_temp = -100 while self.get_sim_time_cached() - tstart < timeout: m = self.mav.recv_match(type='RAW_IMU', blocking=True, timeout=2) if m is None: raise NotAchievedException("RAW_IMU") temperature = m.temperature*0.01 if temperature >= target: self.progress("Reached temperature %.1f" % temperature) temp_ok = True break if temperature - last_print_temp > 1: self.progress("temperature %.1f" % temperature) last_print_temp = temperature if not temp_ok: raise NotAchievedException("target temperature") def onboard_logging_not_log_disarmed(self): self.set_parameter("LOG_DISARMED", 0) self.set_parameter("LOG_FILE_DSRMROT", 0) self.reboot_sitl() self.wait_ready_to_arm() # let things setttle self.start_subtest("Ensure setting LOG_DISARMED yields a new file") original_list = self.log_list() self.progress("original list: %s" % str(original_list)) self.set_parameter("LOG_DISARMED", 1) self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code new_list = self.log_list() self.progress("new list: %s" % str(new_list)) if len(new_list) - len(original_list) != 1: raise NotAchievedException("Got more than one new log") self.set_parameter("LOG_DISARMED", 0) self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code new_list = self.log_list() if len(new_list) - len(original_list) != 1: raise NotAchievedException("Got more or less than one new log after toggling LOG_DISARMED off") self.start_subtest("Ensuring toggling LOG_DISARMED on and off doesn't increase the number of files") self.set_parameter("LOG_DISARMED", 1) self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code new_new_list = self.log_list() if len(new_new_list) != len(new_list): raise NotAchievedException("Got extra files when toggling LOG_DISARMED") self.set_parameter("LOG_DISARMED", 0) self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code new_new_list = self.log_list() if len(new_new_list) != len(new_list): raise NotAchievedException("Got extra files when toggling LOG_DISARMED to 0 again") self.end_subtest("Ensuring toggling LOG_DISARMED on and off doesn't increase the number of files") self.start_subtest("Check disarm rot when log disarmed is zero") self.assert_parameter_value("LOG_DISARMED", 0) self.set_parameter("LOG_FILE_DSRMROT", 1) old_speedup = self.get_parameter("SIM_SPEEDUP") # reduce speedup to reduce chance of race condition here self.set_parameter("SIM_SPEEDUP", 1) pre_armed_list = self.log_list() if self.is_copter() or self.is_heli(): self.set_parameter("DISARM_DELAY", 0) self.arm_vehicle() post_armed_list = self.log_list() if len(post_armed_list) != len(pre_armed_list): raise NotAchievedException("Got unexpected new log") self.disarm_vehicle() old_speedup = self.set_parameter("SIM_SPEEDUP", old_speedup) post_disarmed_list = self.log_list() if len(post_disarmed_list) != len(post_armed_list): raise NotAchievedException("Log rotated immediately") self.progress("Allowing time for post-disarm-logging to occur if it will") self.delay_sim_time(5) post_disarmed_post_delay_list = self.log_list() if len(post_disarmed_post_delay_list) != len(post_disarmed_list): raise NotAchievedException("Got log rotation when we shouldn't have") self.progress("Checking that arming does produce a new log") self.arm_vehicle() post_armed_list = self.log_list() if len(post_armed_list) - len(post_disarmed_post_delay_list) != 1: raise NotAchievedException("Did not get new log for rotation") self.progress("Now checking natural rotation after HAL_LOGGER_ARM_PERSIST") self.disarm_vehicle() post_disarmed_list = self.log_list() if len(post_disarmed_list) != len(post_armed_list): raise NotAchievedException("Log rotated immediately") self.delay_sim_time(30) delayed_post_disarmed_list = self.log_list() # should *still* not get another log as LOG_DISARMED is false if len(post_disarmed_list) != len(delayed_post_disarmed_list): self.progress("Unexpected new log found") def onboard_logging_log_disarmed(self): start_list = self.log_list() self.set_parameter("LOG_FILE_DSRMROT", 0) self.set_parameter("LOG_DISARMED", 0) self.reboot_sitl() restart_list = self.log_list() if len(start_list) != len(restart_list): raise NotAchievedException( "Unexpected log detected (pre-delay) initial=(%s) restart=(%s)" % (str(sorted(start_list)), str(sorted(restart_list)))) self.delay_sim_time(20) restart_list = self.log_list() if len(start_list) != len(restart_list): raise NotAchievedException("Unexpected log detected (post-delay)") self.set_parameter("LOG_DISARMED", 1) self.delay_sim_time(5) # LOG_DISARMED is polled post_log_disarmed_set_list = self.log_list() if len(post_log_disarmed_set_list) == len(restart_list): raise NotAchievedException("Did not get new log when LOG_DISARMED set") self.progress("Ensuring we get a new log after a reboot") self.reboot_sitl() self.delay_sim_time(5) post_reboot_log_list = self.log_list() if len(post_reboot_log_list) == len(post_log_disarmed_set_list): raise NotAchievedException("Did not get fresh log-disarmed log after a reboot") self.progress("Ensuring no log rotation when we toggle LOG_DISARMED off then on again") self.set_parameter("LOG_DISARMED", 0) current_log_filepath = self.current_onboard_log_filepath() self.delay_sim_time(10) # LOG_DISARMED is polled post_toggleoff_list = self.log_list() if len(post_toggleoff_list) != len(post_reboot_log_list): raise NotAchievedException("Shouldn't get new file yet") self.progress("Ensuring log does not grow when LOG_DISARMED unset...") current_log_filepath_size = os.path.getsize(current_log_filepath) self.delay_sim_time(5) current_log_filepath_new_size = os.path.getsize(current_log_filepath) if current_log_filepath_new_size != current_log_filepath_size: raise NotAchievedException( "File growing after LOG_DISARMED unset (new=%u old=%u" % (current_log_filepath_new_size, current_log_filepath_size)) self.progress("Turning LOG_DISARMED back on again") self.set_parameter("LOG_DISARMED", 1) self.delay_sim_time(5) # LOG_DISARMED is polled post_toggleon_list = self.log_list() if len(post_toggleon_list) != len(post_toggleoff_list): raise NotAchievedException("Log rotated when it shouldn't") self.progress("Checking log is now growing again") if os.path.getsize(current_log_filepath) == current_log_filepath_size: raise NotAchievedException("Log is not growing") # self.progress("Checking LOG_FILE_DSRMROT behaviour when log_DISARMED set") # self.set_parameter("LOG_FILE_DSRMROT", 1) # self.wait_ready_to_arm() # pre = self.log_list() # self.arm_vehicle() # post = self.log_list() # if len(pre) != len(post): # raise NotAchievedException("Rotation happened on arming?!") # size_a = os.path.getsize(current_log_filepath) # self.delay_sim_time(5) # size_b = os.path.getsize(current_log_filepath) # if size_b <= size_a: # raise NotAchievedException("Log not growing") # self.disarm_vehicle() # instant_post_disarm_list = self.log_list() # self.progress("Should not rotate straight away") # if len(instant_post_disarm_list) != len(post): # raise NotAchievedException("Should not rotate straight away") # self.delay_sim_time(20) # post_disarm_list = self.log_list() # if len(post_disarm_list) - len(instant_post_disarm_list) != 1: # raise NotAchievedException("Did not get exactly one more log") # self.progress("If we re-arm during the HAL_LOGGER_ARM_PERSIST period it should rotate") def test_onboard_logging(self): if self.is_tracker(): return self.onboard_logging_log_disarmed() self.onboard_logging_not_log_disarmed() def test_log_download_mavproxy(self, upload_logs=False): """Download latest log.""" filename = "MAVProxy-downloaded-log.BIN" self.mavproxy.send("module load log\n") self.mavproxy.expect("Loaded module log") self.mavproxy.send("log list\n") self.mavproxy.expect("numLogs") self.wait_heartbeat() self.wait_heartbeat() self.mavproxy.send("set shownoise 0\n") self.mavproxy.send("log download latest %s\n" % filename) self.mavproxy.expect("Finished downloading", timeout=120) self.mavproxy.send("module unload log\n") self.mavproxy.expect("Unloaded module log") def log_upload(self): if len(self.fail_list) > 0 and os.getenv("AUTOTEST_UPLOAD"): # optionally upload logs to server so we can see travis failure logs import datetime import glob import subprocess logdir = self.buildlogs_dirpath() datedir = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M") flist = glob.glob("logs/*.BIN") for e in ['BIN', 'bin', 'tlog']: flist += glob.glob(os.path.join(logdir, '*.%s' % e)) self.progress("Uploading %u logs to https://firmware.ardupilot.org/CI-Logs/%s" % (len(flist), datedir)) cmd = ['rsync', '-avz'] + flist + ['cilogs@autotest.ardupilot.org::CI-Logs/%s/' % datedir] subprocess.call(cmd) def show_gps_and_sim_positions(self, on_off): """Allow to display gps and actual position on map.""" if on_off is True: # turn on simulator display of gps and actual position self.mavproxy.send('map set showgpspos 1\n') self.mavproxy.send('map set showsimpos 1\n') else: # turn off simulator display of gps and actual position self.mavproxy.send('map set showgpspos 0\n') self.mavproxy.send('map set showsimpos 0\n') @staticmethod def mission_count(filename): """Load a mission from a file and return number of waypoints.""" wploader = mavwp.MAVWPLoader() wploader.load(filename) return wploader.count() def install_message_hook(self, hook): self.mav.message_hooks.append(hook) def install_message_hook_context(self, hook): '''installs a message hook which will be removed when the context goes away''' if self.mav is None: return self.mav.message_hooks.append(hook) self.context_get().message_hooks.append(hook) def remove_message_hook(self, hook): if self.mav is None: return oldlen = len(self.mav.message_hooks) self.mav.message_hooks = list(filter(lambda x: x != hook, self.mav.message_hooks)) if len(self.mav.message_hooks) == oldlen: raise NotAchievedException("Failed to remove hook") def rootdir(self): this_dir = os.path.dirname(__file__) return os.path.realpath(os.path.join(this_dir, "../..")) def assert_mission_files_same(self, file1, file2, match_comments=False): self.progress("Comparing (%s) and (%s)" % (file1, file2, )) f1 = open(file1) f2 = open(file2) lines1 = f1.readlines() lines2 = f2.readlines() if not match_comments: # strip comments from all lines lines1 = [re.sub(r"\s*#.*", "", x, re.DOTALL) for x in lines1] lines2 = [re.sub(r"\s*#.*", "", x, re.DOTALL) for x in lines2] # FIXME: because DOTALL doesn't seem to work as expected: lines1 = [x.rstrip() for x in lines1] lines2 = [x.rstrip() for x in lines2] # remove now-empty lines: lines1 = filter(lambda x: len(x), lines1) lines2 = filter(lambda x: len(x), lines2) for l1, l2 in zip(lines1, lines2): l1 = l1.rstrip("\r\n") l2 = l2.rstrip("\r\n") if l1 == l2: # e.g. the first "QGC WPL 110" line continue if re.match(r"0\s", l1): # home changes... continue l1 = l1.rstrip() l2 = l2.rstrip() fields1 = re.split(r"\s+", l1) fields2 = re.split(r"\s+", l2) # line = int(fields1[0]) t = int(fields1[3]) # mission item type for (count, (i1, i2)) in enumerate(zip(fields1, fields2)): if count == 2: # frame if t in [mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, mavutil.mavlink.MAV_CMD_CONDITION_YAW, mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME, mavutil.mavlink.MAV_CMD_DO_JUMP, mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL, mavutil.mavlink.MAV_CMD_DO_SET_SERVO, ]: # ardupilot doesn't remember frame on these commands if int(i1) in [3, 10]: # 3 is relative, 10 is AMSL i1 = 0 if int(i2) in [3, 10]: i2 = 0 if count == 6: # param 3 if t in [mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME]: # ardupilot canonicalises this to -1 for ccw or 1 for cw. if float(i1) == 0: i1 = 1.0 if float(i2) == 0: i2 = 1.0 if count == 7: # param 4 if t == mavutil.mavlink.MAV_CMD_NAV_LAND: # ardupilot canonicalises "0" to "1" param 4 (yaw) if int(float(i1)) == 0: i1 = 1 if int(float(i2)) == 0: i2 = 1 if 0 <= count <= 3 or 11 <= count <= 11: if int(i1) != int(i2): raise ValueError("Files have different content: (%s vs %s) (%s vs %s) (%d vs %d) (count=%u)" % (file1, file2, l1, l2, int(i1), int(i2), count)) # NOCI continue if 4 <= count <= 10: f_i1 = float(i1) f_i2 = float(i2) delta = abs(f_i1 - f_i2) max_allowed_delta = 0.000009 if delta > max_allowed_delta: raise ValueError( ("Files have different (float) content: " + "(%s) and (%s) " + "(%s vs %s) " + "(%f vs %f) " + "(%.10f) " + "(count=%u)") % (file1, file2, l1, l2, f_i1, f_i2, delta, count)) # NOCI continue raise ValueError("count %u not handled" % count) self.progress("Files same") def assert_receive_message(self, type, timeout=1): m = self.mav.recv_match(type=type, blocking=True, timeout=timeout) if m is None: raise NotAchievedException("Did not get %s" % type) return m def assert_rally_files_same(self, file1, file2): self.progress("Comparing (%s) and (%s)" % (file1, file2, )) f1 = open(file1) f2 = open(file2) lines_f1 = f1.readlines() lines_f2 = f2.readlines() self.assert_rally_content_same(lines_f1, lines_f2) def assert_rally_filepath_content(self, file1, content): f1 = open(file1) lines_f1 = f1.readlines() lines_content = content.split("\n") print("lines content: %s" % str(lines_content)) self.assert_rally_content_same(lines_f1, lines_content) def assert_rally_content_same(self, f1, f2): '''check each line in f1 matches one-to-one with f2''' for l1, l2 in zip(f1, f2): print("l1: %s" % l1) print("l2: %s" % l2) l1 = l1.rstrip("\n") l2 = l2.rstrip("\n") l1 = l1.rstrip("\r") l2 = l2.rstrip("\r") if l1 == l2: # e.g. the first "QGC WPL 110" line continue if re.match(r"0\s", l1): # home changes... continue l1 = l1.rstrip() l2 = l2.rstrip() print("al1: %s" % str(l1)) print("al2: %s" % str(l2)) fields1 = re.split(r"\s+", l1) fields2 = re.split(r"\s+", l2) # line = int(fields1[0]) # t = int(fields1[3]) # mission item type for (count, (i1, i2)) in enumerate(zip(fields1, fields2)): # if count == 2: # frame # if t in [mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, # mavutil.mavlink.MAV_CMD_CONDITION_YAW, # mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, # mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME, # mavutil.mavlink.MAV_CMD_DO_JUMP, # mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL, # ]: # # ardupilot doesn't remember frame on these commands # if int(i1) == 3: # i1 = 0 # if int(i2) == 3: # i2 = 0 # if count == 6: # param 3 # if t in [mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME]: # # ardupilot canonicalises this to -1 for ccw or 1 for cw. # if float(i1) == 0: # i1 = 1.0 # if float(i2) == 0: # i2 = 1.0 # if count == 7: # param 4 # if t == mavutil.mavlink.MAV_CMD_NAV_LAND: # # ardupilot canonicalises "0" to "1" param 4 (yaw) # if int(float(i1)) == 0: # i1 = 1 # if int(float(i2)) == 0: # i2 = 1 if 0 <= count <= 3 or 11 <= count <= 11: if int(i1) != int(i2): raise ValueError("Rally points different: (%s vs %s) (%d vs %d) (count=%u)" % (l1, l2, int(i1), int(i2), count)) # NOCI continue if 4 <= count <= 10: f_i1 = float(i1) f_i2 = float(i2) delta = abs(f_i1 - f_i2) max_allowed_delta = 0.000009 if delta > max_allowed_delta: raise ValueError( ("Rally has different (float) content: " + "(%s vs %s) " + "(%f vs %f) " + "(%.10f) " + "(count=%u)") % (l1, l2, f_i1, f_i2, delta, count)) # NOCI continue raise ValueError("count %u not handled" % count) self.progress("Rally content same") def load_rally(self, filename): """Load rally points from a file to flight controller.""" self.progress("Loading rally points (%s)" % filename) path = os.path.join(testdir, self.current_test_name_directory, filename) self.mavproxy.send('rally load %s\n' % path) self.mavproxy.expect("Loaded") def load_sample_mission(self): self.load_mission(self.sample_mission_filename()) def load_mission(self, filename): return self.load_mission_from_filepath(self.current_test_name_directory, filename) def load_mission_from_filepath(self, filepath, filename): """Load a mission from a file to flight controller.""" self.progress("Loading mission (%s)" % filename) path = os.path.join(testdir, filepath, filename) tstart = self.get_sim_time() while True: t2 = self.get_sim_time() if t2 - tstart > 10: raise AutoTestTimeoutException("Failed to do waypoint thing") # the following hack is to get around MAVProxy statustext deduping: while time.time() - self.last_wp_load < 3: self.progress("Waiting for MAVProxy de-dupe timer to expire") self.drain_mav_unparsed() time.sleep(0.1) self.mavproxy.send('wp load %s\n' % path) self.mavproxy.expect('Loaded ([0-9]+) waypoints from') load_count = self.mavproxy.match.group(1) self.last_wp_load = time.time() self.mavproxy.expect("Flight plan received") self.mavproxy.send('wp list\n') self.mavproxy.expect('Requesting ([0-9]+) waypoints') request_count = self.mavproxy.match.group(1) if load_count != request_count: self.progress("request_count=%s != load_count=%s" % (request_count, load_count)) continue self.mavproxy.expect('Saved ([0-9]+) waypoints to (.+?way.txt)') save_count = self.mavproxy.match.group(1) if save_count != request_count: raise NotAchievedException("request count != load count") # warning: this assumes MAVProxy was started in the CWD! # on the autotest server we invoke autotest.py one-up from # the git root, like this: # timelimit 32000 APM/Tools/autotest/autotest.py --timeout=30000 > buildlogs/autotest-output.txt 2>&1 # that means the MAVProxy log files are not reltopdir! saved_filepath = self.mavproxy.match.group(2) saved_filepath = saved_filepath.rstrip() self.assert_mission_files_same(path, saved_filepath) break self.mavproxy.send('wp status\n') self.mavproxy.expect(r'Have (\d+) of (\d+)') status_have = self.mavproxy.match.group(1) status_want = self.mavproxy.match.group(2) if status_have != status_want: raise ValueError("status count mismatch") if status_have != save_count: raise ValueError("status have not equal to save count") wploader = mavwp.MAVWPLoader() wploader.load(path) num_wp = wploader.count() if num_wp != int(status_have): raise ValueError("num_wp=%u != status_have=%u" % (num_wp, int(status_have))) if num_wp == 0: raise ValueError("No waypoints loaded?!") return num_wp def save_mission_to_file(self, filename): """Save a mission to a file""" self.mavproxy.send('wp list\n') self.mavproxy.expect('Requesting [0-9]+ waypoints') self.mavproxy.send('wp save %s\n' % filename) self.mavproxy.expect('Saved ([0-9]+) waypoints') num_wp = int(self.mavproxy.match.group(1)) self.progress("num_wp: %d" % num_wp) return num_wp def string_for_frame(self, frame): return mavutil.mavlink.enums["MAV_FRAME"][frame].name def frames_equivalent(self, f1, f2): pairs = [ (mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT, mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT), (mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), (mavutil.mavlink.MAV_FRAME_GLOBAL, mavutil.mavlink.MAV_FRAME_GLOBAL_INT), ] for pair in pairs: if (f1 == pair[0] and f2 == pair[1]): return True if (f1 == pair[1] and f2 == pair[0]): return True return f1 == f2 def check_mission_items_same(self, check_atts, want, got, epsilon=None, skip_first_item=False): self.progress("Checking mission items same") if epsilon is None: epsilon = 1 if len(want) != len(got): raise NotAchievedException("Incorrect item count (want=%u got=%u)" % (len(want), len(got))) self.progress("Checking %u items" % len(want)) for i in range(0, len(want)): if skip_first_item and i == 0: continue item = want[i] downloaded_item = got[i] check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1'] # z is not preserved self.progress("Comparing (%s) and (%s)" % (str(item), str(downloaded_item))) for att in check_atts: item_val = getattr(item, att) downloaded_item_val = getattr(downloaded_item, att) if abs(item_val - downloaded_item_val) > epsilon: raise NotAchievedException( "Item %u (%s) has different %s after download want=%s got=%s (got-item=%s)" % (i, str(item), att, str(item_val), str(downloaded_item_val), str(downloaded_item))) # for waypoint items ensure z and frame are preserved: self.progress("Type is %u" % got[0].mission_type) if got[0].mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION: item_val = getattr(item, 'frame') downloaded_item_val = getattr(downloaded_item, 'frame') if not self.frames_equivalent(item_val, downloaded_item_val): raise NotAchievedException("Frame not same (got=%s want=%s)" % (self.string_for_frame(downloaded_item_val), self.string_for_frame(item_val))) if abs(item.z - downloaded_item.z) > 0.00001: raise NotAchievedException("Z not preserved (got=%f want=%f)" % (item.z, downloaded_item.z)) def check_fence_items_same(self, want, got): check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1'] return self.check_mission_items_same(check_atts, want, got) def check_mission_waypoint_items_same(self, want, got): check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1'] return self.check_mission_items_same(check_atts, want, got, skip_first_item=True) def check_mission_item_upload_download(self, items, itype, mission_type): self.progress("check %s _upload/download: upload %u items" % (itype, len(items),)) self.upload_using_mission_protocol(mission_type, items) self.progress("check %s upload/download: download items" % itype) downloaded_items = self.download_using_mission_protocol(mission_type) self.progress("Downloaded items: (%s)" % str(downloaded_items)) if len(items) != len(downloaded_items): raise NotAchievedException("Did not download same number of items as uploaded want=%u got=%u" % (len(items), len(downloaded_items))) if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_FENCE: self.check_fence_items_same(items, downloaded_items) elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION: self.check_mission_waypoint_items_same(items, downloaded_items) else: raise NotAchievedException("Unhandled") def check_fence_upload_download(self, items): self.check_mission_item_upload_download( items, "fence", mavutil.mavlink.MAV_MISSION_TYPE_FENCE) def check_mission_upload_download(self, items): self.check_mission_item_upload_download( items, "waypoints", mavutil.mavlink.MAV_MISSION_TYPE_MISSION) def rc_defaults(self): return { 1: 1500, 2: 1500, 3: 1500, 4: 1500, 5: 1500, 6: 1500, 7: 1500, 8: 1500, 9: 1500, 10: 1500, 11: 1500, 12: 1500, 13: 1500, 14: 1500, 15: 1500, 16: 1500, } def set_rc_from_map(self, _map, timeout=20): map_copy = _map.copy() self.rc_queue.put(map_copy) if self.rc_thread is None: self.rc_thread = threading.Thread(target=self.rc_thread_main, name='RC') if self.rc_thread is None: raise NotAchievedException("Could not create thread") self.rc_thread.start() tstart = self.get_sim_time() while True: if tstart - self.get_sim_time_cached() > timeout: raise NotAchievedException("Failed to set RC values") m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=1) if m is None: continue bad_channels = "" for chan in map_copy: chan_pwm = getattr(m, "chan" + str(chan) + "_raw") if chan_pwm != map_copy[chan]: bad_channels += " (ch=%u want=%u got=%u)" % (chan, map_copy[chan], chan_pwm) break if len(bad_channels) == 0: break self.progress("RC values bad:%s" % bad_channels) if not self.rc_thread.is_alive(): self.rc_thread = None raise ValueError("RC thread is dead") # FIXME: type def rc_thread_main(self): chan16 = [1000] * 16 sitl_output = mavutil.mavudp("127.0.0.1:5501", input=False) buf = None while True: if self.rc_thread_should_quit: break # the 0.05 here means we're updating the RC values into # the autopilot at 20Hz - that's our 50Hz wallclock, , not # the autopilot's simulated 20Hz, so if speedup is 10 the # autopilot will see ~2Hz. try: map_copy = self.rc_queue.get(timeout=0.02) # 16 packed entries: for i in range(1, 17): if i in map_copy: chan16[i-1] = map_copy[i] except Queue.Empty: pass buf = struct.pack(' timeout: raise AutoTestTimeoutException("Failed to DISARM within %fs" % (timeout,)) if now - last_print_time > 1: self.progress("Waiting for disarm (%.2fs so far of allowed %.2f)" % (delta, timeout)) last_print_time = now self.wait_heartbeat(quiet=True) # self.progress("Got heartbeat") if not self.mav.motors_armed(): self.progress("DISARMED after %.2f seconds (allowed=%.2f)" % (delta, timeout)) return True def CPUFailsafe(self): '''Most vehicles just disarm on failsafe''' # customising the SITL commandline ensures the process will # get stopped/started at the end of the test if self.frame is None: raise ValueError("Frame is none?") self.customise_SITL_commandline([]) self.wait_ready_to_arm() self.arm_vehicle() self.progress("Sending enter-cpu-lockup") # when we're in CPU lockup we don't get SYSTEM_TIME messages, # so get_sim_time breaks: tstart = self.get_sim_time() self.send_cmd_enter_cpu_lockup() self.wait_disarmed(timeout=5, tstart=tstart) # we're not getting SYSTEM_TIME messages at this point.... and # we're in a weird state where the vehicle is armed but the # motors are not, and we can't disarm further because Copter # looks at whether its *motors* are armed as part of its # disarm process. self.reset_SITL_commandline() def cpufailsafe_wait_servo_channel_value(self, channel, value, timeout=30): '''we get restricted messages while doing cpufailsafe, this working then''' start = time.time() while True: if time.time() - start > timeout: raise NotAchievedException("Did not achieve value") m = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True, timeout=1) if m is None: raise NotAchievedException("Did not get SERVO_OUTPUT_RAW") channel_field = "servo%u_raw" % channel m_value = getattr(m, channel_field, None) self.progress("Servo%u=%u want=%u" % (channel, m_value, value)) if m_value == value: break def plane_CPUFailsafe(self): '''In lockup Plane should copy RC inputs to RC outputs''' # customising the SITL commandline ensures the process will # get stopped/started at the end of the test self.customise_SITL_commandline([]) self.wait_ready_to_arm() self.arm_vehicle() self.progress("Sending enter-cpu-lockup") # when we're in CPU lockup we don't get SYSTEM_TIME messages, # so get_sim_time breaks: self.send_cmd_enter_cpu_lockup() start_time = time.time() # not sim time! self.context_push() self.context_collect("STATUSTEXT") while True: want = "Initialising ArduPilot" if time.time() - start_time > 30: raise NotAchievedException("Did not get %s" % want) # we still need to parse the incoming messages: try: self.wait_statustext(want, timeout=0.1, check_context=True, wallclock_timeout=1) break except AutoTestTimeoutException: pass self.context_pop() # Different scaling for RC input and servo output means the # servo output value isn't the rc input value: self.progress("Setting RC to 1200") self.rc_queue.put({2: 