''' Drive Rover in SITL AP_FLAKE8_CLEAN ''' from __future__ import print_function import copy import math import operator import os import sys import time import vehicle_test_suite from pysim import util from vehicle_test_suite import AutoTestTimeoutException from vehicle_test_suite import NotAchievedException from vehicle_test_suite import PreconditionFailedException from pymavlink import mavextra from pymavlink import mavutil # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) SITL_START_LOCATION = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246) class AutoTestRover(vehicle_test_suite.TestSuite): @staticmethod def get_not_armable_mode_list(): return ["RTL", "SMART_RTL"] @staticmethod def get_not_disarmed_settable_modes_list(): return ["FOLLOW"] @staticmethod def get_no_position_not_settable_modes_list(): return [] @staticmethod def get_position_armable_modes_list(): return ["GUIDED", "LOITER", "STEERING", "AUTO"] @staticmethod def get_normal_armable_modes_list(): return ["ACRO", "HOLD", "MANUAL"] def log_name(self): return "Rover" def test_filepath(self): return os.path.realpath(__file__) def set_current_test_name(self, name): self.current_test_name_directory = "ArduRover_Tests/" + name + "/" def sitl_start_location(self): return SITL_START_LOCATION def default_frame(self): return "rover" def default_speedup(self): return 30 def is_rover(self): return True def get_stick_arming_channel(self): return int(self.get_parameter("RCMAP_ROLL")) ########################################################## # TESTS DRIVE ########################################################## # Drive a square in manual mode def DriveSquare(self, side=50): """Learn/Drive Square with Ch7 option""" self.progress("TEST SQUARE") self.set_parameters({ "RC7_OPTION": 7, "RC9_OPTION": 58, }) self.change_mode('MANUAL') self.wait_ready_to_arm() self.arm_vehicle() self.clear_wp(9) # first aim north self.progress("\nTurn right towards north") self.reach_heading_manual(10) # save bottom left corner of box as home AND waypoint self.progress("Save HOME") self.save_wp() self.progress("Save WP") self.save_wp() # pitch forward to fly north self.progress("\nGoing north %u meters" % side) self.reach_distance_manual(side) # save top left corner of square as waypoint self.progress("Save WP") self.save_wp() # roll right to fly east self.progress("\nGoing east %u meters" % side) self.reach_heading_manual(100) self.reach_distance_manual(side) # save top right corner of square as waypoint self.progress("Save WP") self.save_wp() # pitch back to fly south self.progress("\nGoing south %u meters" % side) self.reach_heading_manual(190) self.reach_distance_manual(side) # save bottom right corner of square as waypoint self.progress("Save WP") self.save_wp() # roll left to fly west self.progress("\nGoing west %u meters" % side) self.reach_heading_manual(280) self.reach_distance_manual(side) # save bottom left corner of square (should be near home) as waypoint self.progress("Save WP") self.save_wp() self.progress("Checking number of saved waypoints") mavproxy = self.start_mavproxy() num_wp = self.save_mission_to_file_using_mavproxy( mavproxy, os.path.join(testdir, "ch7_mission.txt")) self.stop_mavproxy(mavproxy) expected = 7 # home + 6 toggled in if num_wp != expected: raise NotAchievedException("Did not get %u waypoints; got %u" % (expected, num_wp)) # TODO: actually drive the mission self.clear_wp(9) self.disarm_vehicle() def drive_left_circuit(self): """Drive a left circuit, 50m on a side.""" self.change_mode('MANUAL') self.set_rc(3, 2000) self.progress("Driving left circuit") # do 4 turns for i in range(0, 4): # hard left self.progress("Starting turn %u" % i) self.set_rc(1, 1000) self.wait_heading(270 - (90*i), accuracy=10) self.set_rc(1, 1500) self.progress("Starting leg %u" % i) self.wait_distance(50, accuracy=7) self.set_rc(3, 1500) self.progress("Circuit complete") # def test_throttle_failsafe(self, home, distance_min=10, side=60, # timeout=300): # """Fly east, Failsafe, return, land.""" # # self.mavproxy.send('switch 6\n') # manual mode # self.wait_mode('MANUAL') # self.mavproxy.send("param set FS_ACTION 1\n") # # # first aim east # self.progress("turn east") # if not self.reach_heading_manual(135): # return False # # # fly east 60 meters # self.progress("# Going forward %u meters" % side) # if not self.reach_distance_manual(side): # return False # # # pull throttle low # self.progress("# Enter Failsafe") # self.mavproxy.send('rc 3 900\n') # # tstart = self.get_sim_time() # success = False # while self.get_sim_time() < tstart + timeout and not success: # m = self.mav.recv_match(type='VFR_HUD', blocking=True) # pos = self.mav.location() # home_distance = self.get_distance(home, pos) # self.progress("Alt: %u HomeDistance: %.0f" % # (m.alt, home_distance)) # # check if we've reached home # if home_distance <= distance_min: # self.progress("RTL Complete") # success = True # # # reduce throttle # self.mavproxy.send('rc 3 1500\n') # self.mavproxy.expect('AP: Failsafe ended') # self.mavproxy.send('switch 2\n') # manual mode # self.wait_heartbeat() # self.wait_mode('MANUAL') # # if success: # self.progress("Reached failsafe home OK") # return True # else: # self.progress("Failed to reach Home on failsafe RTL - " # "timed out after %u seconds" % timeout) # return False def Sprayer(self): """Test sprayer functionality.""" rc_ch = 5 pump_ch = 5 spinner_ch = 6 pump_ch_min = 1050 pump_ch_trim = 1520 pump_ch_max = 1950 spinner_ch_min = 975 spinner_ch_trim = 1510 spinner_ch_max = 1975 self.set_parameters({ "SPRAY_ENABLE": 1, "SERVO%u_FUNCTION" % pump_ch: 22, "SERVO%u_MIN" % pump_ch: pump_ch_min, "SERVO%u_TRIM" % pump_ch: pump_ch_trim, "SERVO%u_MAX" % pump_ch: pump_ch_max, "SERVO%u_FUNCTION" % spinner_ch: 23, "SERVO%u_MIN" % spinner_ch: spinner_ch_min, "SERVO%u_TRIM" % spinner_ch: spinner_ch_trim, "SERVO%u_MAX" % spinner_ch: spinner_ch_max, "SIM_SPR_ENABLE": 1, "SIM_SPR_PUMP": pump_ch, "SIM_SPR_SPIN": spinner_ch, "RC%u_OPTION" % rc_ch: 15, "LOG_DISARMED": 1, }) self.reboot_sitl() self.wait_ready_to_arm() self.arm_vehicle() self.progress("test bootup state - it's zero-output!") self.wait_servo_channel_value(spinner_ch, 0) self.wait_servo_channel_value(pump_ch, 0) self.progress("Enable sprayer") self.set_rc(rc_ch, 2000) self.progress("Testing zero-speed state") self.wait_servo_channel_value(spinner_ch, spinner_ch_min) self.wait_servo_channel_value(pump_ch, pump_ch_min) self.progress("Testing turning it off") self.set_rc(rc_ch, 1000) self.wait_servo_channel_value(spinner_ch, spinner_ch_min) self.wait_servo_channel_value(pump_ch, pump_ch_min) self.progress("Testing turning it back on") self.set_rc(rc_ch, 2000) self.wait_servo_channel_value(spinner_ch, spinner_ch_min) self.wait_servo_channel_value(pump_ch, pump_ch_min) self.progress("Testing speed-ramping") self.set_rc(3, 1700) # start driving forward # this is somewhat empirical... self.wait_servo_channel_value(pump_ch, 1695, timeout=60) self.progress("Turning it off again") self.set_rc(rc_ch, 1000) self.wait_servo_channel_value(spinner_ch, spinner_ch_min) self.wait_servo_channel_value(pump_ch, pump_ch_min) self.start_subtest("Sprayer Mission") self.load_mission("sprayer-mission.txt") self.change_mode("AUTO") # self.send_debug_trap() self.progress("Waiting for sprayer to start") self.wait_servo_channel_value(pump_ch, 1250, timeout=60, comparator=operator.gt) self.progress("Waiting for sprayer to stop") self.wait_servo_channel_value(pump_ch, pump_ch_min, timeout=120) self.start_subtest("Checking mavlink commands") self.change_mode("MANUAL") self.progress("Starting Sprayer") self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER, p1=1) self.progress("Testing speed-ramping") self.set_rc(3, 1700) # start driving forward self.wait_servo_channel_value(pump_ch, 1690, timeout=60, comparator=operator.gt) self.start_subtest("Stopping Sprayer") self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER, p1=0) self.wait_servo_channel_value(pump_ch, pump_ch_min) self.set_rc(3, 1000) # stop driving forward self.progress("Sprayer OK") self.disarm_vehicle() def DriveMaxRCIN(self, timeout=30): """Drive rover at max RC inputs""" self.progress("Testing max RC inputs") self.change_mode("MANUAL") self.wait_ready_to_arm() self.arm_vehicle() self.set_rc(3, 2000) self.set_rc(1, 1000) tstart = self.get_sim_time() while self.get_sim_time_cached() - tstart < timeout: m = self.assert_receive_message('VFR_HUD') self.progress("Current speed: %f" % m.groundspeed) self.disarm_vehicle() ################################################# # AUTOTEST ALL ################################################# def drive_mission(self, filename, strict=True): """Drive a mission from a file.""" self.progress("Driving mission %s" % filename) wp_count = self.load_mission(filename, strict=strict) self.wait_ready_to_arm() self.arm_vehicle() self.change_mode('AUTO') self.wait_waypoint(1, wp_count-1, max_dist=5) self.wait_statustext("Mission Complete", timeout=600) self.disarm_vehicle() self.progress("Mission OK") def DriveMission(self): '''Drive Mission rover1.txt''' self.drive_mission("rover1.txt", strict=False) def GripperMission(self): '''Test Gripper Mission Items''' self.load_mission("rover-gripper-mission.txt") self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() self.context_collect('STATUSTEXT') self.wait_statustext("Gripper Grabbed", timeout=60, check_context=True) self.wait_statustext("Gripper Released", timeout=60, check_context=True) self.wait_statustext("Mission Complete", timeout=60, check_context=True) self.disarm_vehicle() def _MAV_CMD_DO_SEND_BANNER(self, run_cmd): '''Get Banner''' self.context_push() self.context_collect('STATUSTEXT') run_cmd(mavutil.mavlink.MAV_CMD_DO_SEND_BANNER) self.wait_statustext("ArduRover", timeout=1, check_context=True) self.context_pop() def MAV_CMD_DO_SEND_BANNER(self): '''test MAV_CMD_DO_SEND_BANNER''' self._MAV_CMD_DO_SEND_BANNER(self.run_cmd) self._MAV_CMD_DO_SEND_BANNER(self.run_cmd_int) def drive_brake_get_stopping_distance(self, speed): '''measure our stopping distance''' self.context_push() # controller tends not to meet cruise speed (max of ~14 when 15 # set), thus *1.2 # at time of writing, the vehicle is only capable of 10m/s/s accel self.set_parameters({ 'CRUISE_SPEED': speed*1.2, 'ATC_ACCEL_MAX': 15, }) self.change_mode("STEERING") self.set_rc(3, 2000) self.wait_groundspeed(15, 100) initial = self.mav.location() initial_time = time.time() while time.time() - initial_time < 2: # wait for a position update from the autopilot start = self.mav.location() if start != initial: break self.set_rc(3, 1500) self.wait_groundspeed(0, 0.2) # why do we not stop?! initial = self.mav.location() initial_time = time.time() while time.time() - initial_time < 2: # wait for a position update from the autopilot stop = self.mav.location() if stop != initial: break delta = self.get_distance(start, stop) self.context_pop() return delta def DriveBrake(self): '''Test braking''' self.set_parameters({ 'CRUISE_SPEED': 15, 'ATC_BRAKE': 0, }) self.arm_vehicle() distance_without_brakes = self.drive_brake_get_stopping_distance(15) # brakes on: self.set_parameter('ATC_BRAKE', 1) distance_with_brakes = self.drive_brake_get_stopping_distance(15) delta = distance_without_brakes - distance_with_brakes self.disarm_vehicle() if delta < distance_without_brakes * 0.05: # 5% isn't asking for much raise NotAchievedException(""" Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) """ % (distance_with_brakes, distance_without_brakes, delta)) self.progress( "Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" % (distance_with_brakes, distance_without_brakes, delta)) def drive_rtl_mission_max_distance_from_home(self): '''maximum distance allowed from home at end''' return 6.5 def DriveRTL(self, timeout=120): '''Drive an RTL Mission''' self.wait_ready_to_arm() self.arm_vehicle() self.load_mission("rtl.txt") self.change_mode("AUTO") tstart = self.get_sim_time() while True: now = self.get_sim_time_cached() if now - tstart > timeout: raise AutoTestTimeoutException("Didn't see wp 3") m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True, timeout=1) self.progress("MISSION_CURRENT: %s" % str(m)) if m.seq == 3: break self.drain_mav() m = self.assert_receive_message('NAV_CONTROLLER_OUTPUT', timeout=1) wp_dist_min = 5 if m.wp_dist < wp_dist_min: raise PreconditionFailedException( "Did not start at least %f metres from destination (is=%f)" % (wp_dist_min, m.wp_dist)) self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" % (m.wp_dist, wp_dist_min,)) # wait for mission to complete self.wait_statustext("Mission Complete", timeout=70) # the EKF doesn't pull us down to 0 speed: self.wait_groundspeed(0, 0.5, timeout=600) # current Rover blows straight past the home position and ends # up ~6m past the home point. home_distance = self.distance_to_home() home_distance_min = 5.5 home_distance_max = self.drive_rtl_mission_max_distance_from_home() if home_distance > home_distance_max: raise NotAchievedException( "Did not stop near home (%f metres distant (%f > want > %f))" % (home_distance, home_distance_min, home_distance_max)) self.disarm_vehicle() self.progress("RTL Mission OK (%fm)" % home_distance) def RTL_SPEED(self, timeout=120): '''Test RTL_SPEED is honoured''' self.upload_simple_relhome_mission([ (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 300, 0, 0), (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, 0), ]) self.wait_ready_to_arm() self.arm_vehicle() self.change_mode('AUTO') self.wait_current_waypoint(2, timeout=120) for speed in 1, 5.5, 1.5, 7.5: self.set_parameter("RTL_SPEED", speed) self.change_mode('RTL') self.wait_groundspeed(speed-0.1, speed+0.1, minimum_duration=10) self.change_mode('HOLD') self.do_RTL() self.disarm_vehicle() def AC_Avoidance(self): '''Test AC Avoidance switch''' self.load_fence("rover-fence-ac-avoid.txt") self.set_parameters({ "FENCE_ENABLE": 0, "PRX1_TYPE": 10, "RC10_OPTION": 40, # proximity-enable }) self.reboot_sitl() # start = self.mav.location() self.wait_ready_to_arm() self.arm_vehicle() # first make sure we can breach the fence: self.set_rc(10, 1000) self.change_mode("ACRO") self.set_rc(3, 1550) self.wait_distance_to_home(25, 100000, timeout=60) self.change_mode("RTL") self.wait_statustext("Reached destination", timeout=60) # now enable avoidance and make sure we can't: self.set_rc(10, 2000) self.change_mode("ACRO") self.wait_groundspeed(0, 0.7, timeout=60) # watch for speed zero self.wait_groundspeed(0, 0.2, timeout=120) self.disarm_vehicle() def ServoRelayEvents(self): '''Test ServoRelayEvents''' for method in self.run_cmd, self.run_cmd_int: self.context_push() self.set_parameters({ "RELAY1_FUNCTION": 1, # Enable relay 1 as a standard relay pin "RELAY2_FUNCTION": 1, # Enable relay 2 as a standard relay pin }) self.reboot_sitl() # Needed for relay functions to take effect method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0) off = self.get_parameter("SIM_PIN_MASK") method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1) on = self.get_parameter("SIM_PIN_MASK") if on == off: raise NotAchievedException( "Pin mask unchanged after relay cmd") self.progress("Pin mask changed after relay command") method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0) self.set_message_rate_hz("RELAY_STATUS", 10) # default configuration for relays in sim have one relay: self.assert_received_message_field_values('RELAY_STATUS', { "present": 3, "on": 0, }) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1) self.assert_received_message_field_values('RELAY_STATUS', { "present": 3, "on": 1, }) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=1, p2=1) self.assert_received_message_field_values('RELAY_STATUS', { "present": 3, "on": 3, }) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=1, p2=0) self.assert_received_message_field_values('RELAY_STATUS', { "present": 3, "on": 0, }) # add another relay and ensure that it changes the "present field" self.set_parameters({ "RELAY6_FUNCTION": 1, # Enable relay 6 as a standard relay pin "RELAY6_PIN": 14, # Set pin number }) self.reboot_sitl() # Needed for relay function to take effect self.set_message_rate_hz("RELAY_STATUS", 10) # Need to re-request the message since reboot self.assert_received_message_field_values('RELAY_STATUS', { "present": 35, "on": 0, }) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=5, p2=1) self.assert_received_message_field_values('RELAY_STATUS', { "present": 35, "on": 32, }) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1) self.assert_received_message_field_values('RELAY_STATUS', { "present": 35, "on": 33, }) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=5, p2=0) self.assert_received_message_field_values('RELAY_STATUS', { "present": 35, "on": 1, }) self.start_subtest("test MAV_CMD_DO_REPEAT_RELAY") self.context_push() self.set_parameter("SIM_SPEEDUP", 1) method( mavutil.mavlink.MAV_CMD_DO_REPEAT_RELAY, p1=0, # servo 1 p2=5, # 5 times p3=0.5, # 1 second between being on ) for value in 0, 1, 0, 1, 0, 1, 0, 1: self.wait_message_field_values('RELAY_STATUS', { "on": value, }) self.context_pop() self.delay_sim_time(3) self.assert_received_message_field_values('RELAY_STATUS', { "on": 1, # back to initial state }) self.context_pop() self.start_subtest("test MAV_CMD_DO_SET_SERVO") for value in 1678, 2300, 0: method(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=13, p2=value) self.wait_servo_channel_value(13, value) self.start_subtest("test MAV_CMD_DO_REPEAT_SERVO") self.context_push() self.set_parameter("SIM_SPEEDUP", 1) trim = self.get_parameter("SERVO13_TRIM") value = 2000 method( mavutil.mavlink.MAV_CMD_DO_REPEAT_SERVO, p1=12, # servo12 p2=value, # pwm p3=5, # count p4=0.5, # cycle time (1 second between high and high) ) for value in trim, value, trim, value, trim, value, trim, value: self.wait_servo_channel_value(12, value) self.context_pop() self.set_message_rate_hz("RELAY_STATUS", 0) def MAVProxy_SetModeUsingSwitch(self): """Set modes via mavproxy switch""" port = self.sitl_rcin_port(offset=1) self.customise_SITL_commandline([ "--rc-in-port", str(port), ]) ex = None try: self.load_mission(self.arming_test_mission()) self.wait_ready_to_arm() fnoo = [(1, 'MANUAL'), (2, 'MANUAL'), (3, 'RTL'), (4, 'AUTO'), (5, 'AUTO'), # non-existant mode, should stay in RTL (6, 'MANUAL')] mavproxy = self.start_mavproxy(sitl_rcin_port=port) for (num, expected) in fnoo: mavproxy.send('switch %u\n' % num) self.wait_mode(expected) self.stop_mavproxy(mavproxy) except Exception as e: self.print_exception_caught(e) ex = e # if we don't put things back ourselves then the test cleanup # doesn't go well as we can't set the RC defaults correctly: self.customise_SITL_commandline([ ]) if ex is not None: raise ex def MAVProxy_SetModeUsingMode(self): '''Set modes via mavproxy mode command''' fnoo = [(1, 'ACRO'), (3, 'STEERING'), (4, 'HOLD'), ] mavproxy = self.start_mavproxy() for (num, expected) in fnoo: mavproxy.send('mode manual\n') self.wait_mode("MANUAL") mavproxy.send('mode %u\n' % num) self.wait_mode(expected) mavproxy.send('mode manual\n') self.wait_mode("MANUAL") mavproxy.send('mode %s\n' % expected) self.wait_mode(expected) self.stop_mavproxy(mavproxy) def ModeSwitch(self): ''''Set modes via modeswitch''' self.set_parameter("MODE_CH", 8) self.set_rc(8, 1000) # mavutil.mavlink.ROVER_MODE_HOLD: self.set_parameter("MODE6", 4) # mavutil.mavlink.ROVER_MODE_ACRO self.set_parameter("MODE5", 1) self.set_rc(8, 1800) # PWM for mode6 self.wait_mode("HOLD") self.set_rc(8, 1700) # PWM for mode5 self.wait_mode("ACRO") self.set_rc(8, 1800) # PWM for mode6 self.wait_mode("HOLD") self.set_rc(8, 1700) # PWM for mode5 self.wait_mode("ACRO") def AuxModeSwitch(self): '''Set modes via auxswitches''' # from mavproxy_rc.py mapping = [0, 1165, 1295, 1425, 1555, 1685, 1815] self.set_parameter("MODE1", 1) # acro self.set_rc(8, mapping[1]) self.wait_mode('ACRO') self.set_rc(9, 1000) self.set_rc(10, 1000) self.set_parameters({ "RC9_OPTION": 53, # steering "RC10_OPTION": 54, # hold }) self.set_rc(9, 1900) self.wait_mode("STEERING") self.set_rc(10, 1900) self.wait_mode("HOLD") # reset both switches - should go back to ACRO self.set_rc(9, 1000) self.set_rc(10, 1000) self.wait_mode("ACRO") self.set_rc(9, 1900) self.wait_mode("STEERING") self.set_rc(10, 1900) self.wait_mode("HOLD") self.set_rc(10, 1000) # this re-polls the mode switch self.wait_mode("ACRO") self.set_rc(9, 1000) def RCOverridesCancel(self): '''Test RC overrides Cancel''' self.set_parameter("SYSID_MYGCS", self.mav.source_system) self.change_mode('MANUAL') self.wait_ready_to_arm() self.zero_throttle() self.arm_vehicle() # start moving forward a little: normal_rc_throttle = 1700 throttle_override = 1900 self.progress("Establishing baseline RC input") self.set_rc(3, normal_rc_throttle) self.drain_mav() tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 10: raise AutoTestTimeoutException("Did not get rc change") m = self.mav.recv_match(type='RC_CHANNELS', blocking=True) if m.chan3_raw == normal_rc_throttle: break self.progress("Set override with RC_CHANNELS_OVERRIDE") self.drain_mav() tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 10: raise AutoTestTimeoutException("Did not override") self.progress("Sending throttle of %u" % (throttle_override,)) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component 65535, # chan1_raw 65535, # chan2_raw throttle_override, # chan3_raw 65535, # chan4_raw 65535, # chan5_raw 65535, # chan6_raw 65535, # chan7_raw 65535) # chan8_raw m = self.mav.recv_match(type='RC_CHANNELS', blocking=True) self.progress("chan3=%f want=%f" % (m.chan3_raw, throttle_override)) if m.chan3_raw == throttle_override: break self.progress("disabling override and making sure we revert to RC input in good time") self.drain_mav() tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 0.5: raise AutoTestTimeoutException("Did not cancel override") self.progress("Sending cancel of throttle override") self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component 65535, # chan1_raw 65535, # chan2_raw 0, # chan3_raw 65535, # chan4_raw 65535, # chan5_raw 65535, # chan6_raw 65535, # chan7_raw 65535) # chan8_raw self.do_timesync_roundtrip() m = self.mav.recv_match(type='RC_CHANNELS', blocking=True) self.progress("chan3=%f want=%f" % (m.chan3_raw, normal_rc_throttle)) if m.chan3_raw == normal_rc_throttle: break self.disarm_vehicle() def RCOverrides(self): '''Test RC overrides''' self.set_parameter("SYSID_MYGCS", self.mav.source_system) self.set_parameter("RC12_OPTION", 46) self.reboot_sitl() self.change_mode('MANUAL') self.wait_ready_to_arm() self.set_rc(3, 1500) # throttle at zero self.arm_vehicle() # start moving forward a little: normal_rc_throttle = 1700 self.set_rc(3, normal_rc_throttle) self.wait_groundspeed(5, 100) # allow overrides: self.set_rc(12, 2000) # now override to stop: throttle_override = 1500 tstart = self.get_sim_time_cached() while True: if self.get_sim_time_cached() - tstart > 10: raise AutoTestTimeoutException("Did not reach speed") self.progress("Sending throttle of %u" % (throttle_override,)) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component 65535, # chan1_raw 65535, # chan2_raw throttle_override, # chan3_raw 65535, # chan4_raw 65535, # chan5_raw 65535, # chan6_raw 65535, # chan7_raw 65535) # chan8_raw m = self.mav.recv_match(type='VFR_HUD', blocking=True) want_speed = 2.0 self.progress("Speed=%f want=<%f" % (m.groundspeed, want_speed)) if m.groundspeed < want_speed: break # now override to stop - but set the switch on the RC # transmitter to deny overrides; this should send the # speed back up to 5 metres/second: self.set_rc(12, 1000) throttle_override = 1500 tstart = self.get_sim_time_cached() while True: if self.get_sim_time_cached() - tstart > 10: raise AutoTestTimeoutException("Did not speed back up") self.progress("Sending throttle of %u" % (throttle_override,)) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component 65535, # chan1_raw 65535, # chan2_raw throttle_override, # chan3_raw 65535, # chan4_raw 65535, # chan5_raw 65535, # chan6_raw 65535, # chan7_raw 65535) # chan8_raw m = self.mav.recv_match(type='VFR_HUD', blocking=True) want_speed = 5.0 self.progress("Speed=%f want=>%f" % (m.groundspeed, want_speed)) if m.groundspeed > want_speed: break # re-enable RC overrides self.set_rc(12, 2000) # check we revert to normal RC inputs when gcs overrides cease: self.progress("Waiting for RC to revert to normal RC input") self.wait_rc_channel_value(3, normal_rc_throttle, timeout=10) self.start_subtest("Check override time of zero disables overrides") old = self.get_parameter("RC_OVERRIDE_TIME") ch = 2 self.set_rc(ch, 1000) channels = [65535] * 18 ch_override_value = 1700 channels[ch-1] = ch_override_value channels[7] = 1234 # that's channel 8! self.progress("Sending override message %u" % ch_override_value) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component *channels ) # long timeout required here as we may have sent a lot of # things via MAVProxy... self.wait_rc_channel_value(ch, ch_override_value, timeout=30) self.set_parameter("RC_OVERRIDE_TIME", 0) self.wait_rc_channel_value(ch, 1000) self.set_parameter("RC_OVERRIDE_TIME", old) self.wait_rc_channel_value(ch, ch_override_value) ch_override_value = 1720 channels[ch-1] = ch_override_value self.progress("Sending override message %u" % ch_override_value) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component *channels ) self.wait_rc_channel_value(ch, ch_override_value, timeout=10) self.set_parameter("RC_OVERRIDE_TIME", 0) self.wait_rc_channel_value(ch, 1000) self.set_parameter("RC_OVERRIDE_TIME", old) self.progress("Ensuring timeout works") self.wait_rc_channel_value(ch, 1000, timeout=5) self.delay_sim_time(10) self.set_parameter("RC_OVERRIDE_TIME", 10) self.progress("Sending override message") ch_override_value = 1730 channels[ch-1] = ch_override_value self.progress("Sending override message %u" % ch_override_value) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component *channels ) self.wait_rc_channel_value(ch, ch_override_value, timeout=10) tstart = self.get_sim_time() self.progress("Waiting for channel to revert to 1000 in ~10s") self.wait_rc_channel_value(ch, 1000, timeout=15) delta = self.get_sim_time() - tstart if delta > 12: raise NotAchievedException("Took too long to revert RC channel value (delta=%f)" % delta) min_delta = 9 if delta < min_delta: raise NotAchievedException("Didn't take long enough to revert RC channel value (delta=%f want>=%f)" % (delta, min_delta)) self.progress("Disabling RC override timeout") self.set_parameter("RC_OVERRIDE_TIME", -1) ch_override_value = 1740 channels[ch-1] = ch_override_value self.progress("Sending override message %u" % ch_override_value) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component *channels ) self.wait_rc_channel_value(ch, ch_override_value, timeout=10) tstart = self.get_sim_time() while True: # warning: this is get_sim_time() and can slurp messages on you! delta = self.get_sim_time() - tstart if delta > 20: break m = self.assert_receive_message('RC_CHANNELS', timeout=1) channel_field = "chan%u_raw" % ch m_value = getattr(m, channel_field) if m_value != ch_override_value: raise NotAchievedException("Value reverted after %f seconds when it should not have (got=%u) (want=%u)" % (delta, m_value, ch_override_value)) # noqa self.set_parameter("RC_OVERRIDE_TIME", old) self.delay_sim_time(10) self.start_subtest("Checking higher-channel semantics") self.context_push() self.set_parameter("RC_OVERRIDE_TIME", 30) ch = 11 rc_value = 1010 self.set_rc(ch, rc_value) channels = [65535] * 18 ch_override_value = 1234 channels[ch-1] = ch_override_value self.progress("Sending override message ch%u=%u" % (ch, ch_override_value)) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component *channels ) self.progress("Wait for override value") self.wait_rc_channel_value(ch, ch_override_value, timeout=10) self.progress("Sending return-to-RC-input value") channels[ch-1] = 65534 self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component *channels ) self.wait_rc_channel_value(ch, rc_value, timeout=10) channels[ch-1] = ch_override_value self.progress("Sending override message ch%u=%u" % (ch, ch_override_value)) self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component *channels ) self.progress("Wait for override value") self.wait_rc_channel_value(ch, ch_override_value, timeout=10) # make we keep the override vaue for at least 10 seconds: tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 10: break # try both ignore values: ignore_value = 0 if self.get_sim_time_cached() - tstart > 5: ignore_value = 65535 self.progress("Sending ignore value %u" % ignore_value) channels[ch-1] = ignore_value self.mav.mav.rc_channels_override_send( 1, # target system 1, # targe component *channels ) if self.get_rc_channel_value(ch) != ch_override_value: raise NotAchievedException("Did not maintain value") self.context_pop() self.end_subtest("Checking higher-channel semantics") self.disarm_vehicle() def MANUAL_CONTROL(self): '''Test mavlink MANUAL_CONTROL''' self.set_parameters({ "SYSID_MYGCS": self.mav.source_system, "RC12_OPTION": 46, # enable/disable rc overrides }) self.reboot_sitl() self.change_mode("MANUAL") self.wait_ready_to_arm() self.arm_vehicle() self.progress("start moving forward a little") normal_rc_throttle = 1700 self.set_rc(3, normal_rc_throttle) self.wait_groundspeed(5, 100) self.progress("allow overrides") self.set_rc(12, 2000) self.progress("now override to stop") throttle_override_normalized = 0 expected_throttle = 0 # in VFR_HUD tstart = self.get_sim_time_cached() while True: if self.get_sim_time_cached() - tstart > 10: raise AutoTestTimeoutException("Did not reach speed") self.progress("Sending normalized throttle of %d" % (throttle_override_normalized,)) self.mav.mav.manual_control_send( 1, # target system 32767, # x (pitch) 32767, # y (roll) throttle_override_normalized, # z (thrust) 32767, # r (yaw) 0) # button mask m = self.mav.recv_match(type='VFR_HUD', blocking=True) want_speed = 2.0 self.progress("Speed=%f want=<%f throttle=%u want=%u" % (m.groundspeed, want_speed, m.throttle, expected_throttle)) if m.groundspeed < want_speed and m.throttle == expected_throttle: break self.progress("now override to stop - but set the switch on the RC transmitter to deny overrides; this should send the speed back up to 5 metres/second") # noqa self.set_rc(12, 1000) throttle_override_normalized = 500 expected_throttle = 36 # in VFR_HUD, corresponding to normal_rc_throttle adjusted for channel min/max tstart = self.get_sim_time_cached() while True: if self.get_sim_time_cached() - tstart > 10: raise AutoTestTimeoutException("Did not stop") self.progress("Sending normalized throttle of %u" % (throttle_override_normalized,)) self.mav.mav.manual_control_send( 1, # target system 32767, # x (pitch) 32767, # y (roll) throttle_override_normalized, # z (thrust) 32767, # r (yaw) 0) # button mask m = self.mav.recv_match(type='VFR_HUD', blocking=True) want_speed = 5.0 self.progress("Speed=%f want=>%f throttle=%u want=%u" % (m.groundspeed, want_speed, m.throttle, expected_throttle)) if m.groundspeed > want_speed and m.throttle == expected_throttle: break # re-enable RC overrides self.set_rc(12, 2000) # check we revert to normal RC inputs when gcs overrides cease: self.progress("Waiting for RC to revert to normal RC input") self.wait_rc_channel_value(3, normal_rc_throttle, timeout=10) self.disarm_vehicle() def CameraMission(self): '''Test Camera Mission Items''' self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger self.reboot_sitl() # needed for CAM1_TYPE to take effect self.load_mission("rover-camera-mission.txt") self.wait_ready_to_arm() self.change_mode("AUTO") self.wait_ready_to_arm() self.arm_vehicle() prev_cf = None while True: cf = self.mav.recv_match(type='CAMERA_FEEDBACK', blocking=True) if prev_cf is None: prev_cf = cf continue dist_travelled = self.get_distance_int(prev_cf, cf) prev_cf = cf mc = self.mav.messages.get("MISSION_CURRENT", None) if mc is None: continue elif mc.seq == 2: expected_distance = 2 elif mc.seq == 4: expected_distance = 5 elif mc.seq == 5: break else: continue self.progress("Expected distance %f got %f" % (expected_distance, dist_travelled)) error = abs(expected_distance - dist_travelled) # Rover moves at ~5m/s; we appear to do something at # 5Hz, so we do see over a meter of error! max_error = 1.5 if error > max_error: raise NotAchievedException("Camera distance error: %f (%f)" % (error, max_error)) self.disarm_vehicle() def DO_SET_MODE(self): '''Set mode via MAV_COMMAND_DO_SET_MODE''' self.do_set_mode_via_command_long("HOLD") self.do_set_mode_via_command_long("MANUAL") self.do_set_mode_via_command_int("HOLD") self.do_set_mode_via_command_int("MANUAL") def RoverInitialMode(self): '''test INITIAL_MODE parameter works''' # from mavproxy_rc.py self.wait_ready_to_arm() mapping = [0, 1165, 1295, 1425, 1555, 1685, 1815] mode_ch = 8 throttle_ch = 3 self.set_parameter('MODE5', 3) self.set_rc(mode_ch, mapping[5]) self.wait_mode('STEERING') self.set_rc(mode_ch, mapping[6]) self.wait_mode('MANUAL') self.set_parameter("INITIAL_MODE", 1) # acro # stop the vehicle polling the mode switch at boot: self.set_parameter('FS_ACTION', 0) # do nothing when radio fails self.set_rc(throttle_ch, 900) # RC fail self.reboot_sitl() self.wait_mode(1) self.progress("Make sure we stay in this mode") self.delay_sim_time(5) self.wait_mode(1) # now change modes with a switch: self.set_rc(throttle_ch, 1100) self.delay_sim_time(3) self.set_rc(mode_ch, mapping[5]) self.wait_mode('STEERING') def MAVProxy_DO_SET_MODE(self): '''Set mode using MAVProxy commandline DO_SET_MODE''' mavproxy = self.start_mavproxy() self.mavproxy_do_set_mode_via_command_long(mavproxy, "HOLD") self.mavproxy_do_set_mode_via_command_long(mavproxy, "MANUAL") self.stop_mavproxy(mavproxy) def SYSID_ENFORCE(self): '''Test enforcement of SYSID_MYGCS''' '''Run the same arming code with correct then incorrect SYSID''' if self.mav.source_system != self.mav.mav.srcSystem: raise PreconditionFailedException("Expected mav.source_system and mav.srcSystem to match") self.context_push() old_srcSystem = self.mav.mav.srcSystem ex = None try: self.set_parameter("SYSID_MYGCS", self.mav.source_system) self.set_parameter("SYSID_ENFORCE", 1, add_to_context=False) self.change_mode('MANUAL') self.progress("make sure I can arm ATM") self.wait_ready_to_arm() self.arm_vehicle(timeout=5) self.disarm_vehicle() self.do_timesync_roundtrip() # should not be able to arm from a system id which is not MY_SYSID self.progress("Attempting to arm vehicle from bad system-id") success = None try: # temporarily set a different system ID than normal: self.mav.mav.srcSystem = 72 self.arm_vehicle(timeout=5) self.disarm_vehicle() success = False except AutoTestTimeoutException: success = True self.mav.mav.srcSystem = old_srcSystem if not success: raise NotAchievedException("Managed to arm with SYSID_ENFORCE set") # should be able to arm from the vehicle's own components: self.progress("Attempting to arm vehicle from vehicle component") comp_arm_exception = None try: self.mav.mav.srcSystem = 1 self.arm_vehicle(timeout=5) self.disarm_vehicle() except Exception as e: comp_arm_exception = e self.mav.mav.srcSystem = old_srcSystem if comp_arm_exception is not None: raise comp_arm_exception except Exception as e: self.print_exception_caught(e) ex = e self.mav.mav.srcSystem = old_srcSystem self.set_parameter("SYSID_ENFORCE", 0, add_to_context=False) self.context_pop() if ex is not None: raise ex def Rally(self): '''Test Rally Points''' self.load_rally_using_mavproxy("rover-test-rally.txt") self.assert_parameter_value('RALLY_TOTAL', 2) self.wait_ready_to_arm() self.arm_vehicle() # calculate early to avoid round-trips while vehicle is moving: accuracy = self.get_parameter("WP_RADIUS") self.reach_heading_manual(10) self.reach_distance_manual(50) self.change_mode("RTL") # location copied in from rover-test-rally.txt: loc = mavutil.location(40.071553, -105.229401, 1583, 0) self.wait_location(loc, accuracy=accuracy, minimum_duration=10, timeout=45) self.disarm_vehicle() def fence_with_bad_frame(self, target_system=1, target_component=1): return [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] def fence_with_zero_vertex_count(self, target_system=1, target_component=1): return [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] def fence_with_wrong_vertex_count(self, target_system=1, target_component=1): return [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 2, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] def fence_with_multiple_return_points(self, target_system=1, target_component=1): return [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] def fence_with_invalid_latlon(self, target_system=1, target_component=1): return [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(100 * 1e7), # bad latitude. bad. int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] def fence_with_multiple_return_points_with_bad_sequence_numbers(self, target_system=1, target_component=1): return [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(2.0 * 1e7), # latitude int(2.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] def fence_which_exceeds_storage_space(self, target_system=1, target_component=1): ret = [] for i in range(0, 60): ret.append(self.mav.mav.mission_item_int_encode( target_system, target_component, i, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, 0, # current 0, # autocontinue 10, # p1 0, # p2 0, # p3 0, # p4 int(1.0 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ) return ret def fences_which_should_not_upload(self, target_system=1, target_component=1): return [ ("Bad Frame", self.fence_with_bad_frame( target_system=target_system, target_component=target_component)), ("Zero Vertex Count", self.fence_with_zero_vertex_count( target_system=target_system, target_component=target_component)), ("Wrong Vertex Count", self.fence_with_wrong_vertex_count( target_system=target_system, target_component=target_component)), ("Multiple return points", self.fence_with_multiple_return_points( target_system=target_system, target_component=target_component)), ("Invalid lat/lon", self.fence_with_invalid_latlon( target_system=target_system, target_component=target_component)), ("Multiple Return points with bad sequence numbers", self.fence_with_multiple_return_points_with_bad_sequence_numbers( # noqa target_system=target_system, target_component=target_component)), ("Fence which exceeds storage space", self.fence_which_exceeds_storage_space( target_system=target_system, target_component=target_component)), ] def fence_with_single_return_point(self, target_system=1, target_component=1): return [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] def fence_with_single_return_point_and_5_vertex_inclusion(self, target_system=1, target_component=1): return [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 5, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 5, # p1 0, # p2 0, # p3 0, # p4 int(1.0001 * 1e7), # latitude int(1.0000 * 1e7), # longitude 32.