1200}) self.progress("Waiting for servo of 1260") self.cpufailsafe_wait_servo_channel_value(2, 1260) self.rc_queue.put({2: 1700}) self.cpufailsafe_wait_servo_channel_value(2, 1660) self.reset_SITL_commandline() def mavproxy_arm_vehicle(self): """Arm vehicle with mavlink arm message send from MAVProxy.""" self.progress("Arm motors with MavProxy") self.mavproxy.send('arm throttle\n') self.mav.motors_armed_wait() self.progress("ARMED") return True def mavproxy_disarm_vehicle(self): """Disarm vehicle with mavlink disarm message send from MAVProxy.""" self.progress("Disarm motors with MavProxy") self.mavproxy.send('disarm\n') self.wait_disarmed() return True def arm_motors_with_rc_input(self, timeout=20): """Arm motors with radio.""" self.progress("Arm motors with radio") self.set_output_to_max(self.get_stick_arming_channel()) tstart = self.get_sim_time() while True: self.wait_heartbeat() tdelta = self.get_sim_time_cached() - tstart if self.mav.motors_armed(): self.progress("MOTORS ARMED OK WITH RADIO") self.set_output_to_trim(self.get_stick_arming_channel()) self.progress("Arm in %ss" % tdelta) # TODO check arming time return True print("Not armed after %f seconds" % (tdelta)) if tdelta > timeout: break self.progress("Failed to ARM with radio") self.set_output_to_trim(self.get_stick_arming_channel()) return False def disarm_motors_with_rc_input(self, timeout=20, watch_for_disabled=False): """Disarm motors with radio.""" self.progress("Disarm motors with radio") self.do_timesync_roundtrip() self.context_push() self.context_collect('STATUSTEXT') self.set_output_to_min(self.get_stick_arming_channel()) tstart = self.get_sim_time() ret = False while self.get_sim_time_cached() < tstart + timeout: self.wait_heartbeat() if not self.mav.motors_armed(): disarm_delay = self.get_sim_time_cached() - tstart self.progress("MOTORS DISARMED OK WITH RADIO (in %ss)" % disarm_delay) ret = True break if self.statustext_in_collections("Rudder disarm: disabled"): self.progress("Found 'Rudder disarm: disabled' in statustext") break self.context_clear_collection('STATUSTEXT') if not ret: self.progress("Failed to DISARM with RC input") self.set_output_to_trim(self.get_stick_arming_channel()) self.context_pop() return ret def arm_motors_with_switch(self, switch_chan, timeout=20): """Arm motors with switch.""" self.progress("Arm motors with switch %d" % switch_chan) self.set_rc(switch_chan, 2000) tstart = self.get_sim_time() while self.get_sim_time_cached() - tstart < timeout: self.wait_heartbeat() if self.mav.motors_armed(): self.progress("MOTORS ARMED OK WITH SWITCH") return True self.progress("Failed to ARM with switch") return False def disarm_motors_with_switch(self, switch_chan, timeout=20): """Disarm motors with switch.""" self.progress("Disarm motors with switch %d" % switch_chan) self.set_rc(switch_chan, 1000) tstart = self.get_sim_time() while self.get_sim_time_cached() < tstart + timeout: self.wait_heartbeat() if not self.mav.motors_armed(): self.progress("MOTORS DISARMED OK WITH SWITCH") return True self.progress("Failed to DISARM with switch") return False def disarm_wait(self, timeout=10): tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Did not disarm") self.wait_heartbeat() if not self.mav.motors_armed(): return def wait_autodisarm_motors(self): """Wait for Autodisarm motors within disarm delay this feature is only available in copter (DISARM_DELAY) and plane (LAND_DISARMDELAY).""" self.progress("Wait autodisarming motors") disarm_delay = self.get_disarm_delay() tstart = self.get_sim_time() timeout = disarm_delay * 2 while self.get_sim_time_cached() < tstart + timeout: self.wait_heartbeat() if not self.mav.motors_armed(): disarm_time = self.get_sim_time_cached() - tstart self.progress("MOTORS AUTODISARMED") self.progress("Autodisarm in %ss, expect less than %ss" % (disarm_time, disarm_delay)) return disarm_time <= disarm_delay raise AutoTestTimeoutException("Failed to AUTODISARM") def set_autodisarm_delay(self, delay): """Set autodisarm delay""" raise ErrorException("Auto disarm is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame)) @staticmethod def should_fetch_all_for_parameter_change(param_name): return False # FIXME: if we allow MAVProxy then allow this if fnmatch.fnmatch(param_name, "*_ENABLE") or fnmatch.fnmatch(param_name, "*_ENABLED"): return True if param_name in ["ARSPD_TYPE", "ARSPD2_TYPE", "BATT2_MONITOR", "CAN_DRIVER", "COMPASS_PMOT_EN", "OSD_TYPE", "RSSI_TYPE", "WENC_TYPE"]: return True return False def send_set_parameter_direct(self, name, value): self.mav.mav.param_set_send(self.sysid_thismav(), 1, name.encode('ascii'), value, mavutil.mavlink.MAV_PARAM_TYPE_REAL32) def send_set_parameter_mavproxy(self, name, value): self.mavproxy.send("param set %s %s\n" % (name, str(value))) def send_set_parameter(self, name, value, verbose=False): if verbose: self.progress("Send set param for (%s) (%f)" % (name, value)) return self.send_set_parameter_direct(name, value) def set_parameter(self, name, value, **kwargs): self.set_parameters({name: value}, **kwargs) def set_parameters(self, parameters, add_to_context=True, epsilon_pct=0.00001, retries=None, verbose=True): """Set parameters from vehicle.""" want = copy.copy(parameters) self.progress("set_parameters: (%s)" % str(want)) self.drain_mav() if len(want) == 0: return if retries is None: # we can easily fill ArduPilot's param-set/param-get queue # which is quite short. So we retry *a lot*. retries = (len(want)+1) * 5 param_value_messages = [] def add_param_value(mav, m): t = m.get_type() if t != "PARAM_VALUE": return param_value_messages.append(m) self.install_message_hook(add_param_value) original_values = {} autopilot_values = {} for i in range(retries): self.drain_mav(quiet=True) received = set() for (name, value) in want.items(): # self.progress("%s want=%f autopilot=%s" % (name, value, autopilot_values.get(name, 'None'))) if name not in autopilot_values: self.send_get_parameter_direct(name) # self.progress("Requesting (%s) (retry=%u)" % (name, i)) continue delta = abs(autopilot_values[name] - value) if delta <= epsilon_pct*0.01*abs(value): # correct value self.progress("%s is now %f" % (name, autopilot_values[name])) if add_to_context: context_param_name_list = [p[0] for p in self.context_get().parameters] if name.upper() not in context_param_name_list: self.context_get().parameters.append((name, original_values[name])) received.add(name) continue self.progress("Sending set (%s) to (%f) (old=%f)" % (name, value, original_values[name])) self.send_set_parameter_direct(name, value) for name in received: del want[name] if len(want): # problem here is that a reboot can happen after we # send the request but before we receive the reply: try: self.do_timesync_roundtrip(quiet=True) except AutoTestTimeoutException: pass # now = self.get_sim_time_cached() # if tstart > now: # self.progress("Time wrap detected") # else: # raise # do_fetch_all = False for m in param_value_messages: if m.param_id in want: self.progress("Received wanted PARAM_VALUE %s=%f" % (str(m.param_id), m.param_value)) autopilot_values[m.param_id] = m.param_value if m.param_id not in original_values: original_values[m.param_id] = m.param_value # if (self.should_fetch_all_for_parameter_change(m.param_id.upper()) and # m.param_value != 0): # do_fetch_all = True param_value_messages = [] # if do_fetch_all: # self.do_fetch_all() self.remove_message_hook(add_param_value) if len(want) == 0: return raise ValueError("Failed to set parameters (%s)" % want) def get_parameter(self, *args, **kwargs): return self.get_parameter_direct(*args, **kwargs) def send_get_parameter_direct(self, name): encname = name if sys.version_info.major >= 3 and type(encname) != bytes: encname = bytes(encname, 'ascii') self.mav.mav.param_request_read_send(self.sysid_thismav(), 1, encname, -1) def get_parameter_direct(self, name, attempts=1, timeout=60, verbose=True, timeout_in_wallclock=False): while attempts > 0: attempts -= 1 if verbose: self.progress("Sending param_request_read for (%s)" % name) # we MUST parse here or collections fail where we need # them to work! self.drain_mav(quiet=True) if timeout_in_wallclock: tstart = time.time() else: tstart = self.get_sim_time() self.send_get_parameter_direct(name) while True: if timeout_in_wallclock: now = time.time() else: now = self.get_sim_time_cached() if tstart > now: self.progress("Time wrap detected") # we're going to have to send another request... break delta_time = now - tstart if delta_time > timeout: break m = self.mav.recv_match(type='PARAM_VALUE', blocking=True, timeout=0.1) if verbose: self.progress("get_parameter(%s): %s" % (name, str(m), )) if m is None: continue if m.param_id == name: if delta_time > 5: self.progress("Long time to get parameter: %fs" % (delta_time,)) return m.param_value if verbose: self.progress("(%s) != (%s)" % (m.param_id, name,)) raise NotAchievedException("Failed to retrieve parameter (%s)" % name) def get_parameter_mavproxy(self, name, attempts=1, timeout=60): """Get parameters from vehicle.""" for i in range(0, attempts): self.mavproxy.send("param fetch %s\n" % name) try: self.mavproxy.expect("%s = ([-0-9.]*)\r\n" % (name,), timeout=timeout/attempts) try: # sometimes race conditions garble the MAVProxy output ret = float(self.mavproxy.match.group(1)) except ValueError: continue return ret except pexpect.TIMEOUT: pass raise NotAchievedException("Failed to retrieve parameter (%s)" % name) def context_get(self): """Get Saved parameters.""" return self.contexts[-1] def context_push(self): """Save a copy of the parameters.""" context = Context() self.contexts.append(context) # add a message hook so we can collect messages conveniently: def mh(mav, m): t = m.get_type() if t in context.collections: context.collections[t].append(m) self.install_message_hook_context(mh) def context_collect(self, msg_type): '''start collecting messages of type msg_type into context collection''' context = self.context_get() if msg_type in context.collections: return context.collections[msg_type] = [] def context_clear_collection(self, msg_type): '''clear collection of message type msg_type''' context = self.context_get() if msg_type not in context.collections: raise NotAchievedException("Not collecting (%s)" % str(msg_type)) context.collections[msg_type] = [] def context_stop_collecting(self, msg_type): '''stop collecting messages of type msg_type in context collection. Returns the collected messages''' context = self.context_get() if msg_type not in context.collections: raise Exception("Not collecting %s" % str(msg_type)) ret = context.collections[msg_type] del context.collections[msg_type] return ret def context_pop(self): """Set parameters to origin values in reverse order.""" dead = self.contexts.pop() dead_parameters_dict = {} for p in dead.parameters: dead_parameters_dict[p[0]] = p[1] self.set_parameters(dead_parameters_dict, add_to_context=False) for hook in dead.message_hooks: self.remove_message_hook(hook) class Context(object): def __init__(self, testsuite): self.testsuite = testsuite def __enter__(self): self.testsuite.context_push() def __exit__(self, type, value, traceback): self.testsuite.context_pop() return False # re-raise any exception def sysid_thismav(self): return 1 def run_cmd_int(self, command, p1, p2, p3, p4, x, y, z, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED, timeout=10, target_sysid=None, target_compid=None, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_INT): if target_sysid is None: target_sysid = self.sysid_thismav() if target_compid is None: target_compid = 1 self.get_sim_time() # required for timeout in run_cmd_get_ack to work """Send a MAVLink command int.""" self.mav.mav.command_int_send(target_sysid, target_compid, frame, command, 0, # current 0, # autocontinue p1, p2, p3, p4, x, y, z) self.run_cmd_get_ack(command, want_result, timeout) def send_cmd(self, command, p1, p2, p3, p4, p5, p6, p7, target_sysid=None, target_compid=None, ): """Send a MAVLink command long.""" if target_sysid is None: target_sysid = self.sysid_thismav() if target_compid is None: target_compid = 1 try: command_name = mavutil.mavlink.enums["MAV_CMD"][command].name except KeyError: command_name = "UNKNOWN=%u" % command self.progress("Sending COMMAND_LONG to (%u,%u) (%s) (p1=%f p2=%f p3=%f p4=%f p5=%f p6=%f p7=%f)" % ( target_sysid, target_compid, command_name, p1, p2, p3, p4, p5, p6, p7)) self.mav.mav.command_long_send(target_sysid, target_compid, command, 1, # confirmation p1, p2, p3, p4, p5, p6, p7) def run_cmd(self, command, p1, p2, p3, p4, p5, p6, p7, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED, target_sysid=None, target_compid=None, timeout=10, quiet=False): self.drain_mav_unparsed() self.get_sim_time() # required for timeout in run_cmd_get_ack to work self.send_cmd( command, p1, p2, p3, p4, p5, p6, p7, target_sysid=target_sysid, target_compid=target_compid, ) self.run_cmd_get_ack(command, want_result, timeout, quiet=quiet) def run_cmd_get_ack(self, command, want_result, timeout, quiet=False): # note that the caller should ensure that this cached # timestamp is reasonably up-to-date! tstart = self.get_sim_time_cached() while True: delta_time = self.get_sim_time_cached() - tstart if delta_time > timeout: raise AutoTestTimeoutException("Did not get good COMMAND_ACK within %fs" % timeout) m = self.mav.recv_match(type='COMMAND_ACK', blocking=True, timeout=0.1) if m is None: continue if not quiet: self.progress("ACK received: %s (%fs)" % (str(m), delta_time)) if m.command == command: if m.result != want_result: raise ValueError("Expected %s got %s" % ( mavutil.mavlink.enums["MAV_RESULT"][want_result].name, mavutil.mavlink.enums["MAV_RESULT"][m.result].name)) break def set_current_waypoint_using_mission_set_current(self, seq, target_sysid=1, target_compid=1): self.mav.mav.mission_set_current_send(target_sysid, target_compid, seq) self.wait_current_waypoint(seq, timeout=10) def set_current_waypoint(self, seq, target_sysid=1, target_compid=1): return self.set_current_waypoint_using_mission_set_current(seq, target_sysid, target_compid) def verify_parameter_values(self, parameter_stuff, max_delta=0.0): bad = "" for param in parameter_stuff: fetched_value = self.get_parameter(param) wanted_value = parameter_stuff[param] if type(wanted_value) == tuple: max_delta = wanted_value[1] wanted_value = wanted_value[0] if abs(fetched_value - wanted_value) > max_delta: bad += "%s=%f (want=%f +/-%f) " % (param, fetched_value, wanted_value, max_delta) if len(bad): raise NotAchievedException("Bad parameter values: %s" % (bad,)) ################################################# # UTILITIES ################################################# @staticmethod def longitude_scale(lat): ret = math.cos(lat * (math.radians(1))) print("scale=%f" % ret) return ret @staticmethod def get_distance(loc1, loc2): """Get ground distance between two locations.""" return AutoTest.get_distance_accurate(loc1, loc2) # dlat = loc2.lat - loc1.lat # try: # dlong = loc2.lng - loc1.lng # except AttributeError: # dlong = loc2.lon - loc1.lon # return math.sqrt((dlat*dlat) + (dlong*dlong)*AutoTest.longitude_scale(loc2.lat)) * 1.113195e5 @staticmethod def get_distance_accurate(loc1, loc2): """Get ground distance between two locations.""" try: lon1 = loc1.lng lon2 = loc2.lng except AttributeError: lon1 = loc1.lon lon2 = loc2.lon return mp_util.gps_distance(loc1.lat, lon1, loc2.lat, lon2) @staticmethod def get_latlon_attr(loc, attrs): '''return any found latitude attribute from loc''' ret = None for attr in attrs: if hasattr(loc, attr): ret = getattr(loc, attr) break if ret is None: raise ValueError("None of %s in loc(%s)" % (str(attrs), str(loc))) return ret @staticmethod def get_lat_attr(loc): '''return any found latitude attribute from loc''' return AutoTest.get_latlon_attr(loc, ["lat", "latitude"]) @staticmethod def get_lon_attr(loc): '''return any found latitude attribute from loc''' return AutoTest.get_latlon_attr(loc, ["lng", "lon", "longitude"]) @staticmethod def get_distance_int(loc1, loc2): """Get ground distance between two locations in the normal "int" form - lat/lon multiplied by 1e7""" loc1_lat = AutoTest.get_lat_attr(loc1) loc2_lat = AutoTest.get_lat_attr(loc2) loc1_lon = AutoTest.get_lon_attr(loc1) loc2_lon = AutoTest.get_lon_attr(loc2) return AutoTest.get_distance_accurate( mavutil.location(loc1_lat*1e-7, loc1_lon*1e-7), mavutil.location(loc2_lat*1e-7, loc2_lon*1e-7)) # dlat = loc2_lat - loc1_lat # dlong = loc2_lon - loc1_lon # # dlat /= 10000000.0 # dlong /= 10000000.0 # # return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5 @staticmethod def get_bearing(loc1, loc2): """Get bearing from loc1 to loc2.""" off_x = loc2.lng - loc1.lng off_y = loc2.lat - loc1.lat bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795 if bearing < 0: bearing += 360.00 return bearing def send_cmd_do_set_mode(self, mode): self.send_cmd( mavutil.mavlink.MAV_CMD_DO_SET_MODE, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, self.get_mode_from_mode_mapping(mode), 0, 0, 0, 0, 0 ) def change_mode(self, mode, timeout=60): '''change vehicle flightmode''' self.wait_heartbeat() self.progress("Changing mode to %s" % mode) self.send_cmd_do_set_mode(mode) tstart = self.get_sim_time() while not self.mode_is(mode): custom_num = self.mav.messages['HEARTBEAT'].custom_mode self.progress("mav.flightmode=%s Want=%s custom=%u" % ( self.mav.flightmode, mode, custom_num)) if (timeout is not None and self.get_sim_time_cached() > tstart + timeout): raise WaitModeTimeout("Did not change mode") self.send_cmd_do_set_mode(mode) self.progress("Got mode %s" % mode) def capable(self, capability): return self.get_autopilot_capabilities() & capability def assert_capability(self, capability): if not self.capable(capability): name = mavutil.mavlink.enums["MAV_PROTOCOL_CAPABILITY"][capability].name raise NotAchievedException("AutoPilot does not have capbility %s" % (name,)) def assert_no_capability(self, capability): if self.capable(capability): name = mavutil.mavlink.enums["MAV_PROTOCOL_CAPABILITY"][capability].name raise NotAchievedException("AutoPilot has feature %s (when it shouln't)" % (name,)) def get_autopilot_capabilities(self): # Cannot use run_cmd otherwise the respond is lost during the wait for ACK self.mav.mav.command_long_send(self.sysid_thismav(), 1, mavutil.mavlink.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES, 0, # confirmation 1, # 1: Request autopilot version 0, 0, 0, 0, 0, 0) m = self.mav.recv_match(type='AUTOPILOT_VERSION', blocking=True, timeout=10) if m is None: raise NotAchievedException("Did not get AUTOPILOT_VERSION") return m.capabilities def test_get_autopilot_capabilities(self): self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT) self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION) def get_mode_from_mode_mapping(self, mode): """Validate and return the mode number from a string or int.""" mode_map = self.mav.mode_mapping() if mode_map is None: mav_type = self.mav.messages['HEARTBEAT'].type mav_autopilot = self.mav.messages['HEARTBEAT'].autopilot raise ErrorException("No mode map for (mav_type=%s mav_autopilot=%s)" % (mav_type, mav_autopilot)) if isinstance(mode, str): if mode in mode_map: return mode_map.get(mode) if mode in mode_map.values(): return mode self.progress("Available modes '%s'" % mode_map) raise ErrorException("Unknown mode '%s'" % mode) def run_cmd_do_set_mode(self, mode, timeout=30, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED): base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED custom_mode = self.get_mode_from_mode_mapping(mode) self.run_cmd( mavutil.mavlink.MAV_CMD_DO_SET_MODE, base_mode, custom_mode, 0, 0, 0, 0, 0, want_result=want_result, timeout=timeout ) def do_set_mode_via_command_long(self, mode, timeout=30): """Set mode with a command long message.""" tstart = self.get_sim_time() want_custom_mode = self.get_mode_from_mode_mapping(mode) while True: remaining = timeout - (self.get_sim_time_cached() - tstart) if remaining <= 0: raise AutoTestTimeoutException("Failed to change mode") self.run_cmd_do_set_mode(mode, timeout=10) m = self.mav.recv_match(type='HEARTBEAT', blocking=True, timeout=5) if m is None: raise ErrorException("Heartbeat not received") self.progress("Got mode=%u want=%u" % (m.custom_mode, want_custom_mode)) if m.custom_mode == want_custom_mode: return def mavproxy_do_set_mode_via_command_long(self, mode, timeout=30): """Set mode with a command long message with Mavproxy.""" base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED custom_mode = self.get_mode_from_mode_mapping(mode) tstart = self.get_sim_time() while True: remaining = timeout - (self.get_sim_time_cached() - tstart) if remaining <= 0: raise AutoTestTimeoutException("Failed to change mode") self.mavproxy.send("long DO_SET_MODE %u %u\n" % (base_mode, custom_mode)) m = self.mav.recv_match(type='HEARTBEAT', blocking=True, timeout=5) if m is None: raise ErrorException("Did not receive heartbeat") if m.custom_mode == custom_mode: return True def reach_heading_manual(self, heading, turn_right=True): """Manually direct the vehicle to the target heading.""" if self.is_copter() or self.is_sub(): self.set_rc(4, 1580) self.wait_heading(heading) self.set_rc(4, 1500) if self.is_plane(): self.progress("NOT IMPLEMENTED") if self.is_rover(): steering_pwm = 1700 if not turn_right: steering_pwm = 1300 self.set_rc(1, steering_pwm) self.set_rc(3, 1550) self.wait_heading(heading) self.set_rc(3, 1500) self.set_rc(1, 1500) def assert_vehicle_location_is_at_startup_location(self, dist_max=1): here = self.mav.location() start_loc = self.sitl_start_location() dist = self.get_distance(here, start_loc) data = "dist=%f max=%f (here: %s start-loc: %s)" % (dist, dist_max, here, start_loc) if dist > dist_max: raise NotAchievedException("Far from startup location: %s" % data) self.progress("Close to startup location: %s" % data) def assert_simstate_location_is_at_startup_location(self, dist_max=1): simstate_loc = self.sim_location() start_loc = self.sitl_start_location() dist = self.get_distance(simstate_loc, start_loc) data = "dist=%f max=%f (simstate: %s start-loc: %s)" % (dist, dist_max, simstate_loc, start_loc) if dist > dist_max: raise NotAchievedException("simstate from startup location: %s" % data) self.progress("Simstate Close to startup location: %s" % data) def reach_distance_manual(self, distance): """Manually direct the vehicle to the target distance from home.""" if self.is_copter(): self.set_rc(2, 1350) self.wait_distance(distance, accuracy=5, timeout=60) self.set_rc(2, 1500) if self.is_plane(): self.progress("NOT IMPLEMENTED") if self.is_rover(): self.set_rc(3, 1700) self.wait_distance(distance, accuracy=2) self.set_rc(3, 1500) def guided_achieve_heading(self, heading): tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 200: raise NotAchievedException("Did not achieve heading") self.run_cmd( mavutil.mavlink.MAV_CMD_CONDITION_YAW, heading, # target angle 10, # degrees/second 1, # -1 is counter-clockwise, 1 clockwise 0, # 1 for relative, 0 for absolute 0, # p5 0, # p6 0, # p7 ) m = self.mav.recv_match(type='VFR_HUD', blocking=True) self.progress("heading=%d want=%d" % (m.heading, int(heading))) if m.heading == int(heading): return def do_set_relay(self, relay_num, on_off, timeout=10): """Set relay with a command long message.""" self.progress("Set relay %d to %d" % (relay_num, on_off)) self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, relay_num, on_off, 0, 0, 0, 0, 0, timeout=timeout) def do_set_relay_mavproxy(self, relay_num, on_off): """Set relay with mavproxy.""" self.progress("Set relay %d to %d" % (relay_num, on_off)) self.mavproxy.send('module load relay\n') self.mavproxy.expect("Loaded module relay") self.mavproxy.send("relay set %d %d\n" % (relay_num, on_off)) ################################################# # WAIT UTILITIES ################################################# def delay_sim_time(self, seconds_to_wait): """Wait some second in SITL time.""" self.drain_mav_unparsed() tstart = self.get_sim_time() tnow = tstart self.progress("Delaying %f seconds" % (seconds_to_wait,)) while tstart + seconds_to_wait > tnow: tnow = self.get_sim_time() def get_altitude(self, relative=False, timeout=30): '''returns vehicles altitude in metres, possibly relative-to-home''' msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=timeout) if msg is None: raise MsgRcvTimeoutException("Failed to get Global Position") if relative: return msg.relative_alt / 1000.0 # mm -> m return msg.alt / 1000.0 # mm -> m def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=30, **kwargs): """Wait for a given altitude range.""" assert altitude_min <= altitude_max, "Minimum altitude should be less than maximum altitude." def validator(value2, target2=None): if altitude_min <= value2 <= altitude_max: return True else: return False self.wait_and_maintain( value_name="Altitude", target=altitude_min, current_value_getter=lambda: self.get_altitude( relative=relative, timeout=timeout, ), accuracy=(altitude_max - altitude_min), validator=lambda value2, target2: validator(value2, target2), timeout=timeout, **kwargs ) def wait_groundspeed(self, speed_min, speed_max, timeout=30, **kwargs): """Wait for a given ground speed range.""" assert speed_min <= speed_max, "Minimum speed should be less than maximum speed." def get_groundspeed(timeout2): msg = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=timeout2) if msg: return msg.groundspeed raise MsgRcvTimeoutException("Failed to get Groundspeed") def validator(value2, target2=None): if speed_min <= value2 <= speed_max: return True else: return False self.wait_and_maintain( value_name="Groundspeed", target=speed_min, current_value_getter=lambda: get_groundspeed(timeout), accuracy=(speed_max - speed_min), validator=lambda value2, target2: validator(value2, target2), timeout=timeout, **kwargs ) def wait_roll(self, roll, accuracy, timeout=30, **kwargs): """Wait for a given roll in degrees.""" def get_roll(timeout2): msg = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=timeout2) if msg: p = math.degrees(msg.pitch) r = math.degrees(msg.roll) self.progress("Roll %d Pitch %d" % (r, p)) return r raise MsgRcvTimeoutException("Failed to get Roll") def validator(value2, target2): return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy self.wait_and_maintain( value_name="Roll", target=roll, current_value_getter=lambda: get_roll(timeout), validator=lambda value2, target2: validator(value2, target2), accuracy=accuracy, timeout=timeout, **kwargs ) def wait_pitch(self, pitch, accuracy, timeout=30, **kwargs): """Wait for a given pitch in degrees.""" def get_pitch(timeout2): msg = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=timeout2) if msg: p = math.degrees(msg.pitch) r = math.degrees(msg.roll) self.progress("Pitch %d Roll %d" % (p, r)) return p raise MsgRcvTimeoutException("Failed to get Pitch") def validator(value2, target2): return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy self.wait_and_maintain( value_name="Pitch", target=pitch, current_value_getter=lambda: get_pitch(timeout), validator=lambda value2, target2: validator(value2, target2), accuracy=accuracy, timeout=timeout, **kwargs ) def wait_and_maintain(self, value_name, target, current_value_getter, validator=None, accuracy=2.0, timeout=30, **kwargs): tstart = self.get_sim_time() achieving_duration_start = None if type(target) is Vector3: sum_of_achieved_values = Vector3() last_value = Vector3() else: sum_of_achieved_values = 0.0 last_value = 0.0 count_of_achieved_values = 0 called_function = kwargs.get("called_function", None) minimum_duration = kwargs.get("minimum_duration", 0) if type(target) is Vector3: self.progress("Waiting for %s=(%s) with accuracy %.02f" % (value_name, str(target), accuracy)) else: self.progress("Waiting for %s=%.02f with accuracy %.02f" % (value_name, target, accuracy)) last_print_time = 0 while self.get_sim_time_cached() < tstart + timeout: # if we failed to received message with the getter the sim time isn't updated # noqa last_value = current_value_getter() if called_function is not None: called_function(last_value, target) if self.get_sim_time_cached() - last_print_time > 1: if type(target) is Vector3: self.progress("%s=(%s) (want (%s) +- %f)" % (value_name, str(last_value), str(target), accuracy)) else: self.progress("%s=%0.2f (want %f +- %f)" % (value_name, last_value, target, accuracy)) last_print_time = self.get_sim_time_cached() if validator is not None: is_value_valid = validator(last_value, target) else: is_value_valid = math.fabs(last_value - target) <= accuracy if is_value_valid: sum_of_achieved_values += last_value count_of_achieved_values += 1.0 if achieving_duration_start is None: achieving_duration_start = self.get_sim_time_cached() if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration: if type(target) is Vector3: self.progress("Attained %s=%s" % ( value_name, str(sum_of_achieved_values * (1.0 / count_of_achieved_values)))) else: self.progress("Attained %s=%f" % (value_name, sum_of_achieved_values / count_of_achieved_values)) return True else: achieving_duration_start = None if type(target) is Vector3: sum_of_achieved_values.zero() else: sum_of_achieved_values = 0.0 count_of_achieved_values = 0 raise AutoTestTimeoutException( "Failed to attain %s want %s, reached %s" % (value_name, str(target), str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value))) def wait_heading(self, heading, accuracy=5, timeout=30, **kwargs): """Wait for a given heading.""" def get_heading_wrapped(timeout2): msg = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=timeout2) if msg: return msg.heading raise MsgRcvTimeoutException("Failed to get heading") def validator(value2, target2): return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy self.wait_and_maintain( value_name="Heading", target=heading, current_value_getter=lambda: get_heading_wrapped(timeout), validator=lambda value2, target2: validator(value2, target2), accuracy=accuracy, timeout=timeout, **kwargs ) def wait_yaw_speed(self, yaw_speed, accuracy=0.1, timeout=30, **kwargs): """Wait for a given yaw speed in radians per second.""" def get_yawspeed(timeout2): msg = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=timeout2) if msg: return msg.yawspeed raise MsgRcvTimeoutException("Failed to get yaw speed") def validator(value2, target2): return math.fabs(value2 - target2) <= accuracy self.wait_and_maintain( value_name="YawSpeed", target=yaw_speed, current_value_getter=lambda: get_yawspeed(timeout), validator=lambda value2, target2: validator(value2, target2), accuracy=accuracy, timeout=timeout, **kwargs ) def wait_speed_vector(self, speed_vector, accuracy=0.2, timeout=30, **kwargs): """Wait for a given speed vector.""" def get_speed_vector(timeout2): msg = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True, timeout=timeout2) if msg: return Vector3(msg.vx, msg.vy, msg.vz) raise MsgRcvTimeoutException("Failed to get local speed vector") def validator(value2, target2): return (math.fabs(value2.x - target2.x) <= accuracy and math.fabs(value2.y - target2.y) <= accuracy and math.fabs(value2.z - target2.z) <= accuracy) self.wait_and_maintain( value_name="SpeedVector", target=speed_vector, current_value_getter=lambda: get_speed_vector(timeout), validator=lambda value2, target2: validator(value2, target2), accuracy=accuracy, timeout=timeout, **kwargs ) def get_body_frame_velocity(self): gri = self.mav.recv_match(type='GPS_RAW_INT', blocking=True, timeout=1) if gri is None: raise NotAchievedException("No GPS_RAW_INT") att = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=1) if att is None: raise NotAchievedException("No ATTITUDE") return mavextra.gps_velocity_body(gri, att) def wait_speed_vector_bf(self, speed_vector, accuracy=0.2, timeout=30, **kwargs): """Wait for a given speed vector.""" def get_speed_vector(timeout2): return self.get_body_frame_velocity() def validator(value2, target2): return (math.fabs(value2.x - target2.x) <= accuracy and math.fabs(value2.y - target2.y) <= accuracy and math.fabs(value2.z - target2.z) <= accuracy) self.wait_and_maintain( value_name="SpeedVectorBF", target=speed_vector, current_value_getter=lambda: get_speed_vector(timeout), validator=lambda value2, target2: validator(value2, target2), accuracy=accuracy, timeout=timeout, **kwargs ) def wait_distance(self, distance, accuracy=2, timeout=30, **kwargs): """Wait for flight of a given distance.""" start = self.mav.location() def get_distance(): return self.get_distance(start, self.mav.location()) def validator(value2, target2): return math.fabs(value2 - target2) <= accuracy self.wait_and_maintain( value_name="Distance", target=distance, current_value_getter=lambda: get_distance(), validator=lambda value2, target2: validator(value2, target2), accuracy=accuracy, timeout=timeout, **kwargs ) def wait_distance_to_location(self, location, distance_min, distance_max, timeout=30, **kwargs): """Wait for flight of a given distance.""" assert distance_min <= distance_max, "Distance min should be less than distance max." def get_distance(): return self.get_distance(location, self.mav.location()) def validator(value2, target2=None): return distance_min <= value2 <= distance_max self.wait_and_maintain( value_name="Distance", target=distance_min, current_value_getter=lambda: get_distance(), validator=lambda value2, target2: validator(value2, target2), accuracy=(distance_max - distance_min), timeout=timeout, **kwargs ) def wait_distance_to_home(self, distance_min, distance_max, timeout=10, use_cached_home=True, **kwargs): """Wait for distance to home to be within specified bounds.""" assert distance_min <= distance_max, "Distance min should be less than distance max." def get_distance(): return self.distance_to_home(use_cached_home) def validator(value2, target2=None): return distance_min <= value2 <= distance_max self.wait_and_maintain( value_name="Distance to home", target=distance_min, current_value_getter=lambda: get_distance(), validator=lambda value2, target2: validator(value2, target2), accuracy=(distance_max - distance_min), timeout=timeout, **kwargs ) def wait_distance_to_nav_target(self, distance_min, distance_max, timeout=10, use_cached_nav_controller_output=False, **kwargs): """Wait for distance to home to be within specified bounds.""" assert distance_min <= distance_max, "Distance min should be less than distance max." def get_distance(): return self.distance_to_nav_target(use_cached_nav_controller_output) def validator(value2, target2=None): return distance_min <= value2 <= distance_max self.wait_and_maintain( value_name="Distance to nav target", target=distance_min, current_value_getter=lambda: get_distance(), validator=lambda value2, target2: validator(value2, target2), accuracy=(distance_max - distance_min), timeout=timeout, **kwargs ) def wait_servo_channel_value(self, channel, value, timeout=2, comparator=operator.eq): """wait for channel value comparison (default condition is equality)""" channel_field = "servo%u_raw" % channel opstring = ("%s" % comparator)[-3:-1] tstart = self.get_sim_time() while True: remaining = timeout - (self.get_sim_time_cached() - tstart) if remaining <= 0: raise NotAchievedException("Channel value condition not met") m = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True, timeout=remaining) if m is None: continue m_value = getattr(m, channel_field, None) if m_value is None: raise ValueError("message (%s) has no field %s" % (str(m), channel_field)) self.progress("want SERVO_OUTPUT_RAW.%s=%u %s %u" % (channel_field, m_value, opstring, value)) if comparator(m_value, value): return m_value def get_rc_channel_value(self, channel, timeout=2): """wait for channel to hit value""" channel_field = "chan%u_raw" % channel tstart = self.get_sim_time() while True: remaining = timeout - (self.get_sim_time_cached() - tstart) if remaining <= 0: raise NotAchievedException("Channel never achieved value") m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=remaining) if m is None: continue m_value = getattr(m, channel_field) if m_value is None: raise ValueError("message (%s) has no field %s" % (str(m), channel_field)) return m_value def wait_rc_channel_value(self, channel, value, timeout=2): channel_field = "chan%u_raw" % channel tstart = self.get_sim_time() while True: remaining = timeout - (self.get_sim_time_cached() - tstart) if remaining <= 0: raise NotAchievedException("Channel never achieved value") m_value = self.get_rc_channel_value(channel, timeout=timeout) self.progress("RC_CHANNELS.%s=%u want=%u" % (channel_field, m_value, value)) if value == m_value: return def wait_location(self, loc, accuracy=5.0, timeout=30, target_altitude=None, height_accuracy=-1, **kwargs): """Wait for arrival at a location.""" def get_distance_to_loc(): return self.get_distance(self.mav.location(), loc) def validator(value2, empty=None): if value2 <= accuracy: if target_altitude is not None: height_delta = math.fabs(self.mav.location().alt - target_altitude) if height_accuracy != -1 and height_delta > height_accuracy: return False return True else: return False debug_text = "Distance to Location (%.4f, %.4f) " % (loc.lat, loc.lng) if target_altitude is not None: debug_text += ",at altitude %.1f height_accuracy=%.1f, d" % (target_altitude, height_accuracy) self.wait_and_maintain( value_name=debug_text, target=0, current_value_getter=lambda: get_distance_to_loc(), accuracy=accuracy, validator=lambda value2, target2: validator(value2, None), timeout=timeout, **kwargs ) def wait_current_waypoint(self, wpnum, timeout=60): tstart = self.get_sim_time() while self.get_sim_time() < tstart + timeout: seq = self.mav.waypoint_current() self.progress("Waiting for wp=%u current=%u" % (wpnum, seq)) if seq == wpnum: break def wait_waypoint(self, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, timeout=400): """Wait for waypoint ranges.""" tstart = self.get_sim_time() # this message arrives after we set the current WP start_wp = self.mav.waypoint_current() current_wp = start_wp mode = self.mav.flightmode self.progress("wait for waypoint ranges start=%u end=%u" % (wpnum_start, wpnum_end)) # if start_wp != wpnum_start: # raise WaitWaypointTimeout("test: Expected start waypoint %u " # "but got %u" % # (wpnum_start, start_wp)) last_wp_msg = 0 while self.get_sim_time_cached() < tstart + timeout: seq = self.mav.waypoint_current() m = self.mav.recv_match(type='NAV_CONTROLLER_OUTPUT', blocking=True) wp_dist = m.wp_dist m = self.mav.recv_match(type='VFR_HUD', blocking=True) # if we changed mode, fail if self.mav.flightmode != mode: raise WaitWaypointTimeout('Exited %s mode' % mode) if self.get_sim_time_cached() - last_wp_msg > 1: self.progress("WP %u (wp_dist=%u Alt=%.02f), current_wp: %u," "wpnum_end: %u" % (seq, wp_dist, m.alt, current_wp, wpnum_end)) last_wp_msg = self.get_sim_time_cached() if seq == current_wp+1 or (seq > current_wp+1 and allow_skip): self.progress("test: Starting new waypoint %u" % seq) tstart = self.get_sim_time() current_wp = seq # the wp_dist check is a hack until we can sort out # the right seqnum for end of mission # if current_wp == wpnum_end or (current_wp == wpnum_end-1 and # wp_dist < 2): if current_wp == wpnum_end and wp_dist < max_dist: self.progress("Reached final waypoint %u" % seq) return True if seq >= 255: self.progress("Reached final waypoint %u" % seq) return True if seq > current_wp+1: raise WaitWaypointTimeout(("Skipped waypoint! Got wp %u expected %u" % (seq, current_wp+1))) raise WaitWaypointTimeout("Timed out waiting for waypoint %u of %u" % (wpnum_end, wpnum_end)) def mode_is(self, mode, cached=False, drain_mav=True): if not cached: self.wait_heartbeat(drain_mav=drain_mav) try: return self.get_mode_from_mode_mapping(self.mav.flightmode) == self.get_mode_from_mode_mapping(mode) except Exception: pass # assume this is a number.... return self.mav.messages['HEARTBEAT'].custom_mode == mode def wait_mode(self, mode, timeout=60): """Wait for mode to change.""" self.progress("Waiting for mode %s" % mode) tstart = self.get_sim_time() while not self.mode_is(mode, drain_mav=False): custom_num = self.mav.messages['HEARTBEAT'].custom_mode self.progress("mav.flightmode=%s Want=%s custom=%u" % ( self.mav.flightmode, mode, custom_num)) if (timeout is not None and self.get_sim_time_cached() > tstart + timeout): raise WaitModeTimeout("Did not change mode") self.progress("Got mode %s" % mode) def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30): self.progress("Waiting for GPS health") tstart = self.get_sim_time_cached() while True: now = self.get_sim_time_cached() if now - tstart > timeout: raise AutoTestTimeoutException("GPS status bits did not become good") m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1) if m is None: continue if (not (m.onboard_control_sensors_present & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)): self.progress("GPS not present") if now > 20: # it's had long enough to be detected.... return continue if (not (m.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)): self.progress("GPS not enabled") continue if (not (m.onboard_control_sensors_health & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)): self.progress("GPS not healthy") continue self.progress("GPS healthy") return def assert_sensor_state(self, sensor, present=True, enabled=True, healthy=True, verbose=False): return self.sensor_has_state(sensor, present, enabled, healthy, do_assert=True, verbose=verbose) def sensor_has_state(self, sensor, present=True, enabled=True, healthy=True, do_assert=False, verbose=False): m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=5) if m is None: raise NotAchievedException("Did not receive SYS_STATUS") if verbose: self.progress("Status: %s" % str(mavutil.dump_message_verbose(sys.stdout, m))) reported_present = m.onboard_control_sensors_present & sensor reported_enabled = m.onboard_control_sensors_enabled & sensor reported_healthy = m.onboard_control_sensors_health & sensor if present: if not reported_present: if do_assert: raise NotAchievedException("Sensor not present") return False else: if reported_present: if do_assert: raise NotAchievedException("Sensor present when it shouldn't be") return False if enabled: if not reported_enabled: if do_assert: raise NotAchievedException("Sensor not enabled") return False else: if reported_enabled: if do_assert: raise NotAchievedException("Sensor enabled when it shouldn't be") return False if healthy: if not reported_healthy: if do_assert: raise NotAchievedException("Sensor not healthy") return False else: if reported_healthy: if do_assert: raise NotAchievedException("Sensor healthy when it shouldn't be") return False return True def wait_sensor_state(self, sensor, present=True, enabled=True, healthy=True, timeout=5, verbose=False): tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Sensor did not achieve state") if self.sensor_has_state(sensor, present=present, enabled=enabled, healthy=healthy, verbose=verbose): break def wait_prearm_sys_status_healthy(self, timeout=60): self.do_timesync_roundtrip() tstart = self.get_sim_time() while True: t2 = self.get_sim_time_cached() if t2 - tstart > timeout: self.progress("Prearm bit never went true. Attempting arm to elicit reason from autopilot") self.arm_vehicle() raise AutoTestTimeoutException("Prearm bit never went true") if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, True): break def wait_ready_to_arm(self, timeout=120, require_absolute=True, check_prearm_bit=True): # wait for EKF checks to pass self.progress("Waiting for ready to arm") start = self.get_sim_time() self.wait_ekf_happy(timeout=timeout, require_absolute=require_absolute) if require_absolute: self.wait_gps_sys_status_not_present_or_enabled_and_healthy() armable_time = self.get_sim_time() - start if require_absolute: m = self.poll_home_position() if m is None: raise NotAchievedException("Did not receive a home position") if check_prearm_bit: self.wait_prearm_sys_status_healthy(timeout=timeout) self.progress("Took %u seconds to become armable" % armable_time) self.total_waiting_to_arm_time += armable_time self.waiting_to_arm_count += 1 def wait_heartbeat(self, drain_mav=True, quiet=False, *args, **x): '''as opposed to mav.wait_heartbeat, raises an exception on timeout. Also, ignores heartbeats not from our target system''' if drain_mav: self.drain_mav(quiet=quiet) orig_timeout = x.get("timeout", 20) x["timeout"] = 1 tstart = time.time() while True: if time.time() - tstart > orig_timeout and not self.gdb: if not self.sitl_is_running(): self.progress("SITL is not running") raise AutoTestTimeoutException("Did not receive heartbeat") m = self.mav.wait_heartbeat(*args, **x) if m is None: continue if m.get_srcSystem() == self.sysid_thismav(): break def wait_ekf_happy(self, timeout=30, require_absolute=True): """Wait for EKF to be happy""" """ if using SITL estimates directly """ if (int(self.get_parameter('AHRS_EKF_TYPE')) == 10): return True # all of these must be set for arming to happen: required_value = (mavutil.mavlink.EKF_ATTITUDE | mavutil.mavlink.ESTIMATOR_VELOCITY_HORIZ | mavutil.mavlink.ESTIMATOR_VELOCITY_VERT | mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL | mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL) # none of these bits must be set for arming to happen: error_bits = (mavutil.mavlink.ESTIMATOR_CONST_POS_MODE | mavutil.mavlink.ESTIMATOR_ACCEL_ERROR) if require_absolute: required_value |= (mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS | mavutil.mavlink.ESTIMATOR_POS_VERT_ABS | mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_ABS) error_bits |= mavutil.mavlink.ESTIMATOR_GPS_GLITCH self.wait_ekf_flags(required_value, error_bits, timeout=timeout) def wait_ekf_flags(self, required_value, error_bits, timeout=30): self.progress("Waiting for EKF value %u" % required_value) self.drain_mav_unparsed() last_print_time = 0 tstart = self.get_sim_time() while timeout is None or self.get_sim_time_cached() < tstart + timeout: m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True, timeout=timeout) if m is None: continue current = m.flags errors = current & error_bits everything_ok = (errors == 0 and current & required_value == required_value) if everything_ok or self.get_sim_time_cached() - last_print_time > 1: self.progress("Wait EKF.flags: required:%u current:%u errors=%u" % (required_value, current, errors)) last_print_time = self.get_sim_time_cached() if everything_ok: self.progress("EKF Flags OK") return True raise AutoTestTimeoutException("Failed to get EKF.flags=%u" % required_value) def wait_gps_disable(self, position_horizontal=True, position_vertical=False, timeout=30): """Disable GPS and wait for EKF to report the end of assistance from GPS.""" self.set_parameter("SIM_GPS_DISABLE", 1) tstart = self.get_sim_time() """ if using SITL estimates directly """ if (int(self.get_parameter('AHRS_EKF_TYPE')) == 10): self.progress("GPS disable skipped") return # all of these must NOT be set for arming NOT to happen: not_required_value = 0 if position_horizontal: not_required_value |= mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL if position_vertical: not_required_value |= mavutil.mavlink.ESTIMATOR_POS_VERT_AGL self.progress("Waiting for EKF not having bits %u" % not_required_value) last_print_time = 0 while timeout is None or self.get_sim_time_cached() < tstart + timeout: m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True, timeout=timeout) if m is None: continue current = m.flags if self.get_sim_time_cached() - last_print_time > 1: self.progress("Wait EKF.flags: not required:%u current:%u" % (not_required_value, current)) last_print_time = self.get_sim_time_cached() if current & not_required_value != not_required_value: self.progress("GPS disable OK") return raise AutoTestTimeoutException("Failed to get EKF.flags=%u disabled" % not_required_value) def wait_text(self, *args, **kwargs): self.wait_statustext(*args, **kwargs) def statustext_in_collections(self, text, regex=False): c = self.context_get() if "STATUSTEXT" not in c.collections: raise NotAchievedException("Asked to check context but it isn't collecting!") for statustext in [x.text for x in c.collections["STATUSTEXT"]]: if regex: if re.match(text, statustext): return True elif text.lower() in statustext.lower(): return True return False def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False, wallclock_timeout=False): """Wait for a specific STATUSTEXT.""" # Statustexts are often triggered by something we've just # done, so we have to be careful not to read any traffic that # isn't checked for being our statustext. That doesn't work # well with getting the curent simulation time (which requires # a new SYSTEM_TIME message), so we install a message hook # which checks all incoming messages. self.progress("Waiting for text : %s" % text.lower()) if check_context: if self.statustext_in_collections(text, regex=regex): self.progress("Found expected text in collection: %s" % text.lower()) return global statustext_found statustext_found = False def mh(mav, m): global statustext_found if m.get_type() != "STATUSTEXT": return if regex: self.re_match = re.match(text, m.text) if self.re_match: statustext_found = True if text.lower() in m.text.lower(): self.progress("Received expected text: %s" % m.text.lower()) statustext_found = True self.install_message_hook(mh) if wallclock_timeout: tstart = time.time() else: tstart = self.get_sim_time() try: while not statustext_found: 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: the_function() self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=0.1) finally: self.remove_message_hook(mh) def get_mavlink_connection_going(self): # get a mavlink connection going try: self.mav = mavutil.mavlink_connection( self.autotest_connection_string_to_ardupilot(), 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: self.progress("Failed to start mavlink connection on %s: %s" % (self.autotest_connection_string_to_ardupilot(), msg,)) raise 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.set_streamrate(self.sitl_streamrate()) def show_test_timings_key_sorter(self, t): (k, v) = t return ((v, k)) def show_test_timings(self): if len(self.test_timings.keys()) == 0: return longest = 0 for desc in self.test_timings.keys(): if len(desc) > longest: longest = len(desc) tests_total_time = 0 for desc, test_time in sorted(self.test_timings.items(), key=self.show_test_timings_key_sorter): fmt = "%" + str(longest) + "s: %.2fs" tests_total_time += test_time self.progress(fmt % (desc, test_time)) self.progress(fmt % ("**--tests_total_time--**", tests_total_time)) def send_statustext(self, text): if sys.version_info.major >= 3 and not isinstance(text, bytes): text = bytes(text, "ascii") elif 'unicode' in str(type(text)): text = text.encode('ascii') self.mav.mav.statustext_send(mavutil.mavlink.MAV_SEVERITY_WARNING, text) def get_exception_stacktrace(self, e): if sys.version_info[0] >= 3: ret = "%s\n" % e ret += ''.join(traceback.format_exception(etype=type(e), value=e, tb=e.