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 3, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 5, # p1 0, # p2 0, # p3 0, # p4 int(1.0001 * 1e7), # latitude int(1.0001 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 4, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 5, # p1 0, # p2 0, # p3 0, # p4 int(1.0002 * 1e7), # latitude int(1.0002 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 5, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 5, # p1 0, # p2 0, # p3 0, # p4 int(1.0002 * 1e7), # latitude int(1.0003 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] def fence_with_many_exclusion_circles(self, count=50, target_system=1, target_component=1): ret = [] for i in range(0, count): lat_deg = 1.0003 + count/10 lng_deg = 1.0002 + count/10 item = self.mav.mav.mission_item_int_encode( target_system, target_component, i, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, 0, # current 0, # autocontinue count, # p1 0, # p2 0, # p3 0, # p4 int(lat_deg * 1e7), # latitude int(lng_deg * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE) ret.append(item) return ret def fence_with_many_exclusion_polyfences(self, target_system=1, target_component=1): ret = [] seq = 0 for fencenum in range(0, 4): pointcount = fencenum + 6 for p in range(0, pointcount): lat_deg = 1.0003 + p/10 + fencenum/100 lng_deg = 1.0002 + p/10 + fencenum/100 item = self.mav.mav.mission_item_int_encode( target_system, target_component, seq, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, 0, # current 0, # autocontinue pointcount, # p1 0, # p2 0, # p3 0, # p4 int(lat_deg * 1e7), # latitude int(lng_deg * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE) ret.append(item) seq += 1 return ret def fences_which_should_upload(self, target_system=1, target_component=1): return [ ("Single Return Point", self.fence_with_single_return_point( target_system=target_system, target_component=target_component)), ("Return and 5-vertex-inclusion", self.fence_with_single_return_point_and_5_vertex_inclusion( target_system=target_system, target_component=target_component)), ("Many exclusion circles", self.fence_with_many_exclusion_circles( target_system=target_system, target_component=target_component)), ("Many exclusion polyfences", self.fence_with_many_exclusion_polyfences( target_system=target_system, target_component=target_component)), ("Empty fence", []), ] def assert_fence_does_not_upload(self, fence, target_system=1, target_component=1): self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) # upload single item using mission item protocol: upload_failed = False try: self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, fence) except NotAchievedException: # TODO: make sure we failed for correct reason upload_failed = True if not upload_failed: raise NotAchievedException("Uploaded fence when should not be possible") self.progress("Fence rightfully bounced") def send_fencepoint_expect_statustext(self, offset, count, lat, lng, statustext_fragment, target_system=1, target_component=1, timeout=10): self.mav.mav.fence_point_send(target_system, target_component, offset, count, lat, lng) tstart = self.get_sim_time_cached() while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Did not get error message back") m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=1) self.progress("statustext: %s (want='%s')" % (str(m), statustext_fragment)) if m is None: continue if statustext_fragment in m.text: break def GCSFailsafe(self, side=60, timeout=360): """Test GCS Failsafe""" try: self.test_gcs_failsafe(side=side, timeout=timeout) except Exception as ex: self.setGCSfailsafe(0) self.set_parameter('FS_ACTION', 0) self.disarm_vehicle(force=True) self.reboot_sitl() raise ex def test_gcs_failsafe(self, side=60, timeout=360): self.set_parameter("SYSID_MYGCS", self.mav.source_system) self.set_parameter("FS_ACTION", 1) self.set_parameter("FS_THR_ENABLE", 0) # disable radio FS as it inhibt GCS one's def go_somewhere(): self.change_mode("MANUAL") self.wait_ready_to_arm() self.arm_vehicle() self.set_rc(3, 2000) self.delay_sim_time(5) self.set_rc(3, 1500) # Trigger telemetry loss with failsafe disabled. Verify no action taken. self.start_subtest("GCS failsafe disabled test: FS_GCS_ENABLE=0 should take no failsafe action") self.setGCSfailsafe(0) go_somewhere() self.set_heartbeat_rate(0) self.delay_sim_time(5) self.wait_mode("MANUAL") self.set_heartbeat_rate(self.speedup) self.delay_sim_time(5) self.wait_mode("MANUAL") self.end_subtest("Completed GCS failsafe disabled test") # Trigger telemetry loss with failsafe enabled. Verify # failsafe triggers to RTL. Restore telemetry, verify failsafe # clears, and change modes. # TODO not implemented # self.start_subtest("GCS failsafe recovery test: FS_GCS_ENABLE=1") # self.setGCSfailsafe(1) # self.set_heartbeat_rate(0) # self.wait_mode("RTL") # self.set_heartbeat_rate(self.speedup) # self.wait_statustext("GCS Failsafe Cleared", timeout=60) # self.change_mode("MANUAL") # self.end_subtest("Completed GCS failsafe recovery test") # Trigger telemetry loss with failsafe enabled. Verify failsafe triggers and RTL completes self.start_subtest("GCS failsafe RTL with no options test: FS_GCS_ENABLE=1") self.setGCSfailsafe(1) self.set_heartbeat_rate(0) self.wait_mode("RTL") self.wait_statustext("Reached destination", timeout=60) self.set_heartbeat_rate(self.speedup) self.wait_statustext("GCS Failsafe Cleared", timeout=60) self.end_subtest("Completed GCS failsafe RTL") # Trigger telemetry loss with an invalid failsafe value. Verify failsafe triggers and RTL completes self.start_subtest("GCS failsafe invalid value with no options test: FS_GCS_ENABLE=99") self.setGCSfailsafe(99) go_somewhere() self.set_heartbeat_rate(0) self.wait_mode("RTL") self.wait_statustext("Reached destination", timeout=60) self.set_heartbeat_rate(self.speedup) self.wait_statustext("GCS Failsafe Cleared", timeout=60) self.end_subtest("Completed GCS failsafe invalid value") self.start_subtest("Testing continue in auto mission") self.disarm_vehicle() self.setGCSfailsafe(2) self.load_mission("test_arming.txt") self.change_mode("AUTO") self.delay_sim_time(5) self.set_heartbeat_rate(0) self.wait_statustext("Failsafe - Continuing Auto Mode", timeout=60) self.delay_sim_time(5) self.wait_mode("AUTO") self.set_heartbeat_rate(self.speedup) self.wait_statustext("GCS Failsafe Cleared", timeout=60) self.start_subtest("GCS failsafe RTL with no options test: FS_GCS_ENABLE=1 and FS_GCS_TIMEOUT=10") self.setGCSfailsafe(1) old_gcs_timeout = self.get_parameter("FS_GCS_TIMEOUT") new_gcs_timeout = old_gcs_timeout * 2 self.set_parameter("FS_GCS_TIMEOUT", new_gcs_timeout) go_somewhere() self.set_heartbeat_rate(0) self.delay_sim_time(old_gcs_timeout + (new_gcs_timeout - old_gcs_timeout) / 2) self.assert_mode("MANUAL") self.wait_mode("RTL") self.wait_statustext("Reached destination", timeout=60) self.set_heartbeat_rate(self.speedup) self.wait_statustext("GCS Failsafe Cleared", timeout=60) self.disarm_vehicle() self.end_subtest("Completed GCS failsafe RTL") self.setGCSfailsafe(0) self.progress("All GCS failsafe tests complete") def test_gcs_fence_centroid(self, target_system=1, target_component=1): self.start_subtest("Ensuring if we don't have a centroid it gets calculated") items = self.test_gcs_fence_need_centroid( target_system=target_system, target_component=target_component) self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, items) centroid = self.get_fence_point(0) want_lat = 1.0001 want_lng = 1.00005 if abs(centroid.lat - want_lat) > 0.000001: raise NotAchievedException("Centroid lat not as expected (want=%f got=%f)" % (want_lat, centroid.lat)) if abs(centroid.lng - want_lng) > 0.000001: raise NotAchievedException("Centroid lng not as expected (want=%f got=%f)" % (want_lng, centroid.lng)) def test_gcs_fence_update_fencepoint(self, target_system=1, target_component=1): self.start_subtest("Ensuring we can move a fencepoint") items = self.test_gcs_fence_boring_triangle( target_system=target_system, target_component=target_component) self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, items) # downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) item_seq = 2 item = items[item_seq] print("item is (%s)" % str(item)) self.progress("original x=%d" % item.x) item.x += int(0.1 * 1e7) self.progress("new x=%d" % item.x) self.progress("try to overwrite item %u" % item_seq) self.mav.mav.mission_write_partial_list_send( target_system, target_component, item_seq, item_seq, mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, item_seq) item.pack(self.mav.mav) self.mav.mav.send(item) self.progress("Answered request for fence point %u" % item_seq) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) downloaded_items2 = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) if downloaded_items2[item_seq].x != item.x: raise NotAchievedException("Item did not update") self.check_fence_items_same([items[0], items[1], item, items[3]], downloaded_items2) def test_gcs_fence_boring_triangle(self, target_system=1, target_component=1): return copy.copy([ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 3, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 3, # p1 0, # p2 0, # p3 0, # p4 int(1.0001 * 1e7), # latitude int(1.0000 * 1e7), # longitude 32.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 3, # p1 0, # p2 0, # p3 0, # p4 int(1.0001 * 1e7), # latitude int(1.0001 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 3, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.00015 * 1e7), # latitude int(1.00015 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ]) def test_gcs_fence_need_centroid(self, target_system=1, target_component=1): return copy.copy([ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 4, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 4, # p1 0, # p2 0, # p3 0, # p4 int(1.0002 * 1e7), # latitude int(1.0000 * 1e7), # longitude 32.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 4, # p1 0, # p2 0, # p3 0, # p4 int(1.0002 * 1e7), # latitude int(1.0001 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 3, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0, # current 0, # autocontinue 4, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0001 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ]) def click_location_from_item(self, mavproxy, item): mavproxy.send("click %f %f\n" % (item.x*1e-7, item.y*1e-7)) def test_gcs_fence_via_mavproxy(self, target_system=1, target_component=1): self.start_subtest("Fence via MAVProxy") if not self.mavproxy_can_do_mision_item_protocols(): return mavproxy = self.start_mavproxy() self.start_subsubtest("fence addcircle") self.clear_fence_using_mavproxy(mavproxy) self.delay_sim_time(1) radius = 20 item = self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION, 0, # current 0, # autocontinue radius, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 0.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE) print("item is (%s)" % str(item)) self.click_location_from_item(mavproxy, item) mavproxy.send("fence addcircle inc %u\n" % radius) self.delay_sim_time(1) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) print("downloaded items: %s" % str(downloaded_items)) self.check_fence_items_same([item], downloaded_items) radius_exc = 57.3 item2 = self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, 0, # current 0, # autocontinue radius_exc, # p1 0, # p2 0, # p3 0, # p4 int(1.0017 * 1e7), # latitude int(1.0017 * 1e7), # longitude 0.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.click_location_from_item(mavproxy, item2) mavproxy.send("fence addcircle exc %f\n" % radius_exc) self.delay_sim_time(1) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) print("downloaded items: %s" % str(downloaded_items)) self.check_fence_items_same([item, item2], downloaded_items) self.end_subsubtest("fence addcircle") self.start_subsubtest("fence addpoly") self.clear_fence_using_mavproxy(mavproxy) self.delay_sim_time(1) pointcount = 7 mavproxy.send("fence addpoly inc 20 %u 37.2\n" % pointcount) # radius, pointcount, rotaiton self.delay_sim_time(5) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) if len(downloaded_items) != pointcount: raise NotAchievedException("Did not get expected number of points returned (want=%u got=%u)" % (pointcount, len(downloaded_items))) self.end_subsubtest("fence addpoly") self.start_subsubtest("fence movepolypoint") self.clear_fence_using_mavproxy(mavproxy) self.delay_sim_time(1) triangle = self.test_gcs_fence_boring_triangle( target_system=target_system, target_component=target_component) self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, triangle) mavproxy.send("fence list\n") self.delay_sim_time(1) triangle[2].x += 500 triangle[2].y += 700 self.click_location_from_item(mavproxy, triangle[2]) mavproxy.send("fence movepolypoint 0 2\n") self.delay_sim_time(10) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.check_fence_items_same(triangle, downloaded_items) self.end_subsubtest("fence movepolypoint") self.start_subsubtest("fence enable and disable") mavproxy.send("fence enable\n") mavproxy.expect("fence enabled") mavproxy.send("fence disable\n") mavproxy.expect("fence disabled") self.end_subsubtest("fence enable and disable") self.stop_mavproxy(mavproxy) # MANUAL> usage: fence # noqa def GCSFence(self): '''Upload and download of fence''' target_system = 1 target_component = 1 self.progress("Testing FENCE_POINT protocol") self.start_subtest("FENCE_TOTAL manipulation") self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.assert_parameter_value("FENCE_TOTAL", 0) self.set_parameter("FENCE_TOTAL", 5) self.assert_parameter_value("FENCE_TOTAL", 5) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.assert_parameter_value("FENCE_TOTAL", 0) self.progress("sending out-of-range fencepoint") self.send_fencepoint_expect_statustext(0, 0, 1.2345, 5.4321, "index past total", target_system=target_component, target_component=target_component) self.progress("sending another out-of-range fencepoint") self.send_fencepoint_expect_statustext(0, 1, 1.2345, 