__traceback__)) return ret return traceback.format_exc(e) def bin_logs(self): return glob.glob("logs/*.BIN") def remove_bin_logs(self): util.run_cmd('/bin/rm -f logs/*.BIN logs/LASTLOG.TXT') def check_logs(self, name): '''called to move relevant log files from our working directory to the buildlogs directory''' to_dir = self.logs_dir # move binary log files for log in self.bin_logs(): bname = os.path.basename(log) newname = os.path.join(to_dir, "%s-%s-%s" % (self.log_name(), name, bname)) print("Renaming %s to %s" % (log, newname)) shutil.move(log, newname) # move core files save_binaries = False for log in glob.glob("core*"): bname = os.path.basename(log) newname = os.path.join(to_dir, "%s-%s-%s" % (bname, self.log_name(), name)) print("Renaming %s to %s" % (log, newname)) shutil.move(log, newname) save_binaries = True if save_binaries: util.run_cmd('/bin/cp build/sitl/bin/* %s' % to_dir, directory=util.reltopdir('.')) def run_one_test(self, test, interact=False): '''new-style run-one-test used by run_tests''' for i in range(0, test.attempts-1): if self.run_one_test_attempt(test, interact=interact, attempt=i+2, do_fail_list=False): return self.progress("Run attempt failed. Retrying") self.run_one_test_attempt(test, interact=interact, attempt=1) def print_exception_caught(self, e): self.progress("Exception caught: %s" % self.get_exception_stacktrace(e)) path = None try: path = self.current_onboard_log_filepath() except IndexError: pass self.progress("Most recent logfile: %s" % (path, )) def run_one_test_attempt(self, test, interact=False, attempt=1, do_fail_list=True): '''called by run_one_test to actually run the test in a retry loop''' name = test.name desc = test.description test_function = test.function if attempt != 1: self.progress("RETRYING %s" % name) test_output_filename = self.buildlogs_path("%s-%s-retry-%u.txt" % (self.log_name(), name, attempt-1)) else: test_output_filename = self.buildlogs_path("%s-%s.txt" % (self.log_name(), name)) tee = TeeBoth(test_output_filename, 'w', self.mavproxy_logfile) prettyname = "%s (%s)" % (name, desc) self.start_test(prettyname) self.set_current_test_name(name) old_contexts_length = len(self.contexts) self.context_push() start_time = time.time() ex = None try: self.check_rc_defaults() self.change_mode(self.default_mode()) self.drain_mav() self.drain_all_pexpects() test_function() except Exception as e: self.print_exception_caught(e) ex = e self.test_timings[desc] = time.time() - start_time reset_needed = self.contexts[-1].sitl_commandline_customised self.context_pop() passed = True if ex is not None: passed = False self.wait_heartbeat() if self.armed() and not self.is_tracker(): if ex is None: ex = ArmedAtEndOfTestException("Still armed at end of test") self.progress("Armed at end of test; force-rebooting SITL") self.disarm_vehicle(force=True) self.forced_post_test_sitl_reboots += 1 self.progress("Force-resetting SITL") self.reboot_sitl() # that'll learn it passed = False corefiles = glob.glob("core*") if corefiles: self.progress('Corefiles detected: %s' % str(corefiles)) passed = False if len(self.contexts) != old_contexts_length: self.progress("context count mismatch (want=%u got=%u)" % (old_contexts_length, len(self.contexts))) passed = False if passed: # self.remove_bin_logs() # can't do this as one of the binlogs is probably open for writing by the SITL process. If we force a rotate before running tests then we can do this. # noqa pass else: if self.logs_dir is not None: # stash the binary logs and corefiles away for later analysis self.check_logs(name) if passed: self.progress('PASSED: "%s"' % prettyname) else: self.progress('FAILED: "%s": %s (see %s)' % (prettyname, repr(ex), test_output_filename)) if do_fail_list: self.fail_list.append((prettyname, ex, test_output_filename)) if interact: self.progress("Starting MAVProxy interaction as directed") self.mavproxy.interact() if reset_needed: self.reset_SITL_commandline() if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL) tee.close() return passed def check_test_syntax(self, test_file): """Check mistake on autotest function syntax.""" self.start_test("Check for syntax mistake in autotest lambda") if not os.path.isfile(test_file): self.progress("File %s does not exist" % test_file) test_file = test_file.rstrip('c') try: with open(test_file) as f: # check for lambda: test_function without paranthesis faulty_strings = re.findall(r"lambda\s*:\s*\w+.\w+\s*\)", f.read()) if faulty_strings: desc = "Syntax error in autotest lambda at : \n" for x in range(len(faulty_strings)): desc += faulty_strings[x] + "\n" raise ErrorException(desc) except ErrorException as msg: self.progress("FAILED: Check for syntax mistake in autotest lambda. \n" + str(msg)) exit(1) self.progress("PASSED: Check for syntax mistake in autotest lambda") def defaults_filepath(self): return None def start_mavproxy(self): self.progress("Starting MAVProxy") # determine a good pexpect timeout for reading MAVProxy's # output; some regmes may require longer timeouts. pexpect_timeout = 60 if self.valgrind: pexpect_timeout *= 10 self.mavproxy = util.start_MAVProxy_SITL( self.vehicleinfo_key(), logfile=self.mavproxy_logfile, options=self.mavproxy_options(), pexpect_timeout=pexpect_timeout) self.mavproxy.expect(r'Telemetry log: (\S+)\r\n') self.logfile = self.mavproxy.match.group(1) self.progress("LOGFILE %s" % self.logfile) self.try_symlink_tlog() # self.progress("Waiting for Parameters") # self.mavproxy.expect('Received [0-9]+ parameters') self.expect_list_add(self.mavproxy) def start_SITL(self, **sitl_args): start_sitl_args = { "breakpoints": self.breakpoints, "disable_breakpoints": self.disable_breakpoints, "gdb": self.gdb, "gdbserver": self.gdbserver, "lldb": self.lldb, "home": self.sitl_home(), "speedup": self.speedup, "valgrind": self.valgrind, "wipe": True, } start_sitl_args.update(**sitl_args) if ("defaults_filepath" not in start_sitl_args or start_sitl_args["defaults_filepath"] is None): start_sitl_args["defaults_filepath"] = self.defaults_filepath() if "model" not in start_sitl_args or start_sitl_args["model"] is None: start_sitl_args["model"] = self.frame self.progress("Starting SITL", send_statustext=False) self.sitl = util.start_SITL(self.binary, **start_sitl_args) self.expect_list_add(self.sitl) if self.sup_binary is not None: self.progress("Starting Supplementary Program") self.sup_prog = util.start_SITL(self.sup_binary, **start_sitl_args) self.expect_list_add(self.sup_prog) else: self.sup_prog = None def sitl_is_running(self): if self.sitl is None: return False return self.sitl.isalive() def init(self): """Initilialize autotest feature.""" self.check_test_syntax(test_file=self.test_filepath()) self.mavproxy_logfile = self.open_mavproxy_logfile() if self.frame is None: self.frame = self.default_frame() if self.frame is None: raise ValueError("frame must not be None") self.progress("Starting simulator") self.start_SITL() os.environ['MAVLINK20'] = '1' self.progress("Starting MAVLink connection") self.get_mavlink_connection_going() self.start_mavproxy() util.expect_setup_callback(self.mavproxy, self.expect_callback) # need to wait for a heartbeat to arrive as then mavutil will # select the correct set of messages for us to receive in # self.mav.messages. You can actually recieve messages with # recv_match and those will not be in self.mav.messages until # you do this! self.wait_heartbeat() self.progress("Sim time: %f" % (self.get_sim_time(),)) self.apply_defaultfile_parameters() if not self.sitl_is_running(): # we run this just to make sure exceptions are likely to # work OK. raise NotAchievedException("SITL is not running") self.progress("SITL is running") self.progress("Ready to start testing!") def upload_using_mission_protocol(self, mission_type, items): '''mavlink2 required''' target_system = 1 target_component = 1 self.mav.mav.mission_count_send(target_system, target_component, len(items), mission_type) tstart = self.get_sim_time_cached() remaining_to_send = set(range(0, len(items))) sent = set() while True: if self.get_sim_time_cached() - tstart > 10: raise NotAchievedException("timeout uploading %s" % str(mission_type)) if len(remaining_to_send) == 0: self.progress("All sent") break m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK'], blocking=True, timeout=1) if m is None: continue if m.get_type() == 'MISSION_ACK': if (m.target_system == 255 and m.target_component == 0 and m.type == 1 and m.mission_type == 0): # this is just MAVProxy trying to screw us up continue else: raise NotAchievedException("Received unexpected mission ack %s" % str(m)) self.progress("Handling request for item %u/%u" % (m.seq, len(items)-1)) self.progress("Item (%s)" % str(items[m.seq])) if m.seq in sent: self.progress("received duplicate request for item %u" % m.seq) continue if m.seq not in remaining_to_send: raise NotAchievedException("received request for unknown item %u" % m.seq) if m.mission_type != mission_type: raise NotAchievedException("received request for item from wrong mission type") if items[m.seq].mission_type != mission_type: raise NotAchievedException("supplied item not of correct mission type") if items[m.seq].target_system != target_system: raise NotAchievedException("supplied item not of correct target system") if items[m.seq].target_component != target_component: raise NotAchievedException("supplied item not of correct target component") if items[m.seq].seq != m.seq: raise NotAchievedException("supplied item has incorrect sequence number (%u vs %u)" % (items[m.seq].seq, m.seq)) items[m.seq].pack(self.mav.mav) self.mav.mav.send(items[m.seq]) remaining_to_send.discard(m.seq) sent.add(m.seq) m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=1) if m is None: raise NotAchievedException("Did not receive MISSION_ACK") if m.mission_type != mission_type: raise NotAchievedException("Mission ack not of expected mission type") if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED: raise NotAchievedException("Mission upload failed (%s)" % (mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name),) self.progress("Upload of all %u items succeeded" % len(items)) def download_using_mission_protocol(self, mission_type, verbose=False, timeout=10): '''mavlink2 required''' target_system = 1 target_component = 1 self.drain_mav_unparsed() self.progress("Sending mission_request_list") self.mav.mav.mission_request_list_send(target_system, target_component, mission_type) tstart = self.get_sim_time_cached() while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Did not get MISSION_COUNT packet") m = self.mav.recv_match(blocking=True, timeout=0.1) if m is None: raise NotAchievedException("Did not get MISSION_COUNT response") if verbose: self.progress(str(m)) if m.get_type() == 'MISSION_ACK': if m.target_system == 255 and m.target_component == 0: # this was for MAVProxy continue self.progress("Mission ACK: %s" % str(m)) raise NotAchievedException("Received MISSION_ACK while waiting for MISSION_COUNT") if m.get_type() != 'MISSION_COUNT': continue if m.target_component != 250: # FIXME: constant?! continue if m.mission_type != mission_type: raise NotAchievedException("Mission count response of incorrect type") break items = [] tstart = self.get_sim_time_cached() remaining_to_receive = set(range(0, m.count)) next_to_request = 0 while True: if self.get_sim_time_cached() - tstart > 10: raise NotAchievedException("timeout downloading type=%s" % (mavutil.mavlink.enums["MAV_MISSION_TYPE"][mission_type].name)) if len(remaining_to_receive) == 0: self.progress("All received") return items self.progress("Requesting item %u" % next_to_request) self.mav.mav.mission_request_int_send(target_system, target_component, next_to_request, mission_type) m = self.mav.recv_match(type='MISSION_ITEM_INT', blocking=True, timeout=5, condition='MISSION_ITEM_INT.mission_type==%u' % mission_type) if m is None: raise NotAchievedException("Did not receive MISSION_ITEM_INT") self.progress("Got (%s)" % str(m)) if m.mission_type != mission_type: raise NotAchievedException("Received waypoint of wrong type") if m.seq != next_to_request: raise NotAchievedException("Received waypoint is out of sequence") self.progress("Item %u OK" % m.seq) items.append(m) next_to_request += 1 remaining_to_receive.discard(m.seq) def dump_message_verbose(self, m): '''return verbose dump of m. Wraps the pymavlink routine which inconveniently takes a filehandle''' f = StringIO.StringIO() mavutil.dump_message_verbose(f, m) return f.getvalue() def poll_home_position(self, quiet=True, timeout=30): old = self.mav.messages.get("HOME_POSITION", None) tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Failed to poll home position") if not quiet: self.progress("Sending MAV_CMD_GET_HOME_POSITION") try: self.run_cmd( mavutil.mavlink.MAV_CMD_GET_HOME_POSITION, 0, 0, 0, 0, 0, 0, 0, quiet=quiet) except ValueError: continue m = self.mav.messages.get("HOME_POSITION", None) if m is None: continue if old is None: break if m._timestamp != old._timestamp: break self.progress("Polled home position (%s)" % str(m)) return m def distance_to_nav_target(self, use_cached_nav_controller_output=False): '''returns distance to waypoint navigation target in metres''' m = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None) if m is None or not use_cached_nav_controller_output: m = self.mav.recv_match( type='NAV_CONTROLLER_OUTPUT', blocking=True, timeout=10, ) if m is None: raise NotAchievedException("Did not get NAV_CONTROLLER_OUTPUT") return m.wp_dist def distance_to_home(self, use_cached_home=False): m = self.mav.messages.get("HOME_POSITION", None) if use_cached_home is False or m is None: m = self.poll_home_position(quiet=True) here = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) return self.get_distance_int(m, here) def home_position_as_mav_location(self): m = self.poll_home_position() return mavutil.location(m.latitude*1.0e-7, m.longitude*1.0e-7, m.altitude*1.0e-3, 0) def offset_location_ne(self, location, metres_north, metres_east): '''return a new location offset from passed-in location''' (target_lat, target_lng) = mavextra.gps_offset(location.lat, location.lng, metres_east, metres_north) return mavutil.location(target_lat, target_lng, location.alt, location.heading) def monitor_groundspeed(self, want, tolerance=0.5, timeout=5): tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > timeout: break m = self.mav.recv_match(type='VFR_HUD', blocking=True) if m.groundspeed > want+tolerance: raise NotAchievedException("Too fast (%f > %f)" % (m.groundspeed, want)) if m.groundspeed < want-tolerance: raise NotAchievedException("Too slow (%f < %f)" % (m.groundspeed, want)) self.progress("GroundSpeed OK (got=%f) (want=%f)" % (m.groundspeed, want)) def fly_test_set_home(self): if self.is_tracker(): # tracker starts armed... self.disarm_vehicle(force=True) self.reboot_sitl() # HOME_POSITION is used as a surrogate for origin until we # start emitting GPS_GLOBAL_ORIGIN orig_home = self.poll_home_position() if orig_home is None: raise AutoTestTimeoutException() self.progress("Original home: %s" % str(orig_home)) # original home should be close to SITL home... start_loc = self.sitl_start_location() self.progress("SITL start loc: %s" % str(start_loc)) delta = abs(orig_home.latitude * 1.0e-7 - start_loc.lat) if delta > 0.0000001: raise ValueError("homes differ in lat got=%f vs want=%f delta=%f" % (orig_home.latitude * 1.0e-7, start_loc.lat, delta)) delta = abs(orig_home.longitude * 1.0e-7 - start_loc.lng) if delta > 0.0000001: raise ValueError("homes differ in lon got=%f vs want=%f delta=%f" % (orig_home.longitude * 1.0e-7, start_loc.lng, delta)) if self.is_rover(): self.progress("### Rover skipping altitude check unti position fixes in") else: home_alt_m = orig_home.altitude * 1.0e-3 if abs(home_alt_m - start_loc.alt) > 2: # metres raise ValueError("homes differ in alt got=%fm want=%fm" % (home_alt_m, start_loc.alt)) new_x = orig_home.latitude + 1000 new_y = orig_home.longitude + 2000 new_z = orig_home.altitude + 300000 # 300 metres print("new home: %s %s %s" % (str(new_x), str(new_y), str(new_z))) self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_HOME, 0, # p1, 0, # p2, 0, # p3, 0, # p4, new_x, new_y, new_z/1000.0, # mm => m ) home = self.poll_home_position() self.progress("home: %s" % str(home)) got_home_latitude = home.latitude got_home_longitude = home.longitude got_home_altitude = home.altitude if (got_home_latitude != new_x or got_home_longitude != new_y or abs(got_home_altitude - new_z) > 100): # float-conversion issues self.reboot_sitl() raise NotAchievedException( "Home mismatch got=(%f, %f, %f) set=(%f, %f, %f)" % (got_home_latitude, got_home_longitude, got_home_altitude, new_x, new_y, new_z)) self.progress("monitoring home to ensure it doesn't drift at all") tstart = self.get_sim_time() while self.get_sim_time_cached() - tstart < 10: home = self.poll_home_position(quiet=True) self.progress("home: %s" % str(home)) if (home.latitude != got_home_latitude or home.longitude != got_home_longitude or home.altitude != got_home_altitude): # float-conversion issues self.reboot_sitl() raise NotAchievedException("home is drifting") self.progress("Waiting for EKF to start") self.wait_ready_to_arm() self.progress("now use lat=0, lon=0 to reset home to current location") self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_HOME, 0, # p1, 0, # p2, 0, # p3, 0, # p4, 0, # lat 0, # lon new_z/1000.0, # mm => m ) home = self.poll_home_position() self.progress("home: %s" % str(home)) if self.distance_to_home(use_cached_home=True) > 1: raise NotAchievedException("Setting home to current location did not work") self.progress("Setting home elsewhere again") self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_HOME, 0, # p1, 0, # p2, 0, # p3, 0, # p4, new_x, new_y, new_z/1000.0, # mm => m ) if self.distance_to_home() < 10: raise NotAchievedException("Setting home to location did not work") self.progress("use param1=1 to reset home to current location") self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_HOME, 1, # p1, 0, # p2, 0, # p3, 0, # p4, 37, # lat 21, # lon new_z/1000.0, # mm => m ) home = self.poll_home_position() self.progress("home: %s" % str(home)) if self.distance_to_home() > 1: raise NotAchievedException("Setting home to current location did not work") if self.is_tracker(): # tracker starts armed... self.disarm_vehicle(force=True) self.reboot_sitl() def zero_mag_offset_parameters(self, compass_count=3): self.progress("Zeroing Mag OFS parameters") self.drain_mav() self.get_sim_time() self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS, 2, # param1 (compass0) 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0 # param7 ) self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS, 5, # param1 (compass1) 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0 # param7 ) self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS, 6, # param1 (compass2) 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0 # param7 ) self.progress("zeroed mag parameters") params = [ [("SIM_MAG_OFS_X", "COMPASS_OFS_X", 0), ("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", 0), ("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", 0), ], ] for count in range(2, compass_count + 1): params += [ [("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, 0), ("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, 0), ("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, 0), ], ] self.check_zero_mag_parameters(params) def forty_two_mag_dia_odi_parameters(self, compass_count=3): self.progress("Forty twoing Mag DIA and ODI parameters") self.drain_mav() self.get_sim_time() params = [ [("SIM_MAG_DIA_X", "COMPASS_DIA_X", 42.0), ("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", 42.0), ("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", 42.0), ("SIM_MAG_ODI_X", "COMPASS_ODI_X", 42.0), ("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", 42.0), ("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", 42.0), ], ] for count in range(2, compass_count + 1): params += [ [("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, 42.0), ("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, 42.0), ("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, 42.0), ("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, 42.0), ("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, 42.0), ("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, 42.0), ], ] self.wait_heartbeat() to_set = {} for param_set in params: for param in param_set: (_, _out, value) = param to_set[_out] = value self.set_parameters(to_set) self.check_zero_mag_parameters(params) def check_mag_parameters(self, parameter_stuff, compass_number): self.progress("Checking that Mag parameter") for idx in range(0, compass_number, 1): for param in parameter_stuff[idx]: (_in, _out, value) = param got_value = self.get_parameter(_out) if abs(got_value - value) > abs(value) * 0.15: raise NotAchievedException("%s/%s not within 15%%; got %f want=%f" % (_in, _out, got_value, value)) def check_zero_mag_parameters(self, parameter_stuff): self.progress("Checking that Mag OFS are zero") for param_set in parameter_stuff: for param in param_set: (_in, _out, _) = param got_value = self.get_parameter(_out) max = 0.15 if "DIA" in _out or "ODI" in _out: max += 42.0 if abs(got_value) > max: raise NotAchievedException( "%s/%s not within 15%%; got %f want=%f" % (_in, _out, got_value, 0.0 if max > 1 else 42.0)) def check_zeros_mag_orient(self, compass_count=3): self.progress("zeroed mag parameters") self.verify_parameter_values({"COMPASS_ORIENT": 0}) for count in range(2, compass_count + 1): self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0}) def test_mag_calibration(self, compass_count=3, timeout=1000): def reset_pos_and_start_magcal(tmask): self.mavproxy.send("sitl_stop\n") self.mavproxy.send("sitl_attitude 0 0 0\n") self.drain_mav() self.get_sim_time() self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL, tmask, # p1: mag_mask 0, # p2: retry 0, # p3: autosave 0, # p4: delay 0, # param5 0, # param6 0, # param7 want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED, timeout=20, ) self.mavproxy.send("sitl_magcal\n") def do_prep_mag_cal_test(params): self.progress("Preparing the vehicle for magcal") MAG_OFS = 100 MAG_DIA = 1.0 MAG_ODI = 0.004 params += [ [("SIM_MAG_OFS_X", "COMPASS_OFS_X", MAG_OFS), ("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", MAG_OFS + 100), ("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", MAG_OFS + 200), ("SIM_MAG_DIA_X", "COMPASS_DIA_X", MAG_DIA), ("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", MAG_DIA + 0.1), ("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", MAG_DIA + 0.2), ("SIM_MAG_ODI_X", "COMPASS_ODI_X", MAG_ODI), ("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", MAG_ODI + 0.001), ("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", MAG_ODI + 0.001), ], ] for count in range(2, compass_count + 1): params += [ [("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)), ("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)), ("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)), ("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)), ("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)), ("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)), ("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)), ("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)), ("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ], ] self.progress("Setting calibration mode") self.wait_heartbeat() self.customise_SITL_commandline(["-M", "calibration"]) self.mavproxy_load_module("sitl_calibration") self.mavproxy_load_module("calibration") self.mavproxy_load_module("relay") self.wait_statustext("is using GPS", timeout=60) self.mavproxy.send("accelcalsimple\n") self.mavproxy.expect("Calibrated") # disable it to not interfert with calibration acceptation self.mavproxy_unload_module("calibration") if self.is_copter(): # set frame class to pass arming check on copter self.set_parameter("FRAME_CLASS", 1) self.drain_mav() self.progress("Setting SITL Magnetometer model value") self.set_parameter("COMPASS_AUTO_ROT", 0) # MAG_ORIENT = 4 # self.set_parameter("SIM_MAG_ORIENT", MAG_ORIENT) # for count in range(2, compass_count + 1): # self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41)) # # set compass external to check that orientation is found and auto set # self.set_parameter("COMPASS_EXTERN%d" % count, 1) to_set = {} for param_set in params: for param in param_set: (_in, _out, value) = param to_set[_in] = value to_set[_out] = value self.set_parameters(to_set) self.start_subtest("Zeroing Mag OFS parameters with Mavlink") self.zero_mag_offset_parameters() self.progress("=========================================") # Change the default value to unexpected 42 self.forty_two_mag_dia_odi_parameters() self.progress("Zeroing Mags orientations") self.set_parameter("COMPASS_ORIENT", 0) for count in range(2, compass_count + 1): self.set_parameter("COMPASS_ORIENT%d" % count, 0) # Only care about compass prearm self.set_parameter("ARMING_CHECK", 4) ################################################# def do_test_mag_cal(params, compass_tnumber): self.start_subtest("Try magcal and make it stop around 30%") self.progress("Compass mask is %s" % "{0:b}".format(target_mask)) reset_pos_and_start_magcal(target_mask) tstart = self.get_sim_time() reached_pct = [0] * compass_tnumber tstop = None while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS") m = self.mav.recv_match(type='MAG_CAL_PROGRESS', blocking=True, timeout=5) if m is None: if tstop is not None: # wait 3 second to unsure that the calibration is well stopped if self.get_sim_time_cached() - tstop > 10: if reached_pct[0] > 33: raise NotAchievedException("Mag calibration didn't stop") else: break else: continue else: continue if m is not None: cid = m.compass_id new_pct = int(m.completion_pct) if new_pct != reached_pct[cid]: if new_pct < reached_pct[cid]: raise NotAchievedException("Mag calibration restart when it shouldn't") reached_pct[cid] = new_pct self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid]))) if cid == 0 and 13 <= reached_pct[0] <= 15: self.progress("Request again to start calibration, it shouldn't restart from 0") self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL, target_mask, 0, 0, 0, 0, 0, 0, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED, timeout=20, ) if reached_pct[0] > 30: self.run_cmd(mavutil.mavlink.MAV_CMD_DO_CANCEL_MAG_CAL, target_mask, # p1: mag_mask 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0, # param7 want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED, ) if tstop is None: tstop = self.get_sim_time_cached() if tstop is not None: # wait 3 second to unsure that the calibration is well stopped if self.get_sim_time_cached() - tstop > 3: raise NotAchievedException("Mag calibration didn't stop") self.check_zero_mag_parameters(params) self.check_zeros_mag_orient() ################################################# self.start_subtest("Try magcal and make it failed") self.progress("Compass mask is %s" % "{0:b}".format(target_mask)) old_cal_fit = self.get_parameter("COMPASS_CAL_FIT") self.set_parameter("COMPASS_CAL_FIT", 0.001, add_to_context=False) reset_pos_and_start_magcal(target_mask) tstart = self.get_sim_time() reached_pct = [0] * compass_tnumber report_get = [0] * compass_tnumber while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS") m = self.mav.recv_match(type=["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], blocking=True, timeout=10) if m.get_type() == "MAG_CAL_REPORT": if report_get[m.compass_id] == 0: self.progress("Report: %s" % str(m)) if m.cal_status == mavutil.mavlink.MAG_CAL_FAILED: report_get[m.compass_id] = 1 else: raise NotAchievedException("Mag calibration didn't failed") if all(ele >= 1 for ele in report_get): self.progress("All Mag report failure") break if m is not None and m.get_type() == "MAG_CAL_PROGRESS": cid = m.compass_id new_pct = int(m.completion_pct) if new_pct != reached_pct[cid]: reached_pct[cid] = new_pct self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid]))) if cid == 0 and 49 <= reached_pct[0] <= 50: self.progress("Try arming during calibration, should failed") self.try_arm(False, "Compass calibration