5.4321, "bad count", target_system=target_component, target_component=target_component) self.set_parameter("FENCE_TOTAL", 1) self.assert_parameter_value("FENCE_TOTAL", 1) self.send_fencepoint_expect_statustext(0, 1, 1.2345, 5.4321, "Invalid FENCE_TOTAL", target_system=target_component, target_component=target_component) self.set_parameter("FENCE_TOTAL", 5) self.progress("Checking default points") for i in range(5): m = self.get_fence_point(i) if m.count != 5: raise NotAchievedException("Unexpected count in fence point (want=%u got=%u" % (5, m.count)) if m.lat != 0 or m.lng != 0: raise NotAchievedException("Unexpected lat/lon in fencepoint") self.progress("Storing a return point") self.roundtrip_fencepoint_protocol(0, 5, 1.2345, 5.4321, target_system=target_system, target_component=target_component) lat = 2.345 lng = 4.321 self.roundtrip_fencepoint_protocol(0, 5, lat, lng, target_system=target_system, target_component=target_component) if not self.mavproxy_can_do_mision_item_protocols(): self.progress("MAVProxy too old to do fence point protocols") return self.progress("Download with new protocol") items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) if len(items) != 1: raise NotAchievedException("Unexpected fencepoint count (want=%u got=%u)" % (1, len(items))) if items[0].command != mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT: raise NotAchievedException( "Fence return point not of correct type expected (%u) got %u" % (items[0].command, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT)) if items[0].frame != mavutil.mavlink.MAV_FRAME_GLOBAL: raise NotAchievedException( "Unexpected frame want=%s got=%s," % (self.string_for_frame(mavutil.mavlink.MAV_FRAME_GLOBAL), self.string_for_frame(items[0].frame))) got_lat = items[0].x want_lat = lat * 1e7 if abs(got_lat - want_lat) > 1: raise NotAchievedException("Disagree in lat (got=%f want=%f)" % (got_lat, want_lat)) if abs(items[0].y - lng * 1e7) > 1: raise NotAchievedException("Disagree in lng") if items[0].seq != 0: raise NotAchievedException("Disagree in offset") self.progress("Downloaded with new protocol OK") # upload using mission protocol: items = self.test_gcs_fence_boring_triangle( target_system=target_system, target_component=target_component) self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, items) self.progress("Download with new protocol") downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) if len(downloaded_items) != len(items): raise NotAchievedException("Did not download expected number of items (wanted=%u got=%u)" % (len(items), len(downloaded_items))) self.assert_parameter_value("FENCE_TOTAL", len(items) + 1) # +1 for closing self.progress("Ensuring fence items match what we sent up") self.check_fence_items_same(items, downloaded_items) # now check centroid self.progress("Requesting fence return point") self.mav.mav.fence_fetch_point_send(target_system, target_component, 0) m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=1) print("m: %s" % str(m)) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) self.progress("Checking count post-nuke") self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.start_subtest("Ensuring bad fences get bounced") for fence in self.fences_which_should_not_upload(target_system=target_system, target_component=target_component): (name, items) = fence self.progress("Ensuring (%s) gets bounced" % (name,)) self.assert_fence_does_not_upload(items) self.start_subtest("Ensuring good fences don't get bounced") for fence in self.fences_which_should_upload(target_system=target_system, target_component=target_component): (name, items) = fence self.progress("Ensuring (%s) gets uploaded" % (name,)) self.check_fence_upload_download(items) self.progress("(%s) uploaded just fine" % (name,)) self.test_gcs_fence_update_fencepoint(target_system=target_system, target_component=target_component) self.test_gcs_fence_centroid(target_system=target_system, target_component=target_component) self.test_gcs_fence_via_mavproxy(target_system=target_system, target_component=target_component) # explode the write_type_to_storage method # FIXME: test converting invalid fences / minimally valid fences / normal fences # FIXME: show that uploading smaller items take up less space # FIXME: add test for consecutive breaches within the manual recovery period # FIXME: ensure truncation does the right thing by fence_total # FIXME: test vehicle escape from outside inclusion zones to # inside inclusion zones (and inside exclusion zones to outside # exclusion zones) # FIXME: add test that a fence with edges that cross can't be uploaded # FIXME: add a test that fences enclose an area (e.g. all the points aren't the same value! def Offboard(self, timeout=90): '''Test Offboard Control''' self.load_mission("rover-guided-mission.txt") self.wait_ready_to_arm(require_absolute=True) self.arm_vehicle() self.change_mode("AUTO") offboard_expected_duration = 10 # see mission file if self.mav.messages.get("SET_POSITION_TARGET_GLOBAL_INT", None): raise PreconditionFailedException("Already have SET_POSITION_TARGET_GLOBAL_INT") tstart = self.get_sim_time_cached() last_heartbeat_sent = 0 got_ptgi = False magic_waypoint_tstart = 0 magic_waypoint_tstop = 0 while True: now = self.get_sim_time_cached() if now - last_heartbeat_sent > 1: last_heartbeat_sent = now self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0) if now - tstart > timeout: raise AutoTestTimeoutException("Didn't complete") magic_waypoint = 3 mc = self.mav.recv_match(type=["MISSION_CURRENT", "STATUSTEXT"], blocking=False) if mc is not None: print("%s" % str(mc)) if mc.get_type() == "STATUSTEXT": if "Mission Complete" in mc.text: break continue if mc.seq == magic_waypoint: print("At magic waypoint") if magic_waypoint_tstart == 0: magic_waypoint_tstart = self.get_sim_time_cached() ptgi = self.mav.messages.get("POSITION_TARGET_GLOBAL_INT", None) if ptgi is not None: got_ptgi = True elif mc.seq > magic_waypoint: if magic_waypoint_tstop == 0: magic_waypoint_tstop = self.get_sim_time_cached() self.disarm_vehicle() offboard_duration = magic_waypoint_tstop - magic_waypoint_tstart if abs(offboard_duration - offboard_expected_duration) > 1: raise NotAchievedException("Did not stay in offboard control for correct time (want=%f got=%f)" % (offboard_expected_duration, offboard_duration)) if not got_ptgi: raise NotAchievedException("Did not get ptgi message") print("pgti: %s" % str(ptgi)) def assert_mission_count_on_link(self, mav, expected_count, target_system, target_component, mission_type): self.drain_mav_unparsed(mav=mav, freshen_sim_time=True) self.progress("waiting for a message - any message....") m = mav.recv_match(blocking=True, timeout=1) self.progress("Received (%s)" % str(m)) if not mav.mavlink20(): raise NotAchievedException("Not doing mavlink2") mav.mav.mission_request_list_send(target_system, target_component, mission_type) self.assert_receive_mission_count_on_link(mav, expected_count, target_system, target_component, mission_type) def assert_receive_mission_count_on_link(self, mav, expected_count, target_system, target_component, mission_type, expected_target_system=None, expected_target_component=None, timeout=120): if expected_target_system is None: expected_target_system = mav.mav.srcSystem if expected_target_component is None: expected_target_component = mav.mav.srcComponent self.progress("Waiting for mission count of (%u) from (%u:%u) to (%u:%u)" % (expected_count, target_system, target_component, expected_target_system, expected_target_component)) tstart = self.get_sim_time_cached() while True: delta = self.get_sim_time_cached() - tstart if delta > timeout: raise NotAchievedException("Did not receive MISSION_COUNT on link after %fs" % delta) m = mav.recv_match(blocking=True, timeout=1) if m is None: self.progress("No messages") continue # self.progress("Received (%s)" % str(m)) if m.get_type() == "MISSION_ACK": if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED: raise NotAchievedException("Expected MAV_MISSION_ACCEPTED, got (%s)" % m) if m.get_type() == "MISSION_COUNT": break if m.target_system != expected_target_system: raise NotAchievedException("Incorrect target system in MISSION_COUNT (want=%u got=%u)" % (expected_target_system, m.target_system)) if m.target_component != expected_target_component: raise NotAchievedException("Incorrect target component in MISSION_COUNT") if m.mission_type != mission_type: raise NotAchievedException("Did not get expected mission type (want=%u got=%u)" % (mission_type, m.mission_type)) if m.count != expected_count: raise NotAchievedException("Bad count received (want=%u got=%u)" % (expected_count, m.count)) self.progress("Asserted mission count (type=%u) is %u after %fs" % ( (mission_type, m.count, delta))) def get_mission_item_int_on_link(self, item, mav, target_system, target_component, mission_type, delay_fn=None): self.drain_mav(mav=mav, unparsed=True) mav.mav.mission_request_int_send(target_system, target_component, item, mission_type) m = self.assert_receive_message( 'MISSION_ITEM_INT', timeout=60, condition='MISSION_ITEM_INT.mission_type==%u' % mission_type, delay_fn=delay_fn) if m is None: raise NotAchievedException("Did not receive MISSION_ITEM_INT") if m.mission_type != mission_type: raise NotAchievedException("Mission item of incorrect type") if m.target_system != mav.mav.srcSystem: raise NotAchievedException("Unexpected target system %u want=%u" % (m.target_system, mav.mav.srcSystem)) if m.seq != item: raise NotAchievedException( "Incorrect sequence number on received item got=%u want=%u" % (m.seq, item)) if m.mission_type != mission_type: raise NotAchievedException( "Mission type incorrect on received item (want=%u got=%u)" % (mission_type, m.mission_type)) if m.target_component != mav.mav.srcComponent: raise NotAchievedException( "Unexpected target component %u want=%u" % (m.target_component, mav.mav.srcComponent)) return m def get_mission_item_on_link(self, item, mav, target_system, target_component, mission_type): self.drain_mav(mav=mav, unparsed=True) mav.mav.mission_request_send(target_system, target_component, item, mission_type) m = mav.recv_match(type='MISSION_ITEM', blocking=True, timeout=60) if m is None: raise NotAchievedException("Did not receive MISSION_ITEM") if m.target_system != mav.mav.srcSystem: raise NotAchievedException("Unexpected target system %u want=%u" % (m.target_system, mav.mav.srcSystem)) if m.seq != item: raise NotAchievedException("Incorrect sequence number on received item_int got=%u want=%u" % (m.seq, item)) if m.mission_type != mission_type: raise NotAchievedException("Mission type incorrect on received item_int (want=%u got=%u)" % (mission_type, m.mission_type)) if m.target_component != mav.mav.srcComponent: raise NotAchievedException("Unexpected target component %u want=%u" % (m.target_component, mav.mav.srcComponent)) return m def assert_receive_mission_item_request(self, mission_type, seq): self.progress("Expecting request for item %u" % seq) m = self.assert_receive_message('MISSION_REQUEST', timeout=1) if m.mission_type != mission_type: raise NotAchievedException("Incorrect mission type (wanted=%u got=%u)" % (mission_type, m.mission_type)) if m.seq != seq: raise NotAchievedException("Unexpected sequence number (want=%u got=%u)" % (seq, m.seq)) self.progress("Received item request OK") def assert_receive_mission_ack(self, mission_type, want_type=mavutil.mavlink.MAV_MISSION_ACCEPTED, target_system=None, target_component=None, mav=None): if mav is None: mav = self.mav if target_system is None: target_system = mav.mav.srcSystem if target_component is None: target_component = mav.mav.srcComponent self.progress("Expecting mission ack") m = mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5) self.progress("Received ACK (%s)" % str(m)) if m is None: raise NotAchievedException("Expected mission ACK") if m.target_system != target_system: raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" % (target_system, m.target_system)) if m.target_component != target_component: raise NotAchievedException("ACK not targetted at correct component") if m.mission_type != mission_type: raise NotAchievedException("Unexpected mission type %u want=%u" % (m.mission_type, mission_type)) if m.type != want_type: raise NotAchievedException("Expected ack type %u got %u" % (want_type, m.type)) def assert_filepath_content(self, filepath, want): with open(filepath) as f: got = f.read() if want != got: raise NotAchievedException("Did not get expected file content (want=%s) (got=%s)" % (want, got)) def mavproxy_can_do_mision_item_protocols(self): return False if not self.mavproxy_version_gt(1, 8, 69): self.progress("MAVProxy is too old; skipping tests") return False return True def check_rally_items_same(self, want, got, epsilon=None): check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1'] return self.check_mission_items_same(check_atts, want, got, epsilon=epsilon) def click_three_in(self, mavproxy, target_system=1, target_component=1): mavproxy.send('rally clear\n') self.drain_mav() # there are race conditions in MAVProxy. Beware. mavproxy.send("click 1.0 1.0\n") mavproxy.send("rally add\n") self.delay_sim_time(1) mavproxy.send("click 2.0 2.0\n") mavproxy.send("rally add\n") self.delay_sim_time(1) mavproxy.send("click 3.0 3.0\n") mavproxy.send("rally add\n") self.delay_sim_time(10) self.assert_mission_count_on_link( self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, ) def GCSRally(self, target_system=1, target_component=1): '''Upload and download of rally using MAVProxy''' self.start_subtest("Testing mavproxy CLI for rally points") if not self.mavproxy_can_do_mision_item_protocols(): return mavproxy = self.start_mavproxy() mavproxy.send('rally clear\n') self.start_subsubtest("rally add") mavproxy.send('rally clear\n') lat_s = "-5.6789" lng_s = "98.2341" lat = float(lat_s) lng = float(lng_s) mavproxy.send('click %s %s\n' % (lat_s, lng_s)) self.drain_mav() mavproxy.send('rally add\n') self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, target_system=255, target_component=0) self.delay_sim_time(5) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(downloaded_items) != 1: raise NotAchievedException("Unexpected count (got=%u want=1)" % (len(downloaded_items), )) if (downloaded_items[0].x - int(lat * 1e7)) > 1: raise NotAchievedException("Bad rally lat. Want=%d got=%d" % (int(lat * 1e7), downloaded_items[0].x)) if (downloaded_items[0].y - int(lng * 1e7)) > 1: raise NotAchievedException("Bad rally lng. Want=%d got=%d" % (int(lng * 1e7), downloaded_items[0].y)) if (downloaded_items[0].z - int(90)) > 1: raise NotAchievedException("Bad rally alt. Want=90 got=%d" % (downloaded_items[0].y)) self.end_subsubtest("rally add") self.start_subsubtest("rally list") util.pexpect_drain(mavproxy) mavproxy.send('rally list\n') mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s") filename = mavproxy.match.group(1) self.assert_rally_filepath_content(filename, '''QGC WPL 110 0 0 3 5100 0.000000 0.000000 0.000000 0.000000 -5.678900 98.234100 90.000000 0 ''') self.end_subsubtest("rally list") self.start_subsubtest("rally save") util.pexpect_drain(mavproxy) save_tmppath = self.buildlogs_path("rally-testing-tmp.txt") mavproxy.send('rally save %s\n' % save_tmppath) mavproxy.expect(r"Saved 1 rally items to ([^\s]*)\s") filename = mavproxy.match.group(1) if filename != save_tmppath: raise NotAchievedException("Bad save filepath; want=%s got=%s" % (save_tmppath, filename)) self.assert_rally_filepath_content(filename, '''QGC WPL 110 0 0 3 5100 0.000000 0.000000 0.000000 0.000000 -5.678900 98.234100 90.000000 0 ''') self.end_subsubtest("rally save") self.start_subsubtest("rally savecsv") util.pexpect_drain(mavproxy) csvpath = self.buildlogs_path("rally-testing-tmp.csv") mavproxy.send('rally savecsv %s\n' % csvpath) mavproxy.expect('"Seq","Frame"') expected_content = '''"Seq","Frame","Cmd","P1","P2","P3","P4","X","Y","Z" "0","Rel","NAV_RALLY_POINT","0.0","0.0","0.0","0.0","-5.67890024185","98.2341003418","90.0" ''' if sys.version_info[0] >= 3: # greater precision output by default expected_content = '''"Seq","Frame","Cmd","P1","P2","P3","P4","X","Y","Z" "0","Rel","NAV_RALLY_POINT","0.0","0.0","0.0","0.0","-5.678900241851807","98.23410034179688","90.0" ''' self.assert_filepath_content(csvpath, expected_content) self.end_subsubtest("rally savecsv") self.start_subsubtest("rally load") self.drain_mav() mavproxy.send('rally clear\n') self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) # warning: uses file saved from previous test self.start_subtest("Check rally load from filepath") mavproxy.send('rally load %s\n' % save_tmppath) mavproxy.expect(r"Loaded 1 rally items from ([^\s]*)\s") mavproxy.expect("Sent all .* rally items") # notional race condition here downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(downloaded_items) != 1: raise NotAchievedException("Unexpected item count (%u)" % len(downloaded_items)) if abs(int(downloaded_items[0].x) - int(lat * 1e7)) > 3: raise NotAchievedException("Expected lat=%d got=%d" % (lat * 1e7, downloaded_items[0].x)) if abs(int(downloaded_items[0].y) - int(lng * 1e7)) > 10: raise NotAchievedException("Expected lng=%d got=%d" % (lng * 1e7, downloaded_items[0].y)) self.end_subsubtest("rally load") self.start_subsubtest("rally changealt") mavproxy.send('rally clear\n') mavproxy.send("click 1.0 1.0\n") mavproxy.send("rally add\n") mavproxy.send("click 2.0 2.0\n") mavproxy.send("rally add\n") self.delay_sim_time(10) self.assert_mission_count_on_link( self.mav, 2, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, ) self.drain_mav() mavproxy.send("rally changealt 1 17.6\n") self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, target_system=255, target_component=0) self.delay_sim_time(10) mavproxy.send("rally changealt 2 19.1\n") self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, target_system=255, target_component=0) self.delay_sim_time(10) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(downloaded_items) != 2: raise NotAchievedException("Unexpected item count (%u)" % len(downloaded_items)) if abs(int(downloaded_items[0].x) - int(1 * 1e7)) > 3: raise NotAchievedException("Expected lat=%d got=%d" % (1 * 1e7, downloaded_items[0].x)) if abs(int(downloaded_items[0].y) - int(1 * 1e7)) > 10: raise NotAchievedException("Expected lng=%d got=%d" % (1 * 1e7, downloaded_items[0].y)) # at some stage ArduPilot will stop rounding altitude. This # will break then. if abs(int(downloaded_items[0].z) - int(17.6)) > 0.0001: raise NotAchievedException("Expected alt=%f got=%f" % (17.6, downloaded_items[0].z)) if abs(int(downloaded_items[1].x) - int(2 * 1e7)) > 3: raise NotAchievedException("Expected lat=%d got=%d" % (2 * 1e7, downloaded_items[0].x)) if abs(int(downloaded_items[1].y) - int(2 * 1e7)) > 10: raise NotAchievedException("Expected lng=%d got=%d" % (2 * 1e7, downloaded_items[0].y)) # at some stage ArduPilot will stop rounding altitude. This # will break then. if abs(int(downloaded_items[1].z) - int(19.1)) > 0.0001: raise NotAchievedException("Expected alt=%f got=%f" % (19.1, downloaded_items[1].z)) self.progress("Now change two at once") mavproxy.send("rally changealt 1 17.3 2\n") self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, target_system=255, target_component=0) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(downloaded_items) != 2: raise NotAchievedException("Unexpected item count (%u)" % len(downloaded_items)) if abs(int(downloaded_items[0].x) - int(1 * 1e7)) > 3: raise NotAchievedException("Expected lat=%d got=%d" % (1 * 1e7, downloaded_items[0].x)) if abs(int(downloaded_items[0].y) - int(1 * 1e7)) > 10: raise NotAchievedException("Expected lng=%d got=%d" % (1 * 1e7, downloaded_items[0].y)) # at some stage ArduPilot will stop rounding altitude. This # will break then. if abs(int(downloaded_items[0].z) - int(17.3)) > 0.0001: raise NotAchievedException("Expected alt=%f got=%f" % (17.3, downloaded_items[0].z)) if abs(int(downloaded_items[1].x) - int(2 * 1e7)) > 3: raise NotAchievedException("Expected lat=%d got=%d" % (2 * 1e7, downloaded_items[0].x)) if abs(int(downloaded_items[1].y) - int(2 * 1e7)) > 10: raise NotAchievedException("Expected lng=%d got=%d" % (2 * 1e7, downloaded_items[0].y)) # at some stage ArduPilot will stop rounding altitude. This # will break then. if abs(int(downloaded_items[1].z) - int(17.3)) > 0.0001: raise NotAchievedException("Expected alt=%f got=%f" % (17.3, downloaded_items[0].z)) self.end_subsubtest("rally changealt") self.start_subsubtest("rally move") mavproxy.send('rally clear\n') mavproxy.send("click 1.0 1.0\n") mavproxy.send("rally add\n") mavproxy.send("click 2.0 2.0\n") mavproxy.send("rally add\n") self.delay_sim_time(5) self.assert_mission_count_on_link( self.mav, 2, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, ) mavproxy.send("click 3.0 3.0\n") mavproxy.send("rally move 2\n") self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, target_system=255, target_component=0) mavproxy.send("click 4.12345 4.987654\n") mavproxy.send("rally move 1\n") self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, target_system=255, target_component=0) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(downloaded_items) != 2: raise NotAchievedException("Unexpected item count (%u)" % len(downloaded_items)) if downloaded_items[0].x != 41234500: raise NotAchievedException("Bad latitude") if downloaded_items[0].y != 49876540: raise NotAchievedException("Bad longitude") if downloaded_items[0].z != 90: raise NotAchievedException("Bad altitude (want=%u got=%u)" % (90, downloaded_items[0].z)) if downloaded_items[1].x != 30000000: raise NotAchievedException("Bad latitude") if downloaded_items[1].y != 30000000: raise NotAchievedException("Bad longitude") if downloaded_items[1].z != 90: raise NotAchievedException("Bad altitude (want=%u got=%u)" % (90, downloaded_items[1].z)) self.end_subsubtest("rally move") self.start_subsubtest("rally movemulti") self.drain_mav() mavproxy.send('rally clear\n') self.drain_mav() # there are race conditions in MAVProxy. Beware. mavproxy.send("click 1.0 1.0\n") mavproxy.send("rally add\n") mavproxy.send("click 2.0 2.0\n") mavproxy.send("rally add\n") mavproxy.send("click 3.0 3.0\n") mavproxy.send("rally add\n") self.delay_sim_time(10) self.assert_mission_count_on_link( self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, ) click_lat = 2.0 click_lon = 3.0 unmoved_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(unmoved_items) != 3: raise NotAchievedException("Unexpected item count") mavproxy.send("click %f %f\n" % (click_lat, click_lon)) mavproxy.send("rally movemulti 2 1 3\n") # MAVProxy currently sends three separate items up. That's # not great and I don't want to lock that behaviour in here. self.delay_sim_time(10) expected_moved_items = copy.copy(unmoved_items) expected_moved_items[0].x = 1.0 * 1e7 expected_moved_items[0].y = 2.0 * 1e7 expected_moved_items[1].x = 2.0 * 1e7 expected_moved_items[1].y = 3.0 * 1e7 expected_moved_items[2].x = 3.0 * 1e7 expected_moved_items[2].y = 4.0 * 1e7 moved_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) # we're moving an entire degree in latitude; quite an epsilon required... self.check_rally_items_same(expected_moved_items, moved_items, epsilon=10000) self.progress("now move back and rotate through 90 degrees") mavproxy.send("click %f %f\n" % (2, 2)) mavproxy.send("rally movemulti 2 1 3 90\n") # MAVProxy currently sends three separate items up. That's # not great and I don't want to lock that behaviour in here. self.delay_sim_time(10) expected_moved_items = copy.copy(unmoved_items) expected_moved_items[0].x = 3.0 * 1e7 expected_moved_items[0].y = 1.0 * 1e7 expected_moved_items[1].x = 2.0 * 1e7 expected_moved_items[1].y = 2.0 * 1e7 expected_moved_items[2].x = 1.0 * 1e7 expected_moved_items[2].y = 3.0 * 1e7 moved_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) # we're moving an entire degree in latitude; quite an epsilon required... self.check_rally_items_same(expected_moved_items, moved_items, epsilon=12000) self.end_subsubtest("rally movemulti") self.start_subsubtest("rally param") mavproxy.send("rally param 3 2 5\n") mavproxy.expect("Set param 2 for 3 to 5.000000") self.end_subsubtest("rally param") self.start_subsubtest("rally remove") self.click_three_in(target_system=target_system, target_component=target_component) pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.progress("Removing last in list") mavproxy.send("rally remove 3\n") self.delay_sim_time(10) self.assert_mission_count_on_link( self.mav, 2, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, ) fewer_downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(fewer_downloaded_items) != 2: raise NotAchievedException("Unexpected download list length") shorter_items = copy.copy(pure_items) shorter_items = shorter_items[0:2] self.check_rally_items_same(shorter_items, fewer_downloaded_items) self.progress("Removing first in list") mavproxy.send("rally remove 1\n") self.delay_sim_time(5) self.assert_mission_count_on_link( self.mav, 1, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, ) fewer_downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(fewer_downloaded_items) != 1: raise NotAchievedException("Unexpected download list length") shorter_items = shorter_items[1:] self.check_rally_items_same(shorter_items, fewer_downloaded_items) self.progress("Removing remaining item") mavproxy.send("rally remove 1\n") self.delay_sim_time(5) self.assert_mission_count_on_link( self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, ) self.end_subsubtest("rally remove") self.start_subsubtest("rally show") # what can we test here? mavproxy.send("rally show %s\n" % save_tmppath) self.end_subsubtest("rally show") # savelocal must be run immediately after show! self.start_subsubtest("rally savelocal") util.pexpect_drain(mavproxy) savelocal_path = self.buildlogs_path("rally-testing-tmp-local.txt") mavproxy.send('rally savelocal %s\n' % savelocal_path) self.delay_sim_time(5) self.assert_rally_filepath_content(savelocal_path, '''QGC WPL 110 0 0 3 5100 0.000000 0.000000 0.000000 0.000000 -5.678900 98.234100 90.000000 0 ''') self.end_subsubtest("rally savelocal") self.start_subsubtest("rally status") self.click_three_in(target_system=target_system, target_component=target_component) mavproxy.send("rally status\n") mavproxy.expect("Have 3 of 3 rally items") mavproxy.send("rally clear\n") mavproxy.send("rally status\n") mavproxy.expect("Have 0 of 0 rally items") self.end_subsubtest("rally status") self.start_subsubtest("rally undo") self.progress("Testing