running") self.check_zero_mag_parameters(params) self.check_zeros_mag_orient() self.set_parameter("COMPASS_CAL_FIT", old_cal_fit, add_to_context=False) ################################################# self.start_subtest("Try magcal and wait success") self.progress("Compass mask is %s" % "{0:b}".format(target_mask)) reset_pos_and_start_magcal(target_mask) progress_count = [0] * compass_tnumber reached_pct = [0] * compass_tnumber report_get = [0] * compass_tnumber tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS") m = self.mav.recv_match(type=["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], blocking=True, timeout=5) if m.get_type() == "MAG_CAL_REPORT": if report_get[m.compass_id] == 0: self.progress("Report: %s" % self.dump_message_verbose(m)) param_names = ["SIM_MAG_ORIENT"] for i in range(2, compass_tnumber+1): param_names.append("SIM_MAG%u_ORIENT" % i) for param_name in param_names: self.progress("%s=%f" % (param_name, self.get_parameter(param_name))) if m.cal_status == mavutil.mavlink.MAG_CAL_SUCCESS: threshold = 95 if reached_pct[m.compass_id] < threshold: raise NotAchievedException( "Mag calibration report SUCCESS without >=%f%% completion (got %f%%)" % (threshold, reached_pct[m.compass_id])) report_get[m.compass_id] = 1 else: raise NotAchievedException( "Mag calibration didn't SUCCEED (cal_status=%u) (progress_count=%s)" % (m.cal_status, progress_count[m.compass_id],)) if all(ele >= 1 for ele in report_get): self.progress("All Mag report SUCCESS") break if m is not None and m.get_type() == "MAG_CAL_PROGRESS": cid = m.compass_id new_pct = int(m.completion_pct) progress_count[cid] += 1 if new_pct != reached_pct[cid]: reached_pct[cid] = new_pct self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid]))) self.mavproxy.send("sitl_stop\n") self.mavproxy.send("sitl_attitude 0 0 0\n") self.progress("Checking that value aren't changed without acceptation") self.check_zero_mag_parameters(params) self.check_zeros_mag_orient() self.progress("Send acceptation and check value") self.wait_heartbeat() self.run_cmd(mavutil.mavlink.MAV_CMD_DO_ACCEPT_MAG_CAL, target_mask, # p1: mag_mask 0, 0, 0, 0, 0, 0, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED, timeout=20, ) self.check_mag_parameters(params, compass_tnumber) self.verify_parameter_values({"COMPASS_ORIENT": self.get_parameter("SIM_MAG_ORIENT")}) for count in range(2, compass_tnumber + 1): self.verify_parameter_values({"COMPASS_ORIENT%d" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)}) self.try_arm(False, "Compass calibrated requires reboot") # test buzzer/notify ? self.progress("Rebooting and making sure we could arm with these values") self.drain_mav() self.reboot_sitl() if False: # FIXME! This fails with compasses inconsistent! self.wait_ready_to_arm(timeout=60) self.progress("Setting manually the parameter for other sensor to avoid compass consistency error") for idx in range(compass_tnumber, compass_count, 1): for param in params[idx]: (_in, _out, value) = param self.set_parameter(_out, value) for count in range(compass_tnumber + 1, compass_count + 1): self.set_parameter("COMPASS_ORIENT%d" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count)) self.arm_vehicle() self.progress("Test calibration rejection when armed") self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL, target_mask, # p1: mag_mask 0, # p2: retry 0, # p3: autosave 0, # p4: delay 0, # param5 0, # param6 0, # param7 want_result=mavutil.mavlink.MAV_RESULT_FAILED, timeout=20, ) self.disarm_vehicle() self.mavproxy_unload_module("relay") self.mavproxy_unload_module("sitl_calibration") ex = None try: self.set_parameter("AHRS_EKF_TYPE", 10) self.set_parameter("SIM_GND_BEHAV", 0) curr_params = [] target_mask = 0 # we test all bitmask plus 0 for all for run in range(-1, compass_count, 1): ntest_compass = compass_count if run < 0: # use bitmask 0 for all compass target_mask = 0 else: target_mask |= (1 << run) ntest_compass = run + 1 do_prep_mag_cal_test(curr_params) do_test_mag_cal(curr_params, ntest_compass) except Exception as e: self.progress("Caught exception: %s" % self.get_exception_stacktrace(e)) ex = e self.mavproxy_unload_module("relay") self.mavproxy_unload_module("sitl_calibration") if ex is not None: raise ex # need to reboot SITL after moving away from EKF type 10; we # can end up with home set but origin not and that will lead # to bad things. self.reboot_sitl() def test_mag_reordering_assert_mag_transform(self, values, transforms): '''transforms ought to be read as, "take all the parameter values from the first compass parameters and shove them into the second indicating compass parameters''' # create a set of mappings from one parameter name to another # e.g. COMPASS_OFS_X => COMPASS_OFS2_X if the transform is # [(1,2)]. [(1,2),(2,1)] should swap the compass values parameter_mappings = {} for key in values.keys(): parameter_mappings[key] = key for (old_compass_num, new_compass_num) in transforms: old_key_compass_bit = str(old_compass_num) if old_key_compass_bit == "1": old_key_compass_bit = "" new_key_compass_bit = str(new_compass_num) if new_key_compass_bit == "1": new_key_compass_bit = "" # vectors first: for key_vector_bit in ["OFS", "DIA", "ODI", "MOT"]: for axis in "X", "Y", "Z": old_key = "COMPASS_%s%s_%s" % (key_vector_bit, old_key_compass_bit, axis) new_key = "COMPASS_%s%s_%s" % (key_vector_bit, new_key_compass_bit, axis) parameter_mappings[old_key] = new_key # then non-vectorey bits: for key_bit in "SCALE", "ORIENT": old_key = "COMPASS_%s%s" % (key_bit, old_key_compass_bit) new_key = "COMPASS_%s%s" % (key_bit, new_key_compass_bit) parameter_mappings[old_key] = new_key # then a sore thumb: if old_key_compass_bit == "": old_key = "COMPASS_EXTERNAL" else: old_key = "COMPASS_EXTERN%s" % old_key_compass_bit if new_key_compass_bit == "": new_key = "COMPASS_EXTERNAL" else: new_key = "COMPASS_EXTERN%s" % new_key_compass_bit parameter_mappings[old_key] = new_key for key in values.keys(): newkey = parameter_mappings[key] current_value = self.get_parameter(newkey) expected_value = values[key] if abs(current_value - expected_value) > 0.001: raise NotAchievedException("%s has wrong value; want=%f got=%f transforms=%s (old parameter name=%s)" % (newkey, expected_value, current_value, str(transforms), key)) def test_mag_reordering(self): self.context_push() ex = None try: originals = { "COMPASS_OFS_X": 1.1, "COMPASS_OFS_Y": 1.2, "COMPASS_OFS_Z": 1.3, "COMPASS_DIA_X": 1.4, "COMPASS_DIA_Y": 1.5, "COMPASS_DIA_Z": 1.6, "COMPASS_ODI_X": 1.7, "COMPASS_ODI_Y": 1.8, "COMPASS_ODI_Z": 1.9, "COMPASS_MOT_X": 1.91, "COMPASS_MOT_Y": 1.92, "COMPASS_MOT_Z": 1.93, "COMPASS_SCALE": 1.94, "COMPASS_ORIENT": 1, "COMPASS_EXTERNAL": 2, "COMPASS_OFS2_X": 2.1, "COMPASS_OFS2_Y": 2.2, "COMPASS_OFS2_Z": 2.3, "COMPASS_DIA2_X": 2.4, "COMPASS_DIA2_Y": 2.5, "COMPASS_DIA2_Z": 2.6, "COMPASS_ODI2_X": 2.7, "COMPASS_ODI2_Y": 2.8, "COMPASS_ODI2_Z": 2.9, "COMPASS_MOT2_X": 2.91, "COMPASS_MOT2_Y": 2.92, "COMPASS_MOT2_Z": 2.93, "COMPASS_SCALE2": 2.94, "COMPASS_ORIENT2": 3, "COMPASS_EXTERN2": 4, "COMPASS_OFS3_X": 3.1, "COMPASS_OFS3_Y": 3.2, "COMPASS_OFS3_Z": 3.3, "COMPASS_DIA3_X": 3.4, "COMPASS_DIA3_Y": 3.5, "COMPASS_DIA3_Z": 3.6, "COMPASS_ODI3_X": 3.7, "COMPASS_ODI3_Y": 3.8, "COMPASS_ODI3_Z": 3.9, "COMPASS_MOT3_X": 3.91, "COMPASS_MOT3_Y": 3.92, "COMPASS_MOT3_Z": 3.93, "COMPASS_SCALE3": 3.94, "COMPASS_ORIENT3": 5, "COMPASS_EXTERN3": 6, } # quick sanity check to ensure all values are unique: if len(originals.values()) != len(set(originals.values())): raise NotAchievedException("Values are not all unique!") self.progress("Setting parameters") self.set_parameters(originals) self.reboot_sitl() # no transforms means our originals should be our finals: self.test_mag_reordering_assert_mag_transform(originals, []) self.start_subtest("Pushing 1st mag to 3rd") ey = None self.context_push() try: # now try reprioritising compass 1 to be higher than compass 0: prio1_id = self.get_parameter("COMPASS_PRIO1_ID") prio2_id = self.get_parameter("COMPASS_PRIO2_ID") prio3_id = self.get_parameter("COMPASS_PRIO3_ID") self.set_parameter("COMPASS_PRIO1_ID", prio2_id) self.set_parameter("COMPASS_PRIO2_ID", prio3_id) self.set_parameter("COMPASS_PRIO3_ID", prio1_id) self.reboot_sitl() self.test_mag_reordering_assert_mag_transform(originals, [(2, 1), (3, 2), (1, 3)]) except Exception as e: self.progress("Caught exception: %s" % self.get_exception_stacktrace(e)) ey = e self.context_pop() self.reboot_sitl() if ey is not None: raise ey except Exception as e: self.progress("Caught exception: %s" % self.get_exception_stacktrace(e)) ex = e self.context_pop() self.reboot_sitl() if ex is not None: raise ex def test_fixed_yaw_calibration(self): self.context_push() ex = None try: MAG_OFS_X = 100 MAG_OFS_Y = 200 MAG_OFS_Z = 300 wanted = { "COMPASS_OFS_X": (MAG_OFS_X, 3.0), "COMPASS_OFS_Y": (MAG_OFS_Y, 3.0), "COMPASS_OFS_Z": (MAG_OFS_Z, 3.0), "COMPASS_DIA_X": 1, "COMPASS_DIA_Y": 1, "COMPASS_DIA_Z": 1, "COMPASS_ODI_X": 0, "COMPASS_ODI_Y": 0, "COMPASS_ODI_Z": 0, "COMPASS_OFS2_X": (MAG_OFS_X, 3.0), "COMPASS_OFS2_Y": (MAG_OFS_Y, 3.0), "COMPASS_OFS2_Z": (MAG_OFS_Z, 3.0), "COMPASS_DIA2_X": 1, "COMPASS_DIA2_Y": 1, "COMPASS_DIA2_Z": 1, "COMPASS_ODI2_X": 0, "COMPASS_ODI2_Y": 0, "COMPASS_ODI2_Z": 0, "COMPASS_OFS3_X": (MAG_OFS_X, 3.0), "COMPASS_OFS3_Y": (MAG_OFS_Y, 3.0), "COMPASS_OFS3_Z": (MAG_OFS_Z, 3.0), "COMPASS_DIA3_X": 1, "COMPASS_DIA3_Y": 1, "COMPASS_DIA3_Z": 1, "COMPASS_ODI3_X": 0, "COMPASS_ODI3_Y": 0, "COMPASS_ODI3_Z": 0, } self.set_parameters({ "SIM_MAG_OFS_X": MAG_OFS_X, "SIM_MAG_OFS_Y": MAG_OFS_Y, "SIM_MAG_OFS_Z": MAG_OFS_Z, "SIM_MAG2_OFS_X": MAG_OFS_X, "SIM_MAG2_OFS_Y": MAG_OFS_Y, "SIM_MAG2_OFS_Z": MAG_OFS_Z, "SIM_MAG3_OFS_X": MAG_OFS_X, "SIM_MAG3_OFS_Y": MAG_OFS_Y, "SIM_MAG3_OFS_Z": MAG_OFS_Z, }) # set to some sensible-ish initial values. If your initial # offsets are way, way off you can get some very odd effects. for param in wanted: value = 0.0 if "DIA" in param: value = 1.001 elif "ODI" in param: value = 0.001 self.set_parameter(param, value) self.zero_mag_offset_parameters() # wait until we definitely know where we are: self.poll_home_position(timeout=120) ss = self.mav.recv_match(type='SIMSTATE', blocking=True, timeout=1) if ss is None: raise NotAchievedException("Did not get SIMSTATE") self.progress("Got SIMSTATE (%s)" % str(ss)) self.run_cmd(mavutil.mavlink.MAV_CMD_FIXED_MAG_CAL_YAW, math.degrees(ss.yaw), # param1 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0 # param7 ) self.verify_parameter_values(wanted) self.progress("Rebooting and making sure we could arm with these values") self.reboot_sitl() self.wait_ready_to_arm(timeout=60) except Exception as e: ex = e self.context_pop() if ex is not None: raise ex def test_dataflash_over_mavlink(self): self.context_push() ex = None try: self.set_parameter("LOG_BACKEND_TYPE", 2) self.reboot_sitl() self.wait_ready_to_arm(check_prearm_bit=False) self.mavproxy.send('arm throttle\n') self.mavproxy.expect('PreArm: Logging failed') self.mavproxy.send("module load dataflash_logger\n") self.mavproxy.send("dataflash_logger set verbose 1\n") self.mavproxy.expect('logging started') self.mavproxy.send("dataflash_logger set verbose 0\n") self.delay_sim_time(1) self.do_timesync_roundtrip() # drain COMMAND_ACK from that failed arm self.arm_vehicle() tstart = self.get_sim_time() last_status = 0 while True: now = self.get_sim_time() if now - tstart > 60: break if now - last_status > 5: last_status = now self.mavproxy.send('dataflash_logger status\n') # seen on autotest: Active Rate(3s):97.790kB/s Block:164 Missing:0 Fixed:0 Abandoned:0 self.mavproxy.expect(r"Active Rate\([0-9]+s\):([0-9]+[.][0-9]+)") rate = float(self.mavproxy.match.group(1)) self.progress("Rate: %f" % rate) desired_rate = 50 if self.valgrind: desired_rate /= 10 if rate < desired_rate: raise NotAchievedException("Exceptionally low transfer rate (%u < %u)" % (rate, desired_rate)) self.disarm_vehicle() except Exception as e: self.print_exception_caught(e) self.disarm_vehicle() ex = e self.context_pop() self.mavproxy.send("module unload dataflash_logger\n") self.mavproxy.expect("Unloaded module dataflash_logger") self.reboot_sitl() if ex is not None: raise ex def test_dataflash_sitl(self): """Test the basic functionality of block logging""" self.context_push() ex = None try: self.set_parameter("LOG_BACKEND_TYPE", 4) self.set_parameter("LOG_FILE_DSRMROT", 1) self.reboot_sitl() # First log created here, but we are in chip erase so ignored self.mavproxy.send("module load log\n") self.mavproxy.send("log erase\n") self.mavproxy.expect("Chip erase complete") self.wait_ready_to_arm() if self.is_copter() or self.is_plane(): self.set_autodisarm_delay(0) self.arm_vehicle() self.delay_sim_time(5) self.disarm_vehicle() # First log created here self.delay_sim_time(2) self.arm_vehicle() self.delay_sim_time(5) self.disarm_vehicle() # Second log created here self.delay_sim_time(2) self.mavproxy.send("log list\n") self.mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120) log_num = int(self.mavproxy.match.group(1)) numlogs = int(self.mavproxy.match.group(2)) lastlog = int(self.mavproxy.match.group(3)) size = int(self.mavproxy.match.group(4)) if numlogs != 2 or log_num != 1 or size <= 0: raise NotAchievedException("Unexpected log information %d %d %d" % (log_num, numlogs, lastlog)) self.progress("Log size: %d" % size) self.reboot_sitl() # This starts a new log with a time of 0, wait for arm so that we can insert the correct time self.wait_ready_to_arm() # Third log created here self.mavproxy.send("log list\n") self.mavproxy.expect("Log 1 numLogs 3 lastLog 3 size") # Download second and third logs self.mavproxy.send("log download 2 logs/dataflash-log-002.BIN\n") self.mavproxy.expect("Finished downloading", timeout=120) self.mavproxy.send("log download 3 logs/dataflash-log-003.BIN\n") self.mavproxy.expect("Finished downloading", timeout=120) # Erase the logs self.mavproxy.send("log erase\n") self.mavproxy.expect("Chip erase complete") except Exception as e: self.print_exception_caught(e) ex = e self.mavproxy.send("module unload log\n") self.context_pop() self.reboot_sitl() if ex is not None: raise ex def validate_log_file(self, logname, header_errors=0): """Validate the contents of a log file""" # read the downloaded log - it must parse without error class Capturing(list): def __enter__(self): self._stderr = sys.stderr sys.stderr = self._stringio = StringIO.StringIO() return self def __exit__(self, *args): self.extend(self._stringio.getvalue().splitlines()) del self._stringio # free up some memory sys.stderr = self._stderr with Capturing() as df_output: try: mlog = mavutil.mavlink_connection(logname) while True: m = mlog.recv_match() if m is None: break except Exception as e: raise NotAchievedException("Error reading log file %s: %s" % (logname, str(e))) herrors = 0 for msg in df_output: if msg.startswith("bad header") or msg.startswith("unknown msg type"): herrors = herrors + 1 if herrors > header_errors: raise NotAchievedException("Error parsing log file %s, %d header errors" % (logname, herrors)) def test_dataflash_erase(self): """Test that erasing the dataflash chip and creating a new log is error free""" ex = None self.context_push() try: self.set_parameter("LOG_BACKEND_TYPE", 4) self.reboot_sitl() self.mavproxy.send("module load log\n") self.mavproxy.send("log erase\n") self.mavproxy.expect("Chip erase complete") self.set_parameter("LOG_DISARMED", 1) self.delay_sim_time(3) self.set_parameter("LOG_DISARMED", 0) self.mavproxy.send("log download 1 logs/dataflash-log-erase.BIN\n") self.mavproxy.expect("Finished downloading", timeout=120) # read the downloaded log - it must parse without error self.validate_log_file("logs/dataflash-log-erase.BIN") self.start_subtest("Test file wrapping results in a valid file") # roughly 4mb self.set_parameter("LOG_FILE_DSRMROT", 1) self.set_parameter("LOG_BITMASK", 131071) self.wait_ready_to_arm() if self.is_copter() or self.is_plane(): self.set_autodisarm_delay(0) self.arm_vehicle() self.delay_sim_time(30) self.disarm_vehicle() # roughly 4mb self.arm_vehicle() self.delay_sim_time(30) self.disarm_vehicle() # roughly 9mb, should wrap around self.arm_vehicle() self.delay_sim_time(50) self.disarm_vehicle() # make sure we have finished logging self.delay_sim_time(15) self.mavproxy.send("log list\n") try: self.mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120) except pexpect.TIMEOUT as e: if self.sitl_is_running(): self.progress("SITL is running") else: self.progress("SITL is NOT running") raise NotAchievedException("Received %s" % str(e)) if int(self.mavproxy.match.group(2)) != 3: raise NotAchievedException("Expected 3 logs got %s" % (self.mavproxy.match.group(2))) self.mavproxy.send("log download 1 logs/dataflash-log-erase2.BIN\n") self.mavproxy.expect("Finished downloading", timeout=120) self.validate_log_file("logs/dataflash-log-erase2.BIN", 1) self.mavproxy.send("log download latest logs/dataflash-log-erase3.BIN\n") self.mavproxy.expect("Finished downloading", timeout=120) self.validate_log_file("logs/dataflash-log-erase3.BIN", 1) # clean up self.mavproxy.send("log erase\n") self.mavproxy.expect("Chip erase complete") # clean up self.mavproxy.send("log erase\n") self.mavproxy.expect("Chip erase complete") except Exception as e: self.print_exception_caught(e) ex = e self.mavproxy.send("module unload log\n") self.context_pop() self.reboot_sitl() if ex is not None: raise ex def test_arm_feature(self): """Common feature to test.""" # TEST ARMING/DISARM if self.get_parameter("ARMING_CHECK") != 1.0 and not self.is_sub(): raise ValueError("Arming check should be 1") if not self.is_sub() and not self.is_tracker(): self.set_parameter("ARMING_RUDDER", 2) # allow arm and disarm with rudder on first tests if self.is_copter(): interlock_channel = 8 # Plane got flighmode_ch on channel 8 if not self.is_heli(): # heli don't need interlock option interlock_channel = 9 self.set_parameter("RC%u_OPTION" % interlock_channel, 32) self.set_rc(interlock_channel, 1000) self.zero_throttle() # Disable auto disarm for next tests # Rover and Sub don't have auto disarm if self.is_copter() or self.is_plane(): self.set_autodisarm_delay(0) self.start_subtest("Test normal arm and disarm features") self.wait_ready_to_arm() self.progress("default arm_vehicle() call") if not self.arm_vehicle(): raise NotAchievedException("Failed to ARM") self.progress("default disarm_vehicle() call") if not self.disarm_vehicle(): raise NotAchievedException("Failed to DISARM") self.progress("arm with mavproxy") if not self.mavproxy_arm_vehicle(): raise NotAchievedException("Failed to ARM") self.progress("disarm with mavproxy") if not self.mavproxy_disarm_vehicle(): raise NotAchievedException("Failed to DISARM") if not self.is_sub(): self.start_subtest("Test arm with rc input") if not self.arm_motors_with_rc_input(): raise NotAchievedException("Failed to arm with RC input") self.progress("disarm with rc input") if self.is_balancebot(): self.progress("balancebot can't disarm with RC input") self.disarm_vehicle() else: if not self.disarm_motors_with_rc_input(): raise NotAchievedException("Failed to disarm with RC input") self.start_subtest("Test arm and disarm with switch") arming_switch = 7 self.set_parameter("RC%d_OPTION" % arming_switch, 41) self.set_rc(arming_switch, 1000) # delay so a transition is seen by the RC switch code: self.delay_sim_time(0.5) if not self.arm_motors_with_switch(arming_switch): raise NotAchievedException("Failed to arm with switch") if not self.disarm_motors_with_switch(arming_switch): raise NotAchievedException("Failed to disarm with switch") self.set_rc(arming_switch, 1000) if self.is_copter(): self.start_subtest("Test arming failure with throttle too high") self.set_rc(3, 1800) try: if self.arm_vehicle(): raise NotAchievedException("Armed when throttle too high") except ValueError: pass if self.arm_motors_with_rc_input(): raise NotAchievedException( "Armed via RC when throttle too high") if self.arm_motors_with_switch(arming_switch): raise NotAchievedException("Armed via RC when switch too high") self.zero_throttle() self.set_rc(arming_switch, 1000) # Sub doesn't have 'stick commands' self.start_subtest("Test arming failure with ARMING_RUDDER=0") self.set_parameter("ARMING_RUDDER", 0) if self.arm_motors_with_rc_input(): raise NotAchievedException( "Armed with rudder when ARMING_RUDDER=0") self.start_subtest("Test disarming failure with ARMING_RUDDER=0") self.arm_vehicle() if self.disarm_motors_with_rc_input(watch_for_disabled=True): raise NotAchievedException( "Disarmed with rudder when ARMING_RUDDER=0") self.disarm_vehicle() self.wait_heartbeat() self.start_subtest("Test disarming failure with ARMING_RUDDER=1") self.set_parameter("ARMING_RUDDER", 1) self.arm_vehicle() if self.disarm_motors_with_rc_input(): raise NotAchievedException( "Disarmed with rudder with ARMING_RUDDER=1") self.disarm_vehicle() self.wait_heartbeat() self.set_parameter("ARMING_RUDDER", 2) if self.is_copter(): self.start_subtest("Test arming failure with interlock enabled") self.set_rc(interlock_channel, 2000) if self.arm_motors_with_rc_input(): raise NotAchievedException( "Armed with RC input when interlock enabled") if self.arm_motors_with_switch(arming_switch): raise NotAchievedException( "Armed with switch when interlock enabled") self.disarm_vehicle() self.wait_heartbeat() self.set_rc(arming_switch, 1000) self.set_rc(interlock_channel, 1000) if self.is_heli(): self.start_subtest("Test motor interlock enable can't be set while disarmed") self.set_rc(interlock_channel, 2000) channel_field = "servo%u_raw" % interlock_channel interlock_value = self.get_parameter("SERVO%u_MIN" % interlock_channel) tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 20: self.set_rc(interlock_channel, 1000) break # success! m = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True, timeout=2) if m is None: continue m_value = getattr(m, channel_field, None) if m_value is None: self.set_rc(interlock_channel, 1000) raise ValueError("Message has no %s field" % channel_field) self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" % (channel_field, m_value, interlock_value)) if m_value != interlock_value: self.set_rc(interlock_channel, 1000) raise NotAchievedException("Motor interlock was changed while disarmed") self.set_rc(interlock_channel, 1000) self.start_subtest("Test all mode arming") if self.arming_test_mission() is not None: self.load_mission(self.arming_test_mission()) for mode in self.mav.mode_mapping(): self.drain_mav() self.start_subtest("Mode : %s" % mode) if mode == "FOLLOW": self.set_parameter("FOLL_ENABLE", 1) if mode in self.get_normal_armable_modes_list(): self.progress("Armable mode : %s" % mode) self.change_mode(mode) self.arm_vehicle() if not self.disarm_vehicle(): raise NotAchievedException("Failed to DISARM") self.progress("PASS arm mode : %s" % mode) if mode in self.get_not_armable_mode_list(): if mode in self.get_not_disarmed_settable_modes_list(): self.progress("Not settable mode : %s" % mode) try: self.change_mode(mode, timeout=15) except AutoTestTimeoutException: self.progress("PASS not able to set mode : %s disarmed" % mode) except ValueError: self.progress("PASS not able to set mode : %s disarmed" % mode) else: self.progress("Not armable mode : %s" % mode) self.change_mode(mode) self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 1, # ARM 0, 0, 0, 0, 0, 0, want_result=mavutil.mavlink.MAV_RESULT_FAILED ) self.progress("PASS not able to arm in mode : %s" % mode) if mode in self.get_position_armable_modes_list(): self.progress("Armable mode needing Position : %s" % mode) self.wait_ekf_happy() self.change_mode(mode) self.arm_vehicle() self.wait_heartbeat() if not self.disarm_vehicle(): raise NotAchievedException("Failed to DISARM") self.progress("PASS arm mode : %s" % mode) self.progress("Not armable mode without Position : %s" % mode) self.wait_gps_disable() self.change_mode(mode) self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 1, # ARM 0, 0, 0, 0, 0, 0, want_result=mavutil.mavlink.MAV_RESULT_FAILED ) self.set_parameter("SIM_GPS_DISABLE", 0) self.wait_ekf_happy() # EKF may stay unhappy for a while self.progress("PASS not able to arm without Position in mode : %s" % mode) if mode in self.get_no_position_not_settable_modes_list(): self.progress("Setting mode need Position : %s" % mode) self.wait_ekf_happy() self.wait_gps_disable() try: self.change_mode(mode, timeout=15) except AutoTestTimeoutException: self.set_parameter("SIM_GPS_DISABLE", 0) self.progress("PASS not able to set mode without Position : %s" % mode) except ValueError: self.set_parameter("SIM_GPS_DISABLE", 0) self.progress("PASS not able to set mode without Position : %s" % mode) if mode == "FOLLOW": self.set_parameter("FOLL_ENABLE", 0) self.change_mode(self.default_mode()) if self.armed(): if not self.disarm_vehicle(): raise NotAchievedException("Failed to DISARM") # we should find at least one Armed event and one disarmed # event, and at least one ARM message for arm and disarm self.progress("Checking for an arm event") dfreader = self.dfreader_for_current_onboard_log() m = dfreader.recv_match(type="EV", condition="EV.Id==10") # armed if m is None: raise NotAchievedException("Did not find an Armed EV message") self.progress("Checking for a disarm event") dfreader = self.dfreader_for_current_onboard_log() m = dfreader.recv_match(type="EV", condition="EV.Id==11") # disarmed if m is None: raise NotAchievedException("Did not find a disarmed EV message") self.progress("Checking for ARM.ArmState==1") dfreader = self.dfreader_for_current_onboard_log() m = dfreader.recv_match(type="ARM", condition="ARM.ArmState==1") if m is None: raise NotAchievedException("Did not find a armed ARM message") self.progress("Checking for ARM.ArmState==0") dfreader = self.dfreader_for_current_onboard_log() m = dfreader.recv_match(type="ARM", condition="ARM.ArmState==0") if m is None: raise NotAchievedException("Did not find a disarmed ARM message") self.progress("ALL PASS") # TODO : Test arming magic; def get_message_rate(self, victim_message, timeout): tstart = self.get_sim_time() count = 0 while self.get_sim_time_cached() < tstart + timeout: m = self.mav.recv_match(type=victim_message, blocking=True, timeout=0.1 ) if m is not None: count += 1 time_delta = self.get_sim_time_cached() - tstart self.progress("%s count after %f seconds: %u" % (victim_message, time_delta, count)) return count/time_delta def rate_to_interval_us(self, rate): return 1/float(rate)*1000000.0 def set_message_rate_hz(self, id, rate_hz): '''set