undo-remove") self.click_three_in(target_system=target_system, target_component=target_component) pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.progress("Removing first in list") mavproxy.send("rally remove 1\n") self.delay_sim_time(5) self.assert_mission_count_on_link( self.mav, 2, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, ) mavproxy.send("rally undo\n") self.delay_sim_time(5) undone_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.check_rally_items_same(pure_items, undone_items) self.progress("Testing undo-move") pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) mavproxy.send("click 4.12345 4.987654\n") mavproxy.send("rally move 1\n") # move has already been tested, assume it works... self.delay_sim_time(5) mavproxy.send("rally undo\n") self.delay_sim_time(5) undone_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.check_rally_items_same(pure_items, undone_items) self.end_subsubtest("rally undo") self.start_subsubtest("rally update") self.click_three_in(target_system=target_system, target_component=target_component) pure_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) rally_update_tmpfilepath = self.buildlogs_path("rally-tmp-update.txt") mavproxy.send("rally save %s\n" % rally_update_tmpfilepath) self.delay_sim_time(5) self.progress("Moving waypoint") mavproxy.send("click 13.0 13.0\n") mavproxy.send("rally move 1\n") self.delay_sim_time(5) self.progress("Reverting to original") mavproxy.send("rally update %s\n" % rally_update_tmpfilepath) self.delay_sim_time(5) reverted_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.check_rally_items_same(pure_items, reverted_items) self.progress("Making sure specifying a waypoint to be updated works") mavproxy.send("click 13.0 13.0\n") mavproxy.send("rally move 1\n") self.delay_sim_time(5) mavproxy.send("click 17.0 17.0\n") mavproxy.send("rally move 2\n") self.delay_sim_time(5) self.progress("Reverting to original item 2") mavproxy.send("rally update %s 2\n" % rally_update_tmpfilepath) self.delay_sim_time(5) reverted_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if reverted_items[0].x != 130000000: raise NotAchievedException("Expected item1 x to stay changed (got=%u want=%u)" % (reverted_items[0].x, 130000000)) if reverted_items[1].x == 170000000: raise NotAchievedException("Expected item2 x to revert") self.end_subsubtest("rally update") self.delay_sim_time(1) if self.get_parameter("RALLY_TOTAL") != 0: raise NotAchievedException("Failed to clear rally points") self.stop_mavproxy(mavproxy) # MANUAL> usage: rally # noqa def RallyUploadDownload(self, target_system=1, target_component=1): '''Upload and download of rally''' old_srcSystem = self.mav.mav.srcSystem self.drain_mav() try: item1_lat = int(2.0000 * 1e7) items = [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_RALLY), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 item1_lat, # latitude int(2.0000 * 1e7), # longitude 32.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_RALLY), self.mav.mav.mission_item_int_encode( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(3.0000 * 1e7), # latitude int(3.0000 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_RALLY), ] self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, items) downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) print("Got items (%s)" % str(items)) if len(downloaded) != len(items): raise NotAchievedException( "Did not download correct number of items want=%u got=%u" % (len(downloaded), len(items))) rally_total = self.get_parameter("RALLY_TOTAL") if rally_total != len(downloaded): raise NotAchievedException( "Unexpected rally point count: want=%u got=%u" % (len(items), rally_total)) self.progress("Pruning count by setting parameter (urgh)") self.set_parameter("RALLY_TOTAL", 2) downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(downloaded) != 2: raise NotAchievedException( "Failed to prune rally points by setting parameter. want=%u got=%u" % (2, len(downloaded))) self.progress("Uploading a third item using old protocol") new_item2_lat = int(6.0 * 1e7) self.set_parameter("RALLY_TOTAL", 3) self.mav.mav.rally_point_send(target_system, target_component, 2, # sequence number 3, # total count new_item2_lat, int(7.0 * 1e7), 15, 0, # "break" alt?! 0, # "land dir" 0) # flags downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if len(downloaded) != 3: raise NotAchievedException( "resetting rally point count didn't change items returned") if downloaded[2].x != new_item2_lat: raise NotAchievedException( "Bad lattitude in downloaded item: want=%u got=%u" % (new_item2_lat, downloaded[2].x)) self.progress("Grabbing original item 1 using original protocol") self.mav.mav.rally_fetch_point_send(target_system, target_component, 1) m = self.mav.recv_match(type="RALLY_POINT", blocking=True, timeout=1) if m.target_system != self.mav.source_system: raise NotAchievedException( "Bad target_system on received rally point (want=%u got=%u)" % (255, m.target_system)) if m.target_component != self.mav.source_component: # autotest's component ID raise NotAchievedException("Bad target_component on received rally point") if m.lat != item1_lat: raise NotAchievedException("Bad latitude on received rally point") self.start_subtest("Test upload lockout and timeout") self.progress("Starting upload from normal sysid") self.mav.mav.mission_count_send(target_system, target_component, len(items), mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.drain_mav() # throw away requests for items self.mav.mav.srcSystem = 243 self.progress("Attempting upload from sysid=%u" % (self.mav.mav.srcSystem,)) self.mav.mav.mission_count_send(target_system, target_component, len(items), mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_DENIED) self.progress("Attempting download from sysid=%u" % (self.mav.mav.srcSystem,)) self.mav.mav.mission_request_list_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_DENIED) # wait for the upload from sysid=1 to time out: tstart = self.get_sim_time() got_statustext = False got_ack = False while True: if got_statustext and got_ack: self.progress("Got both ack and statustext") break if self.get_sim_time_cached() - tstart > 100: raise NotAchievedException("Did not get both ack and statustext") m = self.mav.recv_match(type=['STATUSTEXT', 'MISSION_ACK'], blocking=True, timeout=1) if m is None: continue self.progress("Got (%s)" % str(m)) if m.get_type() == 'STATUSTEXT': if "upload timeout" in m.text: got_statustext = True self.progress("Received desired statustext") continue if m.get_type() == 'MISSION_ACK': if m.target_system != old_srcSystem: raise NotAchievedException("Incorrect sourcesystem") if m.type != mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED: raise NotAchievedException("Incorrect result") if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_RALLY: raise NotAchievedException("Incorrect mission_type") got_ack = True self.progress("Received desired ACK") continue raise NotAchievedException("Huh?") self.progress("Now trying to upload empty mission after timeout") self.mav.mav.mission_count_send(target_system, target_component, 0, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.drain_mav() self.start_subtest("Check rally upload/download across separate links") self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, items) self.progress("ensure a mavlink1 connection can't do anything useful with new item types") self.set_parameter("SERIAL2_PROTOCOL", 1) self.reboot_sitl() mav2 = mavutil.mavlink_connection("tcp:localhost:5763", robust_parsing=True, source_system=7, source_component=7) mav2.mav.mission_request_list_send(target_system, target_component, mission_type=mavutil.mavlink.MAV_MISSION_TYPE_RALLY) # so this looks a bit odd; the other end isn't sending # mavlink2 so can't fill in the extension here. self.assert_receive_mission_ack( mavutil.mavlink.MAV_MISSION_TYPE_MISSION, want_type=mavutil.mavlink.MAV_MISSION_UNSUPPORTED, mav=mav2, ) # this relies on magic upgrade to serial2: self.set_parameter("SERIAL2_PROTOCOL", 2) expected_count = 3 self.progress("Assert mission count on new link") self.assert_mission_count_on_link( mav2, expected_count, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.progress("Assert mission count on original link") self.assert_mission_count_on_link( self.mav, expected_count, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.progress("Get first item on new link") def drain_self_mav_fn(): self.drain_mav(self.mav) m2 = self.get_mission_item_int_on_link( 2, mav2, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY, delay_fn=drain_self_mav_fn) self.progress("Get first item on original link") m = self.get_mission_item_int_on_link( 2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) if m2.x != m.x: raise NotAchievedException("mission items do not match (%d vs %d)" % (m2.x, m.x)) self.get_mission_item_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) # ensure we get nacks for bad mission item requests: self.mav.mav.mission_request_send(target_system, target_component, 65, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack( mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE, ) self.mav.mav.mission_request_int_send(target_system, target_component, 65, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack( mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE, ) self.start_subtest("Should enforce items come from correct GCS") self.drain_mav(unparsed=True) self.mav.mav.mission_count_send(target_system, target_component, 1, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0) self.progress("Attempting to upload from bad sysid") old_sysid = self.mav.mav.srcSystem self.mav.mav.srcSystem = 17 items[0].pack(self.mav.mav) self.drain_mav(unparsed=True) self.mav.mav.send(items[0]) self.mav.mav.srcSystem = old_sysid self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_DENIED, target_system=17) self.progress("Sending from correct sysid") items[0].pack(self.mav.mav) self.drain_mav(unparsed=True) self.mav.mav.send(items[0]) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.drain_mav() self.drain_all_pexpects() self.start_subtest("Attempt to send item on different link to that which we are sending requests on") self.progress("Sending count") self.drain_mav(unparsed=True) self.mav.mav.mission_count_send(target_system, target_component, 2, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0) old_mav2_system = mav2.mav.srcSystem old_mav2_component = mav2.mav.srcComponent mav2.mav.srcSystem = self.mav.mav.srcSystem mav2.mav.srcComponent = self.mav.mav.srcComponent self.progress("Sending item on second link") # note that the routing table in ArduPilot now will say # this sysid/compid is on both links which may cause # weirdness... items[0].pack(mav2.mav) self.drain_mav(mav=self.mav, unparsed=True) mav2.mav.send(items[0]) mav2.mav.srcSystem = old_mav2_system mav2.mav.srcComponent = old_mav2_component # we continue to receive requests on the original link: m = self.assert_receive_message('MISSION_REQUEST', timeout=1) if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_RALLY: raise NotAchievedException("Mission request of incorrect type") if m.seq != 1: raise NotAchievedException("Unexpected sequence number (expected=%u got=%u)" % (1, m.seq)) items[1].pack(self.mav.mav) self.drain_mav(unparsed=True) self.mav.mav.send(items[1]) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.drain_mav() self.drain_all_pexpects() self.start_subtest("Upload mission and rally points at same time") self.progress("Sending rally count") self.drain_mav(unparsed=True) self.mav.mav.mission_count_send(target_system, target_component, 3, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0) self.progress("Sending wp count") self.mav.mav.mission_count_send(target_system, target_component, 3, mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 0) self.progress("Answering request for mission item 0") self.drain_mav(mav=self.mav, unparsed=True) self.mav.mav.mission_item_int_send( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.1000 * 1e7), # latitude int(1.2000 * 1e7), # longitude 321.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 1) self.progress("Answering request for rally point 0") items[0].pack(self.mav.mav) self.drain_mav(unparsed=True) self.mav.mav.send(items[0]) self.progress("Expecting request for rally item 1") self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 1) self.progress("Answering request for rally point 1") items[1].pack(self.mav.mav) self.drain_mav(unparsed=True) self.mav.mav.send(items[1]) self.progress("Expecting request for rally item 2") self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 2) self.progress("Answering request for rally point 2") items[2].pack(self.mav.mav) self.drain_mav(unparsed=True) self.mav.mav.send(items[2]) self.progress("Expecting mission ack for rally") self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.progress("Answering request for waypoints item 1") self.drain_mav(unparsed=True) self.mav.mav.mission_item_int_send( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.1000 * 1e7), # latitude int(1.2000 * 1e7), # longitude 321.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 2) self.progress("Answering request for waypoints item 2") self.drain_mav(unparsed=True) self.mav.mav.mission_item_int_send( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.1000 * 1e7), # latitude int(1.2000 * 1e7), # longitude 321.