a message rate in Hz; 0 for original, -1 to disable''' if type(id) == str: id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % id) if rate_hz == 0 or rate_hz == -1: set_interval = rate_hz else: set_interval = self.rate_to_interval_us(rate_hz) self.run_cmd(mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, id, set_interval, 0, 0, 0, 0, 0) def send_get_message_interval(self, victim_message_id): self.mav.mav.command_long_send( 1, 1, mavutil.mavlink.MAV_CMD_GET_MESSAGE_INTERVAL, 1, # confirmation float(victim_message_id), 0, 0, 0, 0, 0, 0) def test_rate(self, desc, in_rate, expected_rate): self.progress("###### %s" % desc) self.progress("Setting rate to %u" % in_rate) self.set_message_rate_hz(self.victim_message_id, in_rate) new_measured_rate = self.get_message_rate(self.victim_message, 10) self.progress("Measured rate: %f (want %u)" % (new_measured_rate, expected_rate)) if round(new_measured_rate) != expected_rate: raise NotAchievedException("Rate not achieved (got %f want %u)" % (new_measured_rate, expected_rate)) # make sure get_message_interval works: self.send_get_message_interval(self.victim_message_id) m = self.mav.recv_match(type='MESSAGE_INTERVAL', blocking=True) if in_rate == 0: want = self.rate_to_interval_us(expected_rate) elif in_rate == -1: want = in_rate else: want = self.rate_to_interval_us(in_rate) if m.interval_us != want: raise NotAchievedException("Did not read same interval back from autopilot: want=%d got=%d)" % (want, m.interval_us)) m = self.mav.recv_match(type='COMMAND_ACK', blocking=True) if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED: raise NotAchievedException("Expected ACCEPTED for reading message interval") def test_set_message_interval(self): self.victim_message = 'VFR_HUD' self.victim_message_id = mavutil.mavlink.MAVLINK_MSG_ID_VFR_HUD ex = None try: # tell MAVProxy to stop stuffing around with the rates: self.mavproxy.send("set streamrate -1\n") rate = round(self.get_message_rate(self.victim_message, 20)) self.progress("Initial rate: %u" % rate) self.test_rate("Test set to %u" % (rate/2,), rate/2, rate/2) # this assumes the streamrates have not been played with: self.test_rate("Resetting original rate using 0-value", 0, rate) self.test_rate("Disabling using -1-value", -1, 0) self.test_rate("Resetting original rate", rate, rate) self.progress("try getting a message which is not ordinarily streamed out") rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20)) if rate != 0: raise PreconditionFailedException("Already getting CAMERA_FEEDBACK") self.progress("try various message rates") for want_rate in range(5, 14): self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, want_rate) self.drain_mav() rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20)) self.progress("Want=%u got=%u" % (want_rate, rate)) if rate != want_rate: raise NotAchievedException("Did not get expected rate (want=%u got=%u" % (want_rate, rate)) self.progress("try at the main loop rate") # have to reset the speedup as MAVProxy can't keep up otherwise old_speedup = self.get_parameter("SIM_SPEEDUP") self.set_parameter("SIM_SPEEDUP", 1.0) # ArduPilot currently limits message rate to 80% of main loop rate: want_rate = self.get_parameter("SCHED_LOOP_RATE") * 0.8 self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, want_rate) rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20)) self.set_parameter("SIM_SPEEDUP", old_speedup) self.progress("Want=%f got=%f" % (want_rate, rate)) if abs(rate - want_rate) > 2: raise NotAchievedException("Did not get expected rate") self.drain_mav() non_existant_id = 145 self.send_get_message_interval(non_existant_id) m = self.mav.recv_match(type='MESSAGE_INTERVAL', blocking=True) if m.interval_us != 0: raise NotAchievedException("Supposed to get 0 back for unsupported stream") m = self.mav.recv_match(type='COMMAND_ACK', blocking=True) if m.result != mavutil.mavlink.MAV_RESULT_FAILED: raise NotAchievedException("Getting rate of unsupported message is a failure") except Exception as e: self.print_exception_caught(e) ex = e self.progress("Resetting CAMERA_FEEDBACK rate to zero") self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, -1) # tell MAVProxy to start stuffing around with the rates: sr = self.sitl_streamrate() self.mavproxy.send("set streamrate %u\n" % sr) if ex is not None: raise ex def poll_message(self, message_id, timeout=10): if type(message_id) == str: message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id) # temporarily use a constant in place of # mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE until we have a # pymavlink release: tstart = self.get_sim_time() self.run_cmd(mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE, message_id, 0, 0, 0, 0, 0, 0, timeout=timeout) while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Did not receive polled message") m = self.mav.recv_match(blocking=True, timeout=0.1) if m is None: continue if m.id != message_id: continue return m def test_request_message(self, timeout=60): rate = round(self.get_message_rate("CAMERA_FEEDBACK", 10)) if rate != 0: raise PreconditionFailedException("Receving camera feedback") m = self.poll_message("CAMERA_FEEDBACK") if m is None: raise NotAchievedException("Requested CAMERA_FEEDBACK did not arrive") def clear_mission(self, mission_type, target_system=1, target_component=1): '''clear mision_type from autopilot. Note that this does NOT actually send a MISSION_CLEAR_ALL message ''' if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_ALL: # recurse if not self.is_tracker() and not self.is_plane(): self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) if not self.is_sub() and not self.is_tracker(): self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.last_wp_load = time.time() return self.mav.mav.mission_count_send(target_system, target_component, 0, mission_type) m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5) if m is None: raise NotAchievedException("Expected ACK for clearing mission") if m.target_system != self.mav.mav.srcSystem: raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" % (self.mav.mav.srcSystem, m.target_system)) if m.target_component != self.mav.mav.srcComponent: raise NotAchievedException("ACK not targetted at correct component want=%u got=%u" % (self.mav.mav.srcComponent, m.target_component)) if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED: raise NotAchievedException("Expected MAV_MISSION_ACCEPTED got %s" % (mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name,)) if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION: self.last_wp_load = time.time() def clear_fence_using_mavproxy(self, timeout=10): self.mavproxy.send("fence clear\n") tstart = self.get_sim_time_cached() while True: now = self.get_sim_time_cached() if now - tstart > timeout: raise AutoTestTimeoutException("FENCE_TOTAL did not go to zero") if self.get_parameter("FENCE_TOTAL") == 0: break def clear_fence(self): self.clear_fence_using_mavproxy() def clear_mission_using_mavproxy(self): self.mavproxy.send("wp clear\n") self.mavproxy.send('wp list\n') self.mavproxy.expect('Requesting [0-9]+ waypoints') num_wp = mavwp.MAVWPLoader().count() if num_wp != 0: raise NotAchievedException("Failed to clear mission") self.last_wp_load = time.time() def test_config_error_loop(self): '''test the sensor config error loop works and that parameter sets are persistent''' parameter_name = "SERVO8_MIN" old_parameter_value = self.get_parameter(parameter_name) old_sim_baro_count = self.get_parameter("SIM_BARO_COUNT") new_parameter_value = old_parameter_value + 5 ex = None try: self.set_parameter("STAT_BOOTCNT", 0) self.set_parameter("SIM_BARO_COUNT", 0) if self.is_tracker(): # starts armed... self.progress("Disarming tracker") self.disarm_vehicle(force=True) self.reboot_sitl(required_bootcount=1) self.progress("Waiting for 'Config error'") self.wait_statustext("Config error") self.progress("Setting %s to %f" % (parameter_name, new_parameter_value)) self.set_parameter(parameter_name, new_parameter_value) except Exception as e: ex = e self.progress("Resetting SIM_BARO_COUNT") self.set_parameter("SIM_BARO_COUNT", old_sim_baro_count) if self.is_tracker(): # starts armed... self.progress("Disarming tracker") self.disarm_vehicle(force=True) self.progress("Calling reboot-sitl ") self.reboot_sitl(required_bootcount=2) if ex is not None: raise ex if self.get_parameter(parameter_name) != new_parameter_value: raise NotAchievedException("Parameter value did not stick") def test_initial_mode(self): if self.is_copter(): init_mode = (9, "LAND") if self.is_rover(): init_mode = (4, "HOLD") if self.is_plane(): init_mode = (13, "TAKEOFF") if self.is_tracker(): init_mode = (1, "STOP") if self.is_sub(): return # NOT Supported yet self.context_push() self.set_parameter("SIM_RC_FAIL", 1) self.progress("Setting INITIAL_MODE to %s" % init_mode[1]) self.set_parameter("INITIAL_MODE", init_mode[0]) self.reboot_sitl() self.wait_mode(init_mode[1]) self.progress("Testing back mode switch") self.set_parameter("SIM_RC_FAIL", 0) self.wait_for_mode_switch_poll() self.context_pop() self.reboot_sitl() def test_gripper(self): self.context_push() self.set_parameters({ "GRIP_ENABLE": 1, "GRIP_GRAB": 2000, "GRIP_RELEASE": 1000, "GRIP_TYPE": 1, "SIM_GRPS_ENABLE": 1, "SIM_GRPS_PIN": 8, "SERVO8_FUNCTION": 28, "SERVO8_MIN": 1000, "SERVO8_MAX": 2000, "SERVO9_MIN": 1000, "SERVO9_MAX": 2000, "RC9_OPTION": 19, }) self.set_rc(9, 1500) self.reboot_sitl() self.progress("Waiting for ready to arm") self.wait_ready_to_arm() self.progress("Test gripper with RC9_OPTION") self.progress("Releasing load") # non strict string matching because of catching text issue.... self.context_collect('STATUSTEXT') self.set_rc(9, 1000) self.wait_text("Gripper load releas", check_context=True) self.progress("Grabbing load") self.set_rc(9, 2000) self.wait_text("Gripper load grabb", check_context=True) self.context_clear_collection('STATUSTEXT') self.progress("Releasing load") self.set_rc(9, 1000) self.wait_text("Gripper load releas", check_context=True) self.progress("Grabbing load") self.set_rc(9, 2000) self.wait_text("Gripper load grabb", check_context=True) self.progress("Test gripper with Mavlink cmd") self.progress("Releasing load") self.wait_text("Gripper load releas", the_function=lambda: self.mav.mav.command_long_send(1, 1, mavutil.mavlink.MAV_CMD_DO_GRIPPER, 0, 1, mavutil.mavlink.GRIPPER_ACTION_RELEASE, 0, 0, 0, 0, 0, )) self.progress("Grabbing load") self.wait_text("Gripper load grabb", the_function=lambda: self.mav.mav.command_long_send(1, 1, mavutil.mavlink.MAV_CMD_DO_GRIPPER, 0, 1, mavutil.mavlink.GRIPPER_ACTION_GRAB, 0, 0, 0, 0, 0, )) self.progress("Releasing load") self.wait_text("Gripper load releas", the_function=lambda: self.mav.mav.command_long_send(1, 1, mavutil.mavlink.MAV_CMD_DO_GRIPPER, 0, 1, mavutil.mavlink.GRIPPER_ACTION_RELEASE, 0, 0, 0, 0, 0, )) self.progress("Grabbing load") self.wait_text("Gripper load grabb", the_function=lambda: self.mav.mav.command_long_send(1, 1, mavutil.mavlink.MAV_CMD_DO_GRIPPER, 0, 1, mavutil.mavlink.GRIPPER_ACTION_GRAB, 0, 0, 0, 0, 0, )) self.context_pop() self.reboot_sitl() def test_set_position_global_int(self, timeout=100): """Test set position message in guided mode.""" # Disable heading and yaw test on rover type if self.is_rover(): test_alt = False test_heading = False test_yaw_rate = False else: test_alt = True test_heading = True test_yaw_rate = True self.set_parameter("FS_GCS_ENABLE", 0) self.change_mode("GUIDED") self.wait_ready_to_arm() self.arm_vehicle() if self.is_copter() or self.is_heli(): self.user_takeoff(alt_min=50) targetpos = self.mav.location() wp_accuracy = None if self.is_copter() or self.is_heli(): wp_accuracy = self.get_parameter("WPNAV_RADIUS", attempts=2) wp_accuracy = wp_accuracy * 0.01 # cm to m if self.is_plane() or self.is_rover(): wp_accuracy = self.get_parameter("WP_RADIUS", attempts=2) if wp_accuracy is None: raise ValueError() def to_alt_frame(alt, mav_frame): if mav_frame in ["MAV_FRAME_GLOBAL_RELATIVE_ALT", "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT", "MAV_FRAME_GLOBAL_TERRAIN_ALT", "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT"]: home = self.home_position_as_mav_location() return alt - home.alt else: return alt def send_target_position(lat, lng, alt, mav_frame): self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id mav_frame, MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE | MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE, int(lat * 1.0e7), # lat int(lng * 1.0e7), # lon alt, # alt 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz 0, # yaw 0, # yawrate ) for frame in MAV_FRAMES_TO_TEST: frame_name = mavutil.mavlink.enums["MAV_FRAME"][frame].name self.start_test("Testing Set Position in %s" % frame_name) self.start_subtest("Changing Latitude") targetpos.lat += 0.0001 if test_alt: targetpos.alt += 5 send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame) self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout, target_altitude=(targetpos.alt if test_alt else None), height_accuracy=2, minimum_duration=2) self.start_subtest("Changing Longitude") targetpos.lng += 0.0001 if test_alt: targetpos.alt -= 5 send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame) self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout, target_altitude=(targetpos.alt if test_alt else None), height_accuracy=2, minimum_duration=2) self.start_subtest("Revert Latitude") targetpos.lat -= 0.0001 if test_alt: targetpos.alt += 5 send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame) self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout, target_altitude=(targetpos.alt if test_alt else None), height_accuracy=2, minimum_duration=2) self.start_subtest("Revert Longitude") targetpos.lng -= 0.0001 if test_alt: targetpos.alt -= 5 send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame) self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout, target_altitude=(targetpos.alt if test_alt else None), height_accuracy=2, minimum_duration=2) if test_heading: self.start_test("Testing Yaw targetting in %s" % frame_name) self.start_subtest("Changing Latitude and Heading") targetpos.lat += 0.0001 if test_alt: targetpos.alt += 5 self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id frame, MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE, int(targetpos.lat * 1.0e7), # lat int(targetpos.lng * 1.0e7), # lon to_alt_frame(targetpos.alt, frame_name), # alt 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz math.radians(42), # yaw 0, # yawrate ) self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout, target_altitude=(targetpos.alt if test_alt else None), height_accuracy=2, minimum_duration=2) self.wait_heading(42, minimum_duration=5, timeout=timeout) self.start_subtest("Revert Latitude and Heading") targetpos.lat -= 0.0001 if test_alt: targetpos.alt -= 5 self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id frame, MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE, int(targetpos.lat * 1.0e7), # lat int(targetpos.lng * 1.0e7), # lon to_alt_frame(targetpos.alt, frame_name), # alt 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz math.radians(0), # yaw 0, # yawrate ) self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout, target_altitude=(targetpos.alt if test_alt else None), height_accuracy=2, minimum_duration=2) self.wait_heading(0, minimum_duration=5, timeout=timeout) if test_yaw_rate: self.start_test("Testing Yaw Rate targetting in %s" % frame_name) def send_yaw_rate(rate, target=None): self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id frame, MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE, int(targetpos.lat * 1.0e7), # lat int(targetpos.lng * 1.0e7), # lon to_alt_frame(targetpos.alt, frame_name), # alt 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz 0, # yaw rate, # yawrate in rad/s ) self.start_subtest("Changing Latitude and Yaw rate") target_rate = 1.0 # in rad/s targetpos.lat += 0.0001 if test_alt: targetpos.alt += 5 self.wait_yaw_speed(target_rate, timeout=timeout, called_function=lambda plop, empty: send_yaw_rate( target_rate, None), minimum_duration=5) self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout, target_altitude=(targetpos.alt if test_alt else None), height_accuracy=2) self.start_subtest("Revert Latitude and invert Yaw rate") target_rate = -1.0 targetpos.lat -= 0.0001 if test_alt: targetpos.alt -= 5 self.wait_yaw_speed(target_rate, timeout=timeout, called_function=lambda plop, empty: send_yaw_rate( target_rate, None), minimum_duration=5) self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout, target_altitude=(targetpos.alt if test_alt else None), height_accuracy=2) self.start_subtest("Changing Yaw rate to zero") target_rate = 0.0 self.wait_yaw_speed(target_rate, timeout=timeout, called_function=lambda plop, empty: send_yaw_rate( target_rate, None), minimum_duration=5) self.start_test("Getting back to home and disarm") self.do_RTL(distance_min=0, distance_max=wp_accuracy) self.disarm_vehicle() def test_set_velocity_global_int(self, timeout=30): """Test set position message in guided mode.""" # Disable heading and yaw rate test on rover type if self.is_rover(): test_vz = False test_heading = False test_yaw_rate = False else: test_vz = True test_heading = True test_yaw_rate = True self.set_parameter("FS_GCS_ENABLE", 0) self.change_mode("GUIDED") self.wait_ready_to_arm() self.arm_vehicle() if self.is_copter() or self.is_heli(): self.user_takeoff(alt_min=50) target_speed = Vector3(1.0, 0.0, 0.0) wp_accuracy = None if self.is_copter() or self.is_heli(): wp_accuracy = self.get_parameter("WPNAV_RADIUS", attempts=2) wp_accuracy = wp_accuracy * 0.01 # cm to m if self.is_plane() or self.is_rover(): wp_accuracy = self.get_parameter("WP_RADIUS", attempts=2) if wp_accuracy is None: raise ValueError() def send_speed_vector(vector, mav_frame): self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id mav_frame, MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE | MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE, 0, 0, 0, vector.x, # vx vector.y, # vy vector.z, # vz 0, # afx 0, # afy 0, # afz 0, # yaw 0, # yawrate ) for frame in MAV_FRAMES_TO_TEST: frame_name = mavutil.mavlink.enums["MAV_FRAME"][frame].name self.start_test("Testing Set Velocity in %s" % frame_name) self.start_subtest("Changing Vx speed") self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2 ) self.start_subtest("Add Vy speed") target_speed.y = 1.0 self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2) self.start_subtest("Add Vz speed") if test_vz: target_speed.z = 1.0 else: target_speed.z = 0.0 self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2 ) self.start_subtest("Invert Vz speed") if test_vz: target_speed.z = -1.0 else: target_speed.z = 0.0 self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2 ) self.start_subtest("Invert Vx speed") target_speed.x = -1.0 self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2 ) self.start_subtest("Invert Vy speed") target_speed.y = -1.0 self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2 ) self.start_subtest("Set Speed to zero") target_speed.x = 0.0 target_speed.y = 0.0 target_speed.z = 0.0 self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2 ) if test_heading: self.start_test("Testing Yaw targetting in %s" % frame_name) def send_yaw_target(yaw, mav_frame): self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id mav_frame, MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE, 0, 0, 0, 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz math.radians(yaw), # yaw 0, # yawrate ) target_speed.x = 1.0 target_speed.y = 1.0 if test_vz: target_speed.z = -1.0 else: target_speed.z = 0.0 def send_yaw_target_vel(yaw, vector, mav_frame): self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id mav_frame, MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE, 0, 0, 0, vector.x, # vx vector.y, # vy vector.z, # vz 0, # afx 0, # afy 0, # afz math.radians(yaw), # yaw 0, # yawrate ) self.start_subtest("Target a fixed Heading") target_yaw = 42.0 self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout, called_function=lambda plop, empty: send_yaw_target(target_yaw, frame)) self.start_subtest("Set target Heading") target_yaw = 0.0 self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout, called_function=lambda plop, empty: send_yaw_target(target_yaw, frame)) self.start_subtest("Add Vx, Vy, Vz speed and target a fixed Heading") target_yaw = 42.0 self.wait_heading( target_yaw, minimum_duration=5, timeout=timeout, called_function=lambda p, e: send_yaw_target_vel(target_yaw, target_speed, frame) ) self.wait_speed_vector( target_speed, called_function=lambda p, e: send_yaw_target_vel(target_yaw, target_speed, frame) ) self.start_subtest("Stop Vx, Vy, Vz speed and target zero Heading") target_yaw = 0.0 target_speed.x = 0.0 target_speed.y = 0.0 target_speed.z = 0.0 self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout, called_function=lambda plop, empty: send_yaw_target_vel(target_yaw, target_speed, frame)) self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda p, ee: send_yaw_target_vel(target_yaw, target_speed, frame), minimum_duration=2 ) if test_yaw_rate: self.start_test("Testing Yaw Rate targetting in %s" % frame_name) def send_yaw_rate(rate, mav_frame): self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id mav_frame, MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE, 0, 0, 0, 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz 0, # yaw rate, # yawrate in rad/s ) target_speed.x = 1.0 target_speed.y = 1.0 if test_vz: target_speed.z = -1.0 else: target_speed.z = 0.0 def send_yaw_rate_vel(rate, vector, mav_frame): self.mav.mav.set_position_target_global_int_send( 0, # timestamp self.sysid_thismav(), # target system_id 1, # target component id mav_frame, MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE | MAVLINK_SET_POS_TYPE_MASK_FORCE | MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE, 0, 0, 0, vector.x, # vx vector.y, # vy vector.z, # vz 0, # afx 0, # afy 0, # afz 0, # yaw rate, # yawrate in rad/s ) self.start_subtest("Set Yaw rate") target_rate = 1.0 self.wait_yaw_speed(target_rate, timeout=timeout, called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2) self.start_subtest("Invert Yaw rate") target_rate = -1.0 self.wait_yaw_speed(target_rate, timeout=timeout, called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2) self.start_subtest("Stop Yaw rate") target_rate = 0.0 self.wait_yaw_speed(target_rate, timeout=timeout, called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2) self.start_subtest("Set Yaw Rate and Vx, Vy, Vz speed") target_rate = 1.0 self.wait_yaw_speed( target_rate, called_function=lambda p, e: send_yaw_rate_vel(target_rate, target_speed, frame), minimum_duration=2 ) self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda p, e: send_yaw_rate_vel(target_rate, target_speed, frame), minimum_duration=2 ) target_rate = -1.0 target_speed.x = -1.0 target_speed.y = -1.0 if test_vz: target_speed.z = 1.0 else: target_speed.z = 0.0 self.start_subtest("Invert Vx, Vy, Vz speed") self.wait_yaw_speed( target_rate, timeout=timeout, called_function=lambda p, e: send_yaw_rate_vel(target_rate, target_speed, frame), minimum_duration=2 ) self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda p, e: send_yaw_rate_vel(target_rate, target_speed, frame), minimum_duration=2 ) target_rate = 0.0 target_speed.x = 0.0 target_speed.y = 0.0 target_speed.z = 0.0 self.start_subtest("Stop Yaw rate and all speed") self.wait_yaw_speed( target_rate, timeout=timeout, called_function=lambda p, e: send_yaw_rate_vel(target_rate, target_speed, frame), minimum_duration=2 ) self.wait_speed_vector( target_speed, timeout=timeout, called_function=lambda p, e: send_yaw_rate_vel(target_rate, target_speed, frame), minimum_duration=2 ) self.start_test("Getting back to home and disarm") self.do_RTL(distance_min=0, distance_max=wp_accuracy) self.disarm_vehicle() def is_copter(self): return False def is_sub(self): return False def is_plane(self): return False def is_rover(self): return False def is_balancebot(self): return False def is_heli(self): return False def is_tracker(self): return False def initial_mode(self): '''return mode vehicle should start in with no RC inputs set''' return None def initial_mode_switch_mode(self): '''return mode vehicle should start in with default RC inputs set''' return None def upload_fences_from_locations(self, vertex_type, list_of_list_of_locs, target_system=1, target_component=1): seq = 0 items = [] for locs in list_of_list_of_locs: if type(locs) == dict: # circular fence if vertex_type == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION: v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION else: v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION item = self.mav.mav.mission_item_int_encode( target_system, target_component, seq, # seq mavutil.mavlink.MAV_FRAME_GLOBAL, v, 0, # current 0, # autocontinue locs["radius"], # p1 0, # p2 0, # p3 0, # p4 int(locs["loc"].lat * 1e7), # latitude int(locs["loc"].lng * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE) seq += 1 items.append(item) continue count = len(locs) for loc in locs: item = self.mav.mav.mission_item_int_encode( target_system, target_component, seq, # seq mavutil.mavlink.MAV_FRAME_GLOBAL, vertex_type, 0, # current 0, # autocontinue count, # p1 0, # p2 0, # p3 0, # p4 int(loc.lat * 1e7), # latitude int(loc.lng * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE) seq += 1 items.append(item) self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, items) def wait_for_initial_mode(self): '''wait until we get a heartbeat with an expected initial mode (the one specified in the vehicle constructor)''' want = self.initial_mode() if want is None: return self.progress("Waiting for initial mode %s" % want) self.wait_mode(want) def wait_for_mode_switch_poll(self): '''look for a transition from boot-up-mode (e.g. the flightmode specificied in Copter's constructor) to the one specified by the mode switch value''' want = self.initial_mode_switch_mode() if want is None: return self.progress("Waiting for mode-switch mode %s" % want) self.wait_mode(want) def start_subtest(self, description): self.progress("-") self.progress("---------- %s ----------" % description) self.progress("-") def start_subsubtest(self, description): self.progress(".") self.progress(".......... %s .........." % description) self.progress(".") def end_subtest(self, description): '''TODO: sanity checks?''' pass def end_subsubtest(self, description): '''TODO: sanity checks?''' pass def test_skipped(self, test, reason): self.progress("##### %s is skipped: %s" % (test, reason)) self.skip_list.append((test, reason)) def last_onboard_log(self): '''return number of last onboard log''' self.mavproxy.send("module load log\n") loaded_module = False self.mavproxy.expect(["Loaded module log", "module log already loaded"]) if self.mavproxy.match.group(0) == "Loaded module log": loaded_module = True self.mavproxy.send("log list\n") self.mavproxy.expect(["lastLog ([0-9]+)", "No logs"]) if self.mavproxy.match.group(0) == "No logs": num_log = None else: num_log = int(self.mavproxy.match.group(1)) if loaded_module: self.mavproxy.send("module unload log\n") self.mavproxy.expect("Unloaded module log") return num_log def current_onboard_log_filepath(self): '''return filepath to currently open dataflash log. We assume that's the latest log...''' logs = self.log_list() latest = logs[-1] return latest def dfreader_for_current_onboard_log(self): return DFReader.DFReader_binary(self.current_onboard_log_filepath(), zero_time_base=True) def current_onboard_log_contains_message(self, messagetype): dfreader = self.dfreader_for_current_onboard_log() m = dfreader.recv_match(type=messagetype) print("m=%s" % str(m)) return m is not None def run_tests(self, tests): """Autotest vehicle in SITL.""" if self.run_tests_called: raise ValueError("run_tests called twice") self.run_tests_called = True self.fail_list = [] try: self.init() self.progress("Waiting for a heartbeat with mavlink protocol %s" % self.mav.WIRE_PROTOCOL_VERSION) self.wait_heartbeat() self.wait_for_initial_mode() self.progress("Setting up RC parameters") self.set_rc_default() self.wait_for_mode_switch_poll() if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL) for test in tests: self.drain_mav_unparsed() self.run_one_test(test) except pexpect.TIMEOUT: self.progress("Failed with timeout") self.fail_list.append(["Failed with timeout", None, None]) if self.logs_dir: if glob.glob("core*"): self.check_logs("FRAMEWORK") if self.rc_thread is not None: self.progress("Joining thread") self.rc_thread_should_quit = True self.rc_thread.join() self.rc_thread = None self.close() if len(self.skip_list): self.progress("Skipped tests:") for skipped in self.skip_list: (test, reason) = skipped print(" %s (see %s)" % (test.name, reason)) if len(self.fail_list): self.progress("Failing tests:") for failure in self.fail_list: (desc, exception, debug_filename) = failure print(" %s (%s) (see %s)" % (desc, exception, debug_filename)) return False return True def dictdiff(self, dict1, dict2): fred = copy.copy(dict1) for key in dict2.keys(): try: del fred[key] except KeyError: pass return fred # download parameters tries to cope with its download being # interrupted or broken by simply retrying the download a few # times. def download_parameters(self, target_system, target_component): # try a simple fetch-all: last_parameter_received = 0 attempt_count = 0 start_done = False # make flake8 happy: count = 0 expected_count = 0 seen_ids = {} self.progress("Downloading parameters") while True: now = self.get_sim_time_cached() if not start_done or now - last_parameter_received > 10: start_done = True if attempt_count > 3: raise AutoTestTimeoutException("Failed to download parameters (have %s/%s) (seen_ids-count=%u)" % (str(count), str(expected_count), len(seen_ids.keys()))) elif attempt_count != 0: self.progress("Download failed; retrying") self.delay_sim_time(1) self.drain_mav() self.mav.mav.param_request_list_send(target_system, target_component) attempt_count += 1 count = 0 expected_count = None seen_ids = {} id_seq = {} m = self.mav.recv_match(type='PARAM_VALUE', blocking=True, timeout=10) if m is None: raise AutoTestTimeoutException("tardy PARAM_VALUE (have %s/%s)" % ( str(count), str(expected_count))) if m.param_index == 65535: self.progress("volunteered parameter: %s" % str(m)) continue if False: self.progress(" received (%4u/%4u %s=%f" % (m.param_index, m.param_count, m.param_id, m.param_value)) if m.param_index >= m.param_count: raise ValueError("parameter index (%u) gte parameter count (%u)" % (m.param_index, m.param_count)) if expected_count is None: expected_count = m.param_count else: if m.param_count != expected_count: raise ValueError("expected count changed") if m.param_id not in seen_ids: count += 1 seen_ids[m.param_id] = m.param_value last_parameter_received = now if count == expected_count: break self.progress("Downloaded %u parameters OK (attempt=%u)" % (count, attempt_count)) return (seen_ids, id_seq) def test_parameters_download(self): self.start_subtest("parameter download") target_system = self.sysid_thismav() target_component = 1 (parameters, seq_id) = self.download_parameters(target_system, target_component) self.reboot_sitl() (parameters2, seq2_id) = self.download_parameters(target_system, target_component) delta = self.dictdiff(parameters, parameters2) if len(delta) != 0: raise ValueError("Got %u fewer parameters when downloading second time (before=%u vs after=%u) (delta=%s)" % (len(delta), len(parameters), len(parameters2), str(delta.keys()))) delta = self.dictdiff(parameters2, parameters) if len(delta) != 0: raise ValueError("Got %u extra parameters when downloading second time (before=%u vs after=%u) (delta=%s)" % (len(delta), len(parameters), len(parameters2), str(delta.keys()))) self.end_subsubtest("parameter download") def test_enable_parameter(self): self.start_subtest("enable parameters") target_system = 1 target_component = 1 parameters = self.download_parameters(target_system, target_component) enable_parameter = self.sample_enable_parameter() if enable_parameter is None: self.progress("Skipping enable parameter check as no enable parameter supplied") return self.set_parameter(enable_parameter, 1) parameters2 = self.download_parameters(target_system, target_component) if len(parameters) == len(parameters2): raise NotAchievedException("Enable parameter did not increase no of parameters downloaded") self.end_subsubtest("enable download") def test_parameters_mis_total(self): self.start_subsubtest("parameter mis_total") if self.is_tracker(): # uses CMD_TOTAL not MIS_TOTAL, and it's in a scalr not a # group and it's generally all bad. return self.start_subtest("Ensure GCS is not able to set MIS_TOTAL") old_mt = self.get_parameter("MIS_TOTAL", attempts=20) # retries to avoid seeming race condition with MAVProxy ex = None try: self.set_parameter("MIS_TOTAL", 17, retries=0) except ValueError as e: ex = e if ex is None: raise NotAchievedException("Set parameter when I shouldn't have") if old_mt != self.get_parameter("MIS_TOTAL"): raise NotAchievedException("Total has changed") self.start_subtest("Ensure GCS is able to set other MIS_ parameters") self.set_parameter("MIS_OPTIONS", 1) if self.get_parameter("MIS_OPTIONS") != 1: raise NotAchievedException("Failed to set MIS_OPTIONS") from_mavproxy = self.get_parameter_mavproxy("MIS_OPTIONS") if from_mavproxy != 1: raise NotAchievedException("MAVProxy failed to get parameter") def test_parameter_documentation(self): '''ensure parameter documentation is valid''' self.start_subsubtest("Check all parameters are documented") self.test_parameter_documentation_get_all_parameters() def test_parameters(self): '''general small tests for parameter system''' self.test_parameter_documentation() self.test_parameters_mis_total() self.test_parameters_download() def disabled_tests(self): return {} def test_parameter_checks_poscontrol(self, param_prefix): self.wait_ready_to_arm() self.context_push() self.set_parameter("%s_POSXY_P" % param_prefix, -1) self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 1, # ARM 0, 0, 0, 0, 0, 0, timeout=4, want_result=mavutil.mavlink.MAV_RESULT_FAILED) self.context_pop() self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 1, # ARM 0, 0, 0, 0, 0, 0, timeout=4, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED) self.disarm_vehicle() def test_pid_tuning(self): self.progress("making sure we're not getting PID_TUNING messages") m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=5) if m is not None: raise PreconditionFailedException("Receiving PID_TUNING already") self.set_parameter("GCS_PID_MASK", 1) self.progress("making sure we are now getting PID_TUNING messages") m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=5) if m is None: raise PreconditionFailedException("Did not start to get PID_TUNING message") def sample_mission_filename(self): return "flaps.txt" def test_advanced_failsafe(self): self.context_push() ex = None try: self.drain_mav() self.assert_no_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION) self.set_parameter("AFS_ENABLE", 1) self.drain_mav() self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION) self.set_parameter("AFS_TERM_ACTION", 42) self.load_sample_mission() self.context_collect("STATUSTEXT") self.change_mode("AUTO") # must go to auto for AFS to latch on self.wait_statustext("AFS State: AFS_AUTO", check_context=True) self.change_mode("MANUAL") self.start_subtest("RC Failure") self.set_parameter("AFS_RC_FAIL_TIME", 1) self.set_parameter("SIM_RC_FAIL", 1) self.wait_statustext("Terminating due to RC failure", check_context=True) self.set_parameter("AFS_RC_FAIL_TIME", 0) self.set_parameter("SIM_RC_FAIL", 0) self.set_parameter("AFS_TERMINATE", 0) if not self.is_plane(): # plane requires a polygon fence... self.start_subtest("Altitude Limit breach") self.set_parameter("AFS_AMSL_LIMIT", 100) self.mavproxy.send("fence enable\n") self.wait_statustext("Terminating due to fence breach", check_context=True) self.set_parameter("AFS_AMSL_LIMIT", 0) self.set_parameter("AFS_TERMINATE", 0) self.mavproxy.send("fence disable\n") self.start_subtest("GPS Failure") self.set_parameter("AFS_MAX_GPS_LOSS", 1) self.set_parameter("SIM_GPS_DISABLE", 1) self.wait_statustext("AFS State: GPS_LOSS", check_context=True) self.set_parameter("SIM_GPS_DISABLE", 0) self.set_parameter("AFS_MAX_GPS_LOSS", 0) self.set_parameter("AFS_TERMINATE", 0) self.run_cmd( mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION, 1, # terminate 0, 0, 0, 0, 0, 0, ) self.wait_statustext("Terminating due to GCS request", check_context=True) except Exception as e: ex = e self.mavproxy.send("fence disable\n") self.context_pop() if ex is not None: raise ex def drain_mav_seconds(self, seconds): tstart = self.get_sim_time_cached() while self.get_sim_time_cached() - tstart < seconds: self.drain_mav() self.delay_sim_time(0.5) def wait_gps_fix_type_gte(self, fix_type, timeout=30): tstart = self.get_sim_time() while True: now = self.get_sim_time_cached() if now - tstart > timeout: raise AutoTestTimeoutException("Did not get good GPS lock") m = self.mav.recv_match(type="GPS_RAW_INT", blocking=True, timeout=0.1) if m is None: continue if m.fix_type >= fix_type: break def nmea_output(self): self.set_parameter("SERIAL5_PROTOCOL", 20) # serial5 is NMEA output self.set_parameter("GPS_TYPE2", 5) # GPS2 is NMEA self.customise_SITL_commandline([ "--uartE=tcp:6735", # GPS2 is NMEA.... "--uartF=tcpclient:127.0.0.1:6735", # serial5 spews to localhost:6735 ]) self.drain_mav_unparsed() self.wait_gps_fix_type_gte(3) gps1 = self.mav.recv_match(type="GPS_RAW_INT", blocking=True, timeout=10) self.progress("gps1=(%s)" % str(gps1)) if gps1 is None: raise NotAchievedException("Did not receive GPS_RAW_INT") tstart = self.get_sim_time() while True: now = self.get_sim_time_cached() if now - tstart > 20: raise NotAchievedException("NMEA output not updating?!") gps2 = self.mav.recv_match(type="GPS2_RAW", blocking=True, timeout=1) self.progress("gps2=%s" % str(gps2)) if gps2 is None: continue if gps2.time_usec != 0: break max_distance = 1 distance = self.get_distance_int(gps1, gps2) if distance > max_distance: raise NotAchievedException("NMEA output inaccurate (dist=%f want<%f)" % (distance, max_distance)) def mavproxy_load_module(self, module): self.mavproxy.send("module load %s\n" % module) self.mavproxy.expect("Loaded module %s" % module) def mavproxy_unload_module(self, module): self.mavproxy.send("module unload %s\n" % module) self.mavproxy.expect("Unloaded module %s" % module) def accelcal(self): ex = None try: # setup with pre-existing accel offsets, to show that existing offsets don't # adversely affect a new cal pre_aofs = [Vector3(2.8, 1.2, 1.7), Vector3(0.2, -0.9, 2.9)] pre_ascale = [Vector3(0.95, 1.2, 0.98), Vector3(1.1, 1.0, 0.93)] aofs = [Vector3(0.7, -0.3, 1.8), Vector3(-2.1, 1.9, 2.3)] ascale = [Vector3(0.98, 1.12, 1.05), Vector3(1.11, 0.98, 0.96)] atrim = Vector3(0.05, -0.03, 0) pre_atrim = Vector3(-0.02, 0.04, 0) param_map = [("INS_ACCOFFS", "SIM_ACC1_BIAS", pre_aofs[0], aofs[0]), ("INS_ACC2OFFS", "SIM_ACC2_BIAS", pre_aofs[1], aofs[1]), ("INS_ACCSCAL", "SIM_ACC1_SCAL", pre_ascale[0], ascale[0]), ("INS_ACC2SCAL", "SIM_ACC2_SCAL", pre_ascale[1], ascale[1]), ("AHRS_TRIM", "SIM_ACC_TRIM", pre_atrim, atrim)] axes = ['X', 'Y', 'Z'] # form the pre-calibration params initial_params = {} for (ins_prefix, sim_prefix, pre_value, post_value) in param_map: for axis in axes: initial_params[ins_prefix + "_" + axis] = getattr(pre_value, axis.lower()) initial_params[sim_prefix + "_" + axis] = getattr(post_value, axis.lower()) self.set_parameters(initial_params) self.customise_SITL_commandline(["-M", "calibration"]) self.mavproxy_load_module("sitl_calibration") self.mavproxy_load_module("calibration") self.mavproxy_load_module("relay") self.mavproxy.send("sitl_accelcal\n") self.mavproxy.send("accelcal\n") self.mavproxy.expect("Calibrated") for wanted in [ "level", "on its LEFT side", "on its RIGHT side", "nose DOWN", "nose UP", "on its BACK", ]: timeout = 2 self.mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout) self.mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout) self.mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout) self.mavproxy.send("\n") self.mavproxy.expect("APM: Calibration successful", timeout=timeout) self.drain_mav() self.progress("Checking results") accuracy_pct = 0.2 for (ins_prefix, sim_prefix, pre_value, post_value) in param_map: for axis in axes: pname = ins_prefix+"_"+axis v = self.get_parameter(pname) expected_v = getattr(post_value, axis.lower()) if v == expected_v: continue error_pct = 100.0 * abs(v - expected_v) / abs(expected_v) if error_pct > accuracy_pct: raise NotAchievedException( "Incorrect value %.6f for %s should be %.6f error %.2f%%" % (v, pname, expected_v, error_pct)) else: self.progress("Correct value %.4f for %s error %.2f%%" % (v, pname, error_pct)) except Exception as e: self.print_exception_caught(e) ex = e self.mavproxy_unload_module("relay") self.mavproxy_unload_module("calibration") self.mavproxy_unload_module("sitl_calibration") if ex is not None: raise ex def ahrstrim(self): # setup with non-zero accel offsets self.set_parameters({ "INS_ACCOFFS_X": 0.7, "INS_ACCOFFS_Y": -0.3, "INS_ACCOFFS_Z": 1.8, "INS_ACC2OFFS_X": -2.1, "INS_ACC2OFFS_Y": 1.9, "INS_ACC2OFFS_Z": 2.3, "SIM_ACC1_BIAS_X": 0.7, "SIM_ACC1_BIAS_Y": -0.3, "SIM_ACC1_BIAS_Z": 1.8, "SIM_ACC2_BIAS_X": -2.1, "SIM_ACC2_BIAS_Y": 1.9, "SIM_ACC2_BIAS_Z": 2.3, "AHRS_TRIM_X": 0.05, "AHRS_TRIM_Y": -0.03, "SIM_ACC_TRIM_X": -0.04, "SIM_ACC_TRIM_Y": 0.05, }) expected_parms = { "AHRS_TRIM_X": -0.04, "AHRS_TRIM_Y": 0.05, } self.progress("Starting ahrstrim") self.drain_mav() self.mav.mav.command_long_send(self.sysid_thismav(), 1, mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 0, 2, 0, 0) self.wait_statustext('Trim OK') self.drain_mav() self.progress("Checking results") accuracy_pct = 0.2 for (pname, expected_v) in expected_parms.items(): v = self.get_parameter(pname) if v == expected_v: continue error_pct = 100.0 * abs(v - expected_v) / abs(expected_v) if error_pct > accuracy_pct: raise NotAchievedException( "Incorrect value %.6f for %s should be %.6f error %.2f%%" % (v, pname, expected_v, error_pct)) self.progress("Correct value %.4f for %s error %.2f%%" % (v, pname, error_pct)) def test_button(self): self.set_parameter("SIM_PIN_MASK", 0) self.set_parameter("BTN_ENABLE", 1) self.drain_mav() self.do_heartbeats(force=True) btn = 4 pin = 3 self.set_parameter("BTN_PIN%u" % btn, pin, verbose=True) m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1) self.progress("### m: %s" % str(m)) if m is not None: # should not get a button-changed event here. The pins # are simulated pull-down raise NotAchievedException("Received BUTTON_CHANGE event") mask = 1 << pin self.set_parameter("SIM_PIN_MASK", mask) m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1) if m is None: raise NotAchievedException("Did not receive BUTTON_CHANGE event") self.progress("### m: %s" % str(m)) if not (m.state & mask): raise NotAchievedException("Bit not set in mask (got=%u want=%u)" % (m.state, mask)) m2 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=10) if m2 is None: raise NotAchievedException("Did not get repeat message") self.progress("### m2: %s" % str(m2)) # wait for messages to stop coming: self.drain_mav_seconds(15) new_mask = 0 self.send_set_parameter("SIM_PIN_MASK", new_mask, verbose=True) m3 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1) if m3 is None: raise NotAchievedException("Did not get 'off' message") self.progress("### m3: %s" % str(m3)) if m.last_change_ms == m3.last_change_ms: raise NotAchievedException("last_change_ms same as first message") if m3.state != new_mask: raise NotAchievedException("Unexpected mask (want=%u got=%u)" % (new_mask, m3.state)) self.progress("correct BUTTON_CHANGE event received") if self.is_tracker(): # tracker starts armed, which is annoying self.progress("Skipping arm/disarm tests for tracker") return self.wait_ready_to_arm() self.set_parameter("BTN_FUNC%u" % btn, 41) # ARM/DISARM self.set_parameter("SIM_PIN_MASK", mask) self.wait_armed() self.set_parameter("SIM_PIN_MASK", 0) self.wait_disarmed() if self.is_rover(): self.context_push() # arming should be inhibited while e-STOP is in use: # set the function: self.set_parameter("BTN_FUNC%u" % btn, 31) # invert the sense of the pin, so eStop is asserted when pin is low: self.set_parameter("BTN_OPTIONS%u" % btn, 1 << 1) self.reboot_sitl() # assert the pin: self.set_parameter("SIM_PIN_MASK", mask) self.wait_ready_to_arm() self.arm_vehicle() self.disarm_vehicle() # de-assert the pin: self.set_parameter("SIM_PIN_MASK", 0) self.delay_sim_time(1) # 5Hz update rate on Button library self.context_collect("STATUSTEXT") # try to arm the vehicle: self.run_cmd( mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 1, # ARM 0, 0, 0, 0, 0, 0, want_result=mavutil.mavlink.MAV_RESULT_FAILED ) self.wait_statustext("PreArm: Motors Emergency Stopped", check_context=True) self.context_pop() self.reboot_sitl() def compare_number_percent(self, num1, num2, percent): if num1 == 0 and num2 == 0: return True if abs(num1 - num2) / max(abs(num1), abs(num2)) <= percent * 0.01: return True return False def bit_extract(self, number, offset, length): mask = 0 for i in range(offset, offset+length): mask |= 1 << i return (number & mask) >> offset def tf_encode_gps_latitude(self, lat): value = 0 if lat < 0: value = ((abs(lat)//100)*6) | 0x40000000 else: value = ((abs(lat)//100)*6) return value def tf_validate_gps(self, value): # shared by proto 4 and proto 10 self.progress("validating gps (0x%02x)" % value) lat = value gpi = self.mav.recv_match( type='GLOBAL_POSITION_INT', blocking=True, timeout=1 ) if gpi is None: raise NotAchievedException("Did not get GLOBAL_POSITION_INT message") gpi_lat = self.tf_encode_gps_latitude(gpi.lat) self.progress("GLOBAL_POSITION_INT lat==%f frsky==%f" % (gpi_lat, lat)) if gpi_lat == lat: return True return False def tfp_prep_number(self, number, digits, power): res = 0 abs_number = abs(number) if digits == 2 and power == 1: # number encoded on 8 bits: 7 bits for digits + 1 for 10^power if abs_number < 100: res = abs_number << 1 elif abs_number < 1270: res = (round(abs_number * 0.1) << 1) | 0x1 else: # transmit max possible value (0x7F x 10^1 = 1270) res = 0xFF if number < 0: # if number is negative, add sign bit in front res |= 0x1 << 8 elif digits == 2 and power == 2: # number encoded on 9 bits: 7 bits for digits + 2 for 10^power if abs_number < 100: res = abs_number << 2 elif abs_number < 1000: res = (round(abs_number * 0.1) << 2) | 0x1 elif abs_number < 10000: res = (round(abs_number * 0.01) << 2) | 0x2 elif abs_number < 127000: res = (round(abs_number * 0.001) << 2) | 0x3 else: # transmit max possible value (0x7F x 10^3 = 127000) res = 0x1FF if number < 0: # if number is negative, add sign bit in front res |= 0x1 << 9 elif digits == 3 and power == 1: # number encoded on 11 bits: 10 bits for digits + 1 for 10^power if abs_number < 1000: res = abs_number << 1 elif abs_number < 10240: res = (round(abs_number * 0.1) << 1) | 0x1 else: # transmit max possible value (0x3FF x 10^1 = 10240) res = 0x7FF if number < 0: # if number is negative, add sign bit in front res |= 0x1 << 11 elif digits == 3 and power == 2: # number encoded on 12 bits: 10 bits for digits + 2 for 10^power if abs_number < 1000: res = abs_number << 2 elif abs_number < 10000: res = (round(abs_number * 0.1) << 2) | 0x1 elif abs_number < 100000: res = (round(abs_number * 0.01) << 2) | 0x2 elif abs_number < 1024000: res = (round(abs_number * 0.001) << 2) | 0x3 else: # transmit max possible value (0x3FF x 10^3 = 127000) res = 0xFFF if number < 0: # if number is negative, add sign bit in front res |= 0x1 << 12 return res def tfp_validate_ap_status(self, value): # 0x5001 self.progress("validating ap_status(0x%02x)" % value) flight_mode = self.bit_extract(value, 0, 5) - 1 # first mode is 1 not 0 :-) # simple_mode = self.bit_extract(value, 5, 2) # is_flying = not self.bit_extract(value, 7, 1) # status_armed = self.bit_extract(value, 8, 1) # batt_failsafe = self.bit_extract(value, 9, 1) # ekf_failsafe = self.bit_extract(value, 10, 2) # imu_temp = self.bit_extract(value, 26, 6) + 19 # IMU temperature: 0 means temp =< 19, 63 means temp => 82 heartbeat = self.mav.recv_match( type='HEARTBEAT', blocking=True, timeout=1 ) if heartbeat is None: raise NotAchievedException("Did not get HEARTBEAT message") mav_flight_mode = heartbeat.custom_mode self.progress(" mode=%u heartbeat=%u" % (flight_mode, mav_flight_mode)) if mav_flight_mode == flight_mode: self.progress("flight mode match") return True # FIXME: need to check other values as well return False def tfp_validate_attitude(self, value): self.progress("validating attitude(0x%02x)" % value) roll = (min(self.bit_extract(value, 0, 11), 1800) - 900) * 0.2 # roll [0,1800] ==> [-180,180] pitch = (min(self.bit_extract(value, 11, 10), 900) - 450) * 0.2 # pitch [0,900] ==> [-90,90] # rng_cm = self.bit_extract(value, 22, 10) * (10 ^ self.bit_extract(value, 21, 1)) # cm atti = self.mav.recv_match( type='ATTITUDE', blocking=True, timeout=1 ) if atti is None: raise NotAchievedException("Did not get ATTITUDE message") atti_roll = round(atti.roll) self.progress("ATTITUDE roll==%f frsky==%f" % (atti_roll, roll)) if abs(atti_roll - roll) >= 5: return False atti_pitch = round(atti.pitch) self.progress("ATTITUDE pitch==%f frsky==%f" % (atti_pitch, pitch)) if abs(atti_pitch - pitch) >= 5: return False # FIXME: need to check other values as well return True def tfp_validate_home_status(self, value): self.progress("validating home status(0x%02x)" % value) # home_dist_m = self.bit_extract(value,2,10) * (10^self.bit_extract(value,0,2)) home_alt_dm = self.bit_extract(value, 14, 10) * (10 ^ self.bit_extract(value, 12, 2)) * 0.1 * (self.bit_extract(value, 24, 1) == 1 and -1 or 1) # noqa # home_angle_d = self.bit_extract(value, 25, 7) * 3 gpi = self.mav.recv_match( type='GLOBAL_POSITION_INT', blocking=True, timeout=1 ) if gpi is None: raise NotAchievedException("Did not get GLOBAL_POSITION_INT message") gpi_relative_alt_dm = gpi.relative_alt/100.0 self.progress("GLOBAL_POSITION_INT rel_alt==%fm frsky_home_alt==%fm" % (gpi_relative_alt_dm, home_alt_dm)) if abs(gpi_relative_alt_dm - home_alt_dm) < 10: return True # FIXME: need to check other values as well return False def tfp_validate_gps_status(self, value): self.progress("validating gps status(0x%02x)" % value) # num_sats = self.bit_extract(value, 0, 4) gps_status = self.bit_extract(value, 4, 2) + self.bit_extract(value, 14, 2) # gps_hdop = self.bit_extract(value, 7, 7) * (10 ^ self.bit_extract(value, 6, 1)) # dm # gps_alt = self.bit_extract(value, 24, 7) * (10 ^ self.bit_extract(value, 22, 2)) * (self.bit_extract(value, 31, 1) == 1 and -1 or 1) # dm # noqa gri = self.mav.recv_match( type='GPS_RAW_INT', blocking=True, timeout=1 ) if gri is None: raise NotAchievedException("Did not get GPS_RAW_INT message") gri_status = gri.fix_type self.progress("GPS_RAW_INT fix_type==%f frsky==%f" % (gri_status, gps_status)) if gps_status == gri_status: return True # FIXME: need to check other values as well return False def tfp_validate_vel_and_yaw(self, value): # 0x5005 self.progress("validating vel_and_yaw(0x%02x)" % value) z_vel_dm_per_second = self.bit_extract(value, 1, 7) * (10 ^ self.bit_extract(value, 0, 1)) * (self.bit_extract(value, 8, 1) == 1 and -1 or 1) # noqa xy_vel = self.bit_extract(value, 10, 7) * (10 ^ self.bit_extract(value, 9, 1)) yaw = self.bit_extract(value, 17, 11) * 0.2 gpi = self.mav.recv_match( type='GLOBAL_POSITION_INT', blocking=True, timeout=1 ) if gpi is None: return self.progress(" yaw=%u gpi=%u" % (yaw, gpi.hdg*0.01)) self.progress(" xy_vel=%u" % xy_vel) self.progress(" z_vel_dm_per_second=%u" % z_vel_dm_per_second) if self.compare_number_percent(gpi.hdg*0.01, yaw, 10): self.progress("Yaw match") return True # FIXME: need to be under way to check the velocities, really.... return False def tfp_validate_battery1(self, value): self.progress("validating battery1 (0x%02x)" % value) voltage = self.bit_extract(value, 0, 9) # dV # current = self.bit_extract(value, 10, 7) * (10 ^ self.bit_extract(value, 9, 1)) # mah = self.bit_extract(value, 17, 15) voltage = value * 0.1 batt = self.mav.recv_match( type='BATTERY_STATUS', blocking=True, timeout=5, condition="BATTERY_STATUS.id==0" ) if batt is None: raise NotAchievedException("Did not get BATTERY_STATUS message") battery_status_value = batt.voltages[0]*0.001 self.progress("BATTERY_STATUS voltage==%f frsky==%f" % (battery_status_value, voltage)) if abs(battery_status_value - voltage) > 0.1: return False # FIXME: need to check other values as well return True def tfp_validate_params(self, value): param_id = self.bit_extract(value, 24, 4) param_value = self.bit_extract(value, 0, 24) self.progress("received param (0x%02x) (id=%u value=%u)" % (value, param_id, param_value)) frame_type = param_value hb = self.mav.recv_match( type='HEARTBEAT', blocking=True, timeout=1, ) if hb is None: raise NotAchievedException("Did not get HEARTBEAT message") hb_type = hb.type self.progress("validate_params: HEARTBEAT type==%f frsky==%f param_id=%u" % (hb_type, frame_type, param_id)) if param_id != 1: return False if hb_type == frame_type: return True # FIXME: need to check other values as well return False def tfp_validate_rpm(self, value): self.progress("validating rpm (0x%02x)" % value) tf_rpm = self.bit_extract(value, 0, 16) rpm = self.mav.recv_match( type='RPM', blocking=True, timeout=5 ) if rpm is None: raise NotAchievedException("Did not get RPM message") rpm_value = round(rpm.rpm1 * 0.1) self.progress("RPM rpm==%f frsky==%f" % (rpm_value, tf_rpm)) if rpm_value != tf_rpm: return False return True def test_frsky_passthrough_do_wants(self, frsky, wants): tstart = self.get_sim_time_cached() while len(wants): self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()])) wants_copy = copy.copy(wants) t2 = self.get_sim_time_cached() if t2 - tstart > 300: self.progress("Failed to get frsky data") self.progress("Counts of sensor_id polls sent:") frsky.dump_sensor_id_poll_counts_as_progress_messages() self.progress("Counts of dataids received:") frsky.dump_dataid_counts_as_progress_messages() raise AutoTestTimeoutException("Failed to get frsky data") frsky.update() for want in wants_copy: data = frsky.get_data(want) if data is None: continue self.progress("Checking 0x%x" % (want,)) if wants[want](data): self.progress(" Fulfilled") del wants[want] def test_frsky_passthrough(self): self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough self.set_parameter("RPM_TYPE", 1) # enable RPM output self.customise_SITL_commandline([ "--uartF=tcp:6735" # serial5 spews to localhost:6735 ]) frsky = FRSkyPassThrough(("127.0.0.1", 6735)) # waiting until we are ready to arm should ensure our wanted # statustext doesn't get blatted out of the ArduPilot queue by # random messages. self.wait_ready_to_arm() # test we get statustext strings. This relies on ArduPilot # emitting statustext strings when we fetch parameters. (or, # now, an updating-barometer statustext) tstart = self.get_sim_time_cached() old_data = None text = "" sent_request = False while True: now = self.get_sim_time() if now - tstart > 60: # it can take a *long* time to get these messages down! raise NotAchievedException("Did not get statustext in time") if now - tstart > 30 and not sent_request: # have to wait this long or our message gets squelched.... sent_request = True # self.mavproxy.send("param fetch\n") self.run_cmd( mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, # p1 0, # p2 1, # p3, baro 0, # p4 0, # p5 0, # p6 0, # p7 ) frsky.update() data = frsky.get_data(0x5000) # no timestamping on this data, so we can't catch legitimate repeats. if data is None: continue # frsky sends each quartet three times; skip the suplicates. if old_data is not None and old_data == data: continue old_data = data self.progress("Got (0x%x)" % data) severity = 0 last = False for i in 3, 2, 1, 0: x = (data >> i*8) & 0xff text += chr(x & 0x7f) self.progress(" x=0x%02x" % x) if x & 0x80: severity += 1 << i self.progress("Text sev=%u: %s" % (severity, str(text))) if (x & 0x7f) == 0x00: last = True if last: m = re.match("Updating barometer calibration", text) if m is not None: want_sev = mavutil.mavlink.MAV_SEVERITY_INFO if severity != want_sev: raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity)) self.progress("Got statustext (%s)" % m.group(0)) break text = "" self.wait_ready_to_arm() # we need to start the engine to get some RPM readings, we do it for plane only self.drain_mav_unparsed() # anything with a lambda in here needs a proper test written. # This, at least makes sure we're getting some of each # message. These are ordered according to the wfq scheduler wants = { 0x5000: lambda xx: True, 0x5006: self.tfp_validate_attitude, 0x0800: self.tf_validate_gps, 0x5005: self.tfp_validate_vel_and_yaw, 0x5001: self.tfp_validate_ap_status, 0x5002: self.tfp_validate_gps_status, 0x5004: self.tfp_validate_home_status, # 0x5008: lambda x : True, # no second battery, so this doesn't arrive 0x5003: self.tfp_validate_battery1, 0x5007: self.tfp_validate_params, } self.test_frsky_passthrough_do_wants(frsky, wants) # now check RPM: if self.is_plane(): self.set_autodisarm_delay(0) if not self.arm_vehicle(): raise NotAchievedException("Failed to ARM") self.set_rc(3, 1050) wants = { 0x500A: self.tfp_validate_rpm, } self.test_frsky_passthrough_do_wants(frsky, wants) self.zero_throttle() if not self.disarm_vehicle(): raise NotAchievedException("Failed to DISARM") self.progress("Counts of sensor_id polls sent:") frsky.dump_sensor_id_poll_counts_as_progress_messages() self.progress("Counts of dataids received:") frsky.dump_dataid_counts_as_progress_messages() def decode_mavlite_param_value(self, message): '''returns a tuple of parameter name, value''' (value,) = struct.unpack(" 30: raise NotAchievedException("Did not get parameter via mavlite") frsky.update() if sport_to_mavlite.state == sport_to_mavlite.state_MESSAGE_RECEIVED: message = sport_to_mavlite.get_message() sport_to_mavlite.reset() # self.progress("############ message received (type=%u)" % message.msgid) return message def read_parameter_via_mavlite(self, frsky, sport_to_mavlite, name): tstart = self.get_sim_time_cached() while True: tnow = self.get_sim_time_cached() if tnow - tstart > 30: raise NotAchievedException("Did not get parameter via mavlite") message = self.read_message_via_mavlite(frsky, sport_to_mavlite) if message.msgid != mavutil.mavlink.MAVLINK_MSG_ID_PARAM_VALUE: raise NotAchievedException("Unexpected msgid %u received" % message.msgid) (got_name, value) = self.decode_mavlite_param_value(message.body) # self.progress("Received parameter: %s=%f" % (name, value)) got_name = got_name.decode('ascii') if got_name != name: raise NotAchievedException("Incorrect name received (want=%s) (got=%s)" % (name, got_name)) return value def get_parameter_via_mavlite(self, frsky, sport_to_mavlite, name): # self.progress("########## Sending request") frsky.send_mavlite_param_request_read(name) return self.read_parameter_via_mavlite(frsky, sport_to_mavlite, name) def set_parameter_via_mavlite(self, frsky, sport_to_mavlite, name, value): # self.progress("########## Sending request") frsky.send_mavlite_param_set(name, value) # new value is echoed back immediately: got_val = self.read_parameter_via_mavlite(frsky, sport_to_mavlite, name) if abs(got_val - value) > 0.00001: raise NotAchievedException("Returned value not same as set value (want=%f got=%f)" % (value, got_val)) def run_cmd_via_mavlite(self, frsky, sport_to_mavlite, command, p1=None, p2=None, p3=None, p4=None, p5=None, p6=None, p7=None, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED): frsky.send_mavlite_command_long( command, p1=p1, p2=p2, p3=p3, p4=p4, p5=p5, p6=p6, p7=p7, ) self.run_cmd_via_mavlite_get_ack( frsky, sport_to_mavlite, command, want_result ) def run_cmd_via_mavlite_get_ack(self, frsky, sport_to_mavlite, command, want_result): '''expect and read a command-ack from frsky sport passthrough''' msg = self.read_message_via_mavlite(frsky, sport_to_mavlite) if msg.msgid != mavutil.mavlink.MAVLINK_MSG_ID_COMMAND_ACK: raise NotAchievedException("Expected a command-ack, got a %u" % msg.msgid) (got_command, got_result) = self.decode_mavlite_command_ack(msg.body) if got_command != command: raise NotAchievedException( "Did not receive expected command in command_ack; want=%u got=%u" % (command, got_command)) if got_result != want_result: raise NotAchievedException( "Did not receive expected result in command_ack; want=%u got=%u" % (want_result, got_result)) def test_frsky_mavlite(self): self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough self.customise_SITL_commandline([ "--uartF=tcp:6735" # serial5 spews to localhost:6735 ]) frsky = FRSkyPassThrough(("127.0.0.1", 6735)) frsky.connect() sport_to_mavlite = SPortToMAVlite() frsky.data_downlink_handler = sport_to_mavlite.downlink_handler self.start_subtest("Get parameter via MAVlite") param_name = "STAB_PITCH_DOWN" # FIXME: want common across vehicles set_value = 97.21 self.set_parameter(param_name, set_value) # DO NOT FLY got_value = self.get_parameter_via_mavlite(frsky, sport_to_mavlite, param_name) if abs(got_value - set_value) > 0.00001: raise NotAchievedException("Incorrect value retrieved via mavlite (want=%f got=%f)" % (set_value, got_value)) self.progress("Got value OK") self.end_subtest("Get parameter via MAVlite") self.start_subtest("Set parameter via MAVlite") param_name = "STAB_PITCH_DOWN" # FIXME: want common across vehicles set_value = 91.67 # frsky.verbose = True self.set_parameter_via_mavlite(frsky, sport_to_mavlite, param_name, set_value) # DO NOT FLY got_value = self.get_parameter(param_name) if abs(got_value - set_value) > 0.00001: raise NotAchievedException("Incorrect value retrieved via mavlink (want=%f got=%f)" % (set_value, got_value)) self.progress("Set value OK") self.end_subtest("Set parameter via MAVlite") self.start_subtest("Calibrate Baro via MAVLite") self.context_push() self.context_collect("STATUSTEXT") self.run_cmd_via_mavlite( frsky, sport_to_mavlite, mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, p1=0, p2=0, p3=1.0, ) self.wait_statustext("Updating barometer calibration", check_context=True) self.context_pop() self.end_subtest("Calibrate Baro via MAVLite") self.start_subtest("Change mode via MAVLite") # FIXME: currently plane-specific self.run_cmd_via_mavlite( frsky, sport_to_mavlite, mavutil.mavlink.MAV_CMD_DO_SET_MODE, p1=mavutil.mavlink.PLANE_MODE_MANUAL, ) self.wait_mode("MANUAL") self.run_cmd_via_mavlite( frsky, sport_to_mavlite, mavutil.mavlink.MAV_CMD_DO_SET_MODE, p1=mavutil.mavlink.PLANE_MODE_FLY_BY_WIRE_A, ) self.wait_mode("FBWA") self.end_subtest("Change mode via MAVLite") self.start_subtest("Enable fence via MAVlite") # FIXME: currently plane-specific self.run_cmd_via_mavlite( frsky, sport_to_mavlite, mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=1, want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED, ) self.end_subtest("Enable fence via MAVlite") def tfs_validate_gps_alt(self, value): self.progress("validating gps altitude integer part (0x%02x)" % value) alt = value gpi = self.mav.recv_match( type='GLOBAL_POSITION_INT', blocking=True, timeout=1 ) if gpi is None: raise NotAchievedException("Did not get GLOBAL_POSITION_INT message") gpi_alt = round(gpi.alt * 0.001) self.progress("GLOBAL_POSITION_INT alt==%f frsky==%f" % (gpi_alt, alt)) if self.compare_number_percent(gpi_alt, alt, 10): return True return False def tfs_validate_baro_alt(self, value): self.progress("validating baro altitude integer part (0x%02x)" % value) alt_m = value gpi = self.mav.recv_match( type='GLOBAL_POSITION_INT', blocking=True, timeout=1 ) if gpi is None: raise NotAchievedException("Did not get GLOBAL_POSITION_INT message") gpi_alt_m = round(gpi.relative_alt * 0.001) self.progress("GLOBAL_POSITION_INT relative_alt==%f frsky==%f" % (gpi_alt_m, alt_m)) if abs(gpi_alt_m - alt_m) < 1: return True return False def tfs_validate_gps_speed(self, value): self.progress("validating gps speed integer part (0x%02x)" % value) speed = value vfr_hud = self.mav.recv_match( type='VFR_HUD', blocking=True, timeout=1 ) if vfr_hud is None: raise NotAchievedException("Did not get VFR_HUD message") vfr_hud_speed = round(vfr_hud.groundspeed) self.progress("VFR_HUD groundspeed==%f frsky==%f" % (vfr_hud_speed, speed)) if self.compare_number_percent(vfr_hud_speed, speed, 10): return True return False def tfs_validate_yaw(self, value): self.progress("validating yaw (0x%02x)" % value) yaw = value vfr_hud = self.mav.recv_match( type='VFR_HUD', blocking=True, timeout=1 ) if vfr_hud is None: raise NotAchievedException("Did not get VFR_HUD message") vfr_hud_yaw = round(vfr_hud.heading) self.progress("VFR_HUD heading==%f frsky==%f" % (vfr_hud_yaw, yaw)) if self.compare_number_percent(vfr_hud_yaw, yaw, 10): return True return False def tfs_validate_vspeed(self, value): self.progress("validating vspeed (0x%02x)" % value) vspeed = value vfr_hud = self.mav.recv_match( type='VFR_HUD', blocking=True, timeout=1 ) if vfr_hud is None: raise NotAchievedException("Did not get VFR_HUD message") vfr_hud_vspeed = round(vfr_hud.climb) self.progress("VFR_HUD climb==%f frsky==%f" % (vfr_hud_vspeed, vspeed)) if self.compare_number_percent(vfr_hud_vspeed, vspeed, 10): return True return False def tfs_validate_battery1(self, value): self.progress("validating battery1 (0x%02x)" % value) voltage = value*0.1 batt = self.mav.recv_match( type='BATTERY_STATUS', blocking=True, timeout=5, condition="BATTERY_STATUS.id==0" ) if batt is None: raise NotAchievedException("Did not get BATTERY_STATUS message") battery_status_value = batt.voltages[0]/1000.0 self.progress("BATTERY_STATUS volatge==%f frsky==%f" % (battery_status_value, voltage)) if self.compare_number_percent(battery_status_value, voltage, 10): return True return False def tfs_validate_current1(self, value): # test frsky current vs BATTERY_STATUS self.progress("validating battery1 (0x%02x)" % value) current = value*0.1 batt = self.mav.recv_match( type='BATTERY_STATUS', blocking=True, timeout=5, condition="BATTERY_STATUS.id==0" ) if batt is None: raise NotAchievedException("Did not get BATTERY_STATUS message") battery_status_current = batt.current_battery*0.01 self.progress("BATTERY_STATUS current==%f frsky==%f" % (battery_status_current, current)) if self.compare_number_percent(battery_status_current, current, 10): return True return False def tfs_validate_fuel(self, value): self.progress("validating fuel (0x%02x)" % value) fuel = value batt = self.mav.recv_match( type='BATTERY_STATUS', blocking=True, timeout=5, condition="BATTERY_STATUS.id==0" ) if batt is None: raise NotAchievedException("Did not get BATTERY_STATUS message") battery_status_fuel = batt.battery_remaining self.progress("BATTERY_STATUS fuel==%f frsky==%f" % (battery_status_fuel, fuel)) if self.compare_number_percent(battery_status_fuel, fuel, 10): return True return False def tfs_validate_tmp1(self, value): self.progress("validating tmp1 (0x%02x)" % value) tmp1 = value heartbeat = self.mav.recv_match( type='HEARTBEAT', blocking=True, timeout=1 ) if heartbeat is None: raise NotAchievedException("Did not get HEARTBEAT message") heartbeat_tmp1 = heartbeat.custom_mode self.progress("GLOBAL_POSITION_INT custom_mode==%f frsky==%f" % (heartbeat_tmp1, tmp1)) if heartbeat_tmp1 == tmp1: return True return False def tfs_validate_tmp2(self, value): self.progress("validating tmp2 (0x%02x)" % value) tmp2 = value gps_raw = self.mav.recv_match( type='GPS_RAW_INT', blocking=True, timeout=1 ) if gps_raw is None: raise NotAchievedException("Did not get GPS_RAW_INT message") gps_raw_tmp2 = gps_raw.satellites_visible*10 + gps_raw.fix_type self.progress("GPS_RAW_INT tmp2==%f frsky==%f" % (gps_raw_tmp2, tmp2)) if gps_raw_tmp2 == tmp2: return True return False def tfs_validate_rpm(self, value): self.progress("validating rpm (0x%02x)" % value) tfs_rpm = value rpm = self.mav.recv_match( type='RPM', blocking=True, timeout=5 ) if rpm is None: raise NotAchievedException("Did not get RPM message") rpm_value = round(rpm.rpm1) self.progress("RPM rpm==%f frsky==%f" % (rpm_value, tfs_rpm)) if rpm_value == tfs_rpm: return True return False def test_frsky_sport(self): self.set_parameter("SERIAL5_PROTOCOL", 4) # serial5 is FRSky sport self.set_parameter("RPM_TYPE", 1) # enable RPM sensor self.customise_SITL_commandline([ "--uartF=tcp:6735" # serial5 spews to localhost:6735 ]) frsky = FRSkySPort(("127.0.0.1", 6735)) self.wait_ready_to_arm() # we need to start the engine to get some RPM readings, we do it for plane only if self.is_plane(): self.set_autodisarm_delay(0) if not self.arm_vehicle(): raise NotAchievedException("Failed to ARM") self.set_rc(3, 1050) self.drain_mav_unparsed() # anything with a lambda in here needs a proper test written. # This, at least makes sure we're getting some of each # message. wants = { 0x01: self.tfs_validate_gps_alt, # gps altitude integer m 0x02: self.tfs_validate_tmp1, # Tmp1 0x04: self.tfs_validate_fuel, # fuel 0x05: self.tfs_validate_tmp2, # Tmp2 0x09: lambda x: True, # gps altitude decimal cm 0x10: self.tfs_validate_baro_alt, # baro alt integer m 0x11: self.tfs_validate_gps_speed, # gps speed integer m/s 0x14: self.tfs_validate_yaw, # yaw in degrees 0x19: lambda x: True, # gps speed decimal cm/s 0x21: lambda x: True, # altitude decimal m 0x28: self.tfs_validate_current1, # current A 0x30: self.tfs_validate_vspeed, # vertical speed m/s 0x39: self.tfs_validate_battery1, # battery 1 voltage 0x800: self.tf_validate_gps, # gps lat/lon 0x50E: self.tfs_validate_rpm, # rpm 1 } tstart = self.get_sim_time_cached() last_wanting_print = 0 while len(wants): now = self.get_sim_time() if now - last_wanting_print > 1: self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()])) last_wanting_print = now wants_copy = copy.copy(wants) if now - tstart > 300: raise AutoTestTimeoutException("Failed to get frsky data") frsky.update() for want in wants_copy: data = frsky.get_data(want) if data is None: continue self.progress("Checking 0x%x" % (want,)) if wants[want](data): self.progress(" Fulfilled") del wants[want] # ok done, stop the engine if self.is_plane(): self.zero_throttle() if not self.disarm_vehicle(): raise NotAchievedException("Failed to DISARM") def test_frsky_d(self): self.set_parameter("SERIAL5_PROTOCOL", 3) # serial5 is FRSky output self.customise_SITL_commandline([ "--uartF=tcp:6735" # serial5 spews to localhost:6735 ]) frsky = FRSkyD(("127.0.0.1", 6735)) self.wait_ready_to_arm() self.drain_mav_unparsed() m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1) if m is None: raise NotAchievedException("Did not receive GLOBAL_POSITION_INT") gpi_abs_alt = int((m.alt+500) / 1000) # mm -> m tstart = self.get_sim_time_cached() while True: t2 = self.get_sim_time_cached() if t2 - tstart > 10: raise AutoTestTimeoutException("Failed to get frsky data") frsky.update() alt = frsky.get_data(frsky.dataid_GPS_ALT_BP) self.progress("Got alt (%s) mav=%s" % (str(alt), str(gpi_abs_alt))) if alt is None: continue self.drain_mav_unparsed() if alt == gpi_abs_alt: break def test_ltm_g(self, ltm): g = ltm.g() if g is None: return m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) print("m: %s" % str(m)) print("g.lat=%s m.lat=%s" % (str(g.lat()), str(m.lat))) if abs(m.lat - g.lat()) > 10: return False print("g.lon:%s m.lon:%s" % (str(g.lon()), str(m.lon))) if abs(m.lon - g.lon()) > 10: return False print("gndspeed: %s" % str(g.gndspeed())) if g.gndspeed() != 0: # FIXME if we start the vehicle moving.... check against VFR_HUD? return False print("g.alt=%s m.alt=%s" % (str(g.alt()/100.0), str(m.relative_alt/1000.0))) if abs(m.relative_alt/1000.0 - g.alt()/100.0) > 1: return False print("sats: %s" % str(g.sats())) m = self.mav.recv_match(type='GPS_RAW_INT', blocking=True) if m.satellites_visible != g.sats(): return False constrained_fix_type = m.fix_type if constrained_fix_type > 3: constrained_fix_type = 3 print("fix_type: %s" % g.fix_type()) if constrained_fix_type != g.fix_type(): return False return True def test_ltm_a(self, ltm): a = ltm.a() if a is None: return m = self.mav.recv_match(type='ATTITUDE', blocking=True) pitch = a.pitch() print("pitch: %s" % str(pitch)) if abs(math.degrees(m.pitch) - pitch) > 1: return False roll = a.roll() print("roll: %s" % str(roll)) if abs(math.degrees(m.roll) - roll) > 1: return False hdg = a.hdg() myaw = math.degrees(m.yaw) myaw += 360 myaw %= 360 print("a.hdg=%s m.hdg=%s" % (str(hdg), str(myaw))) if abs(myaw - hdg) > 1: return False return True def test_ltm_s(self, ltm): s = ltm.s() if s is None: return # FIXME. Actually check the field values are correct :-) return True def test_ltm(self): self.set_parameter("SERIAL5_PROTOCOL", 25) # serial5 is LTM output self.customise_SITL_commandline([ "--uartF=tcp:6735" # serial5 spews to localhost:6735 ]) ltm = LTM(("127.0.0.1", 6735)) self.wait_ready_to_arm() self.drain_mav_unparsed() m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1) if m is None: raise NotAchievedException("Did not receive GLOBAL_POSITION_INT") # gpi_abs_alt = int(m.alt / 1000) # mm -> m wants = { "g": self.test_ltm_g, "a": self.test_ltm_a, "s": self.test_ltm_s, } tstart = self.get_sim_time_cached() while True: self.progress("Still wanting (%s)" % ",".join([("%s" % x) for x in wants.keys()])) if len(wants) == 0: break now = self.get_sim_time_cached() if now - tstart > 10: raise AutoTestTimeoutException("Failed to get ltm data") ltm.update() wants_copy = copy.copy(wants) for want in wants_copy: self.progress("Checking %s" % (want,)) if wants[want](ltm): self.progress(" Fulfilled") del wants[want] def test_crsf(self): self.context_push() ex = None try: self.set_parameter("SERIAL5_PROTOCOL", 23) # serial5 is RCIN input self.customise_SITL_commandline([ "--uartF=tcp:6735" # serial5 reads from to localhost:6735 ]) crsf = CRSF(("127.0.0.1", 6735)) crsf.connect() self.progress("Writing vtx_frame") crsf.write_data_id(crsf.dataid_vtx_frame) self.delay_sim_time(5) self.progress("Writing vtx_telem") crsf.write_data_id(crsf.dataid_vtx_telem) self.delay_sim_time(5) self.progress("Writing vtx_unknown") crsf.write_data_id(crsf.dataid_vtx_unknown) self.delay_sim_time(5) except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() self.disarm_vehicle(force=True) self.reboot_sitl() if ex is not None: raise ex def tests(self): return [ Test("PIDTuning", "Test PID Tuning", self.test_pid_tuning), Test("ArmFeatures", "Arm features", self.test_arm_feature), Test("SetHome", "Test Set Home", self.fly_test_set_home), Test("ConfigErrorLoop", "Test Config Error Loop", self.test_config_error_loop), Test("CPUFailsafe", "Ensure we do something appropriate when the main loop stops", self.CPUFailsafe), Test("Parameters", "Test Parameter Set/Get", self.test_parameters), Test("LoggerDocumentation", "Test Onboard Logging Generation", self.test_onboard_logging_generation), Test("Logging", "Test Onboard Logging", self.test_onboard_logging), Test("GetCapabilities", "Get Capabilities", self.test_get_autopilot_capabilities), Test("InitialMode", "Test initial mode switching", self.test_initial_mode), ] def post_tests_announcements(self): if self._show_test_timings: if self.waiting_to_arm_count == 0: avg = None else: avg = self.total_waiting_to_arm_time/self.waiting_to_arm_count self.progress("Spent %f seconds waiting to arm. count=%u avg=%s" % (self.total_waiting_to_arm_time, self.waiting_to_arm_count, str(avg))) self.show_test_timings() if self.forced_post_test_sitl_reboots != 0: print("Had to force-reset SITL %u times" % (self.forced_post_test_sitl_reboots,)) def autotest(self): """Autotest used by ArduPilot autotest CI.""" all_tests = [] for test in self.tests(): if type(test) == Test: all_tests.append(test) continue (name, desc, func) = test actual_test = Test(name, desc, func) all_tests.append(actual_test) disabled = self.disabled_tests() tests = [] for test in all_tests: if test.name in disabled: self.test_skipped(test, disabled[test.name]) continue tests.append(test) ret = self.run_tests(tests) self.post_tests_announcements() return ret def mavfft_fttd(self, sensor_type, sensor_instance, since, until): '''display fft for raw ACC data in current logfile''' '''object to store data about a single FFT plot''' class MessageData(object): def __init__(self, ffth): self.seqno = -1 self.fftnum = ffth.N self.sensor_type = ffth.type self.instance = ffth.instance self.sample_rate_hz = ffth.smp_rate self.multiplier = ffth.mul self.sample_us = ffth.SampleUS self.data = {} self.data["X"] = [] self.data["Y"] = [] self.data["Z"] = [] self.holes = False self.freq = None def add_fftd(self, fftd): self.seqno += 1 self.data["X"].extend(fftd.x) self.data["Y"].extend(fftd.y) self.data["Z"].extend(fftd.z) mlog = self.dfreader_for_current_onboard_log() # see https://holometer.fnal.gov/GH_FFT.pdf for a description of the techniques used here messages = [] messagedata = None while True: m = mlog.recv_match() if m is None: break msg_type = m.get_type() if msg_type == "ISBH": if messagedata is not None: if (messagedata.sensor_type == sensor_type and messagedata.instance == sensor_instance and messagedata.sample_us > since and messagedata.sample_us < until): messages.append(messagedata) messagedata = MessageData(m) continue if msg_type == "ISBD": if (messagedata is not None and messagedata.sensor_type == sensor_type and messagedata.instance == sensor_instance): messagedata.add_fftd(m) fft_len = len(messages[0].data["X"]) sum_fft = { "X": numpy.zeros(int(fft_len / 2 + 1)), "Y": numpy.zeros(int(fft_len / 2 + 1)), "Z": numpy.zeros(int(fft_len / 2 + 1)), } sample_rate = 0 counts = 0 window = numpy.hanning(fft_len) freqmap = numpy.fft.rfftfreq(fft_len, 1.0 / messages[0].sample_rate_hz) # calculate NEBW constant S2 = numpy.inner(window, window) for message in messages: for axis in ["X", "Y", "Z"]: # normalize data and convert to dps in order to produce more meaningful magnitudes if message.sensor_type == 1: d = numpy.array(numpy.degrees(message.data[axis])) / float(message.multiplier) else: d = numpy.array(message.data[axis]) / float(message.multiplier) # apply window to the input d *= window # perform RFFT d_fft = numpy.fft.rfft(d) # convert to squared complex magnitude d_fft = numpy.square(abs(d_fft)) # remove DC component d_fft[0] = 0 d_fft[-1] = 0 # accumulate the sums sum_fft[axis] += d_fft sample_rate = message.sample_rate_hz counts += 1 numpy.seterr(divide='ignore') psd = {} for axis in ["X", "Y", "Z"]: # normalize output to averaged PSD psd[axis] = 2 * (sum_fft[axis] / counts) / (sample_rate * S2) psd[axis] = 10 * numpy.log10(psd[axis]) psd["F"] = freqmap return psd def model_defaults_filepath(self, vehicle, model): vinfo = vehicleinfo.VehicleInfo() defaults_filepath = vinfo.options[vehicle]["frames"][model]["default_params_filename"] if isinstance(defaults_filepath, str): defaults_filepath = [defaults_filepath] defaults_list = [] for d in defaults_filepath: defaults_list.append(os.path.join(testdir, d)) return defaults_list