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.start_subtest("Test write-partial-list") self.progress("Clearing rally points using count-send") self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, target_system=target_system, target_component=target_component) self.progress("Should not be able to set items completely past the waypoint count") self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, items) self.drain_mav(unparsed=True) self.mav.mav.mission_write_partial_list_send( target_system, target_component, 17, 20, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_ERROR) self.progress("Should not be able to set items overlapping the waypoint count") self.drain_mav(unparsed=True) self.mav.mav.mission_write_partial_list_send( target_system, target_component, 0, 20, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_ERROR) self.progress("try to overwrite items 1 and 2") self.drain_mav(unparsed=True) self.mav.mav.mission_write_partial_list_send( target_system, target_component, 1, 2, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 1) self.progress("Try shoving up an incorrectly sequenced item") self.drain_mav(unparsed=True) self.mav.mav.mission_item_int_send( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.1000 * 1e7), # latitude int(1.2000 * 1e7), # longitude 321.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_RALLY), self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE) self.progress("Try shoving up an incorrectly sequenced item (but within band)") self.drain_mav(unparsed=True) self.mav.mav.mission_item_int_send( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.1000 * 1e7), # latitude int(1.2000 * 1e7), # longitude 321.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_RALLY), self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE) self.progress("Now provide correct item") item1_latitude = int(1.2345 * 1e7) self.drain_mav(unparsed=True) self.mav.mav.mission_item_int_send( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 item1_latitude, # latitude int(1.2000 * 1e7), # longitude 321.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_RALLY), self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 2) self.progress("Answering request for rally point 2") items[2].pack(self.mav.mav) self.drain_mav(unparsed=True) self.mav.mav.send(items[2]) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.progress("TODO: ensure partial mission write was good") self.start_subtest("clear mission types") self.assert_mission_count_on_link( self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_mission_count_on_link( self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.drain_mav(unparsed=True) self.mav.mav.mission_clear_all_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_mission_count_on_link( self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_mission_count_on_link( self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.drain_mav(unparsed=True) self.mav.mav.mission_clear_all_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.assert_mission_count_on_link( self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_mission_count_on_link( self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.start_subtest("try sending out-of-range counts") self.drain_mav(unparsed=True) self.mav.mav.mission_count_send(target_system, target_component, 1, 230) self.assert_receive_mission_ack(230, want_type=mavutil.mavlink.MAV_MISSION_UNSUPPORTED) self.drain_mav(unparsed=True) self.mav.mav.mission_count_send(target_system, target_component, 16000, mavutil.mavlink.MAV_MISSION_TYPE_RALLY) self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, want_type=mavutil.mavlink.MAV_MISSION_NO_SPACE) except Exception as e: self.progress("Received exception (%s)" % self.get_exception_stacktrace(e)) self.mav.mav.srcSystem = old_srcSystem raise e self.reboot_sitl() def GCSMission(self): '''check MAVProxy's waypoint handling of missions''' target_system = 1 target_component = 1 mavproxy = self.start_mavproxy() mavproxy.send('wp clear\n') self.delay_sim_time(1) if self.get_parameter("MIS_TOTAL") != 0: raise NotAchievedException("Failed to clear mission") m = self.assert_receive_message('MISSION_CURRENT', timeout=5) if m.seq != 0: raise NotAchievedException("Bad mission current") self.load_mission_using_mavproxy(mavproxy, "rover-gripper-mission.txt") set_wp = 1 mavproxy.send('wp set %u\n' % set_wp) self.wait_current_waypoint(set_wp) self.start_subsubtest("wp changealt") downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) changealt_item = 1 # oldalt = downloaded_items[changealt_item].z want_newalt = 37.2 mavproxy.send('wp changealt %u %f\n' % (changealt_item, want_newalt)) self.delay_sim_time(15) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) if abs(downloaded_items[changealt_item].z - want_newalt) > 0.0001: raise NotAchievedException( "changealt didn't (want=%f got=%f)" % (want_newalt, downloaded_items[changealt_item].z)) self.end_subsubtest("wp changealt") self.start_subsubtest("wp sethome") new_home_lat = 3.14159 new_home_lng = 2.71828 mavproxy.send('click %f %f\n' % (new_home_lat, new_home_lng)) mavproxy.send('wp sethome\n') self.delay_sim_time(5) # any way to close the loop on this one? # downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) # if abs(downloaded_items[0].x - new_home_lat) > 0.0001: # raise NotAchievedException("wp sethome didn't work") # if abs(downloaded_items[0].y - new_home_lng) > 0.0001: # raise NotAchievedException("wp sethome didn't work") self.end_subsubtest("wp sethome") self.start_subsubtest("wp slope") mavproxy.send('wp slope\n') mavproxy.expect("WP3: slope 0.1") self.delay_sim_time(5) self.end_subsubtest("wp slope") if not self.mavproxy_can_do_mision_item_protocols(): # adding based on click location yet to be merged into MAVProxy return self.start_subsubtest("wp split") mavproxy.send("wp clear\n") self.delay_sim_time(5) mavproxy.send("wp list\n") self.delay_sim_time(5) items = [ None, self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.0 * 1e7), # latitude int(1.0 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), self.mav.mav.mission_item_int_encode( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(2.0 * 1e7), # latitude int(2.0 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), ] mavproxy.send("click 5 5\n") # space for home position mavproxy.send("wp add\n") self.delay_sim_time(5) self.click_location_from_item(mavproxy, items[1]) mavproxy.send("wp add\n") self.delay_sim_time(5) self.click_location_from_item(mavproxy, items[2]) mavproxy.send("wp add\n") self.delay_sim_time(5) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.check_mission_waypoint_items_same(items, downloaded_items) mavproxy.send("wp split 2\n") self.delay_sim_time(5) items_with_split_in = [ items[0], items[1], self.mav.mav.mission_item_int_encode( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(1.5 * 1e7), # latitude int(1.5 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), items[2], ] downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) self.check_mission_waypoint_items_same(items_with_split_in, downloaded_items) self.stop_mavproxy(mavproxy) # MANUAL> usage: wp # noqa def wait_location_sending_target(self, loc, target_system=1, target_component=1, timeout=60, max_delta=2): tstart = self.get_sim_time() last_sent = 0 type_mask = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) self.change_mode('GUIDED') tstart = self.get_sim_time() while True: now = self.get_sim_time_cached() if now - tstart > timeout: raise AutoTestTimeoutException("Did not get to location") if now - last_sent > 10: last_sent = now self.mav.mav.set_position_target_global_int_send( 0, target_system, target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_INT, type_mask, int(loc.lat * 1.0e7), int(loc.lng * 1.0e7), 0, # alt 0, # x-ve 0, # y-vel 0, # z-vel 0, # afx 0, # afy 0, # afz 0, # yaw, 0, # yaw-rate ) m = self.mav.recv_match(blocking=True, timeout=1) if m is None: continue t = m.get_type() if t == "POSITION_TARGET_GLOBAL_INT": self.progress("Target: (%s)" % str(m), send_statustext=False) elif t == "GLOBAL_POSITION_INT": self.progress("Position: (%s)" % str(m), send_statustext=False) delta = self.get_distance( mavutil.location(m.lat * 1e-7, m.lon * 1e-7, 0, 0), loc) self.progress("delta: %s" % str(delta), send_statustext=False) if delta < max_delta: self.progress("Reached destination") def drive_to_location(self, loc, tolerance=1, timeout=30, target_system=1, target_component=1): self.assert_mode('GUIDED') type_mask = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) last_sent = 0 tstart = self.get_sim_time() while True: now = self.get_sim_time_cached() if now - tstart > timeout: raise NotAchievedException("Did not get to location") if now - last_sent > 10: last_sent = now self.mav.mav.set_position_target_global_int_send( 0, target_system, target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_INT, type_mask, int(loc.lat * 1.0e7), int(loc.lng * 1.0e7), 0, # alt 0, # x-ve 0, # y-vel 0, # z-vel 0, # afx 0, # afy 0, # afz 0, # yaw, 0, # yaw-rate ) if self.get_distance(self.mav.location(), loc) > tolerance: continue return def drive_somewhere_breach_boundary_and_rtl(self, loc, target_system=1, target_component=1, timeout=60): tstart = self.get_sim_time() last_sent = 0 seen_fence_breach = False type_mask = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) self.change_mode('GUIDED') while True: now = self.get_sim_time_cached() if now - tstart > timeout: raise NotAchievedException("Did not breach boundary + RTL") if now - last_sent > 10: last_sent = now self.mav.mav.set_position_target_global_int_send( 0, target_system, target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_INT, type_mask, int(loc.lat * 1.0e7), int(loc.lng * 1.0e7), 0, # alt 0, # x-ve 0, # y-vel 0, # z-vel 0, # afx 0, # afy 0, # afz 0, # yaw, 0, # yaw-rate ) m = self.mav.recv_match(blocking=True, timeout=1) if m is None: continue t = m.get_type() if t == "POSITION_TARGET_GLOBAL_INT": self.progress("Target: (%s)" % str(m)) elif t == "GLOBAL_POSITION_INT": self.progress("Position: (%s)" % str(m)) elif t == "FENCE_STATUS": self.progress("Fence: %s" % str(m)) if m.breach_status != 0: seen_fence_breach = True self.progress("Fence breach detected!") if m.breach_type != mavutil.mavlink.FENCE_BREACH_BOUNDARY: raise NotAchievedException("Breach of unexpected type") if self.mode_is("RTL", cached=True) and seen_fence_breach: break self.wait_distance_to_home(3, 7, timeout=30) def drive_somewhere_stop_at_boundary(self, loc, expected_stopping_point, expected_distance_epsilon=1.0, target_system=1, target_component=1, timeout=120): tstart = self.get_sim_time() last_sent = 0 type_mask = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE + mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) self.change_mode('GUIDED') at_stopping_point = False while True: now = self.get_sim_time_cached() if now - tstart > timeout: raise NotAchievedException("Did not arrive and stop at boundary") if now - last_sent > 10: last_sent = now self.mav.mav.set_position_target_global_int_send( 0, target_system, target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_INT, type_mask, int(loc.lat * 1.0e7), int(loc.lng * 1.0e7), 0, # alt 0, # x-ve 0, # y-vel 0, # z-vel 0, # afx 0, # afy 0, # afz 0, # yaw, 0, # yaw-rate ) m = self.mav.recv_match(blocking=True, timeout=1) if m is None: continue t = m.get_type() if t == "POSITION_TARGET_GLOBAL_INT": print("Target: (%s)" % str(m)) elif t == "GLOBAL_POSITION_INT": print("Position: (%s)" % str(m)) delta = self.get_distance( mavutil.location(m.lat * 1e-7, m.lon * 1e-7, 0, 0), mavutil.location(expected_stopping_point.lat, expected_stopping_point.lng, 0, 0)) print("delta: %s want_delta<%f" % (str(delta), expected_distance_epsilon)) at_stopping_point = delta < expected_distance_epsilon elif t == "VFR_HUD": print("groundspeed: %f" % m.groundspeed) if at_stopping_point: if m.groundspeed < 1: self.progress("Seemed to have stopped at stopping point") return def assert_fence_breached(self): m = self.assert_receive_message('FENCE_STATUS', timeout=10) if m.breach_status != 1: raise NotAchievedException("Expected to be breached") def wait_fence_not_breached(self, timeout=5): tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > timeout: raise AutoTestTimeoutException("Fence remains breached") m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=1) if m is None: self.progress("No FENCE_STATUS received") continue self.progress("STATUS: %s" % str(m)) if m.breach_status == 0: break def test_poly_fence_noarms(self, target_system=1, target_component=1): '''various tests to ensure we can't arm when in breach of a polyfence''' self.start_subtest("Ensure PolyFence arming checks work") self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) self.set_parameters({ "FENCE_TYPE": 2, # circle only }) self.delay_sim_time(5) # let breaches clear # FIXME: should we allow this? self.progress("Ensure we can arm with no poly in place") self.change_mode("GUIDED") self.wait_ready_to_arm() self.arm_vehicle() self.disarm_vehicle() self.set_parameters({ "FENCE_TYPE": 6, # polyfence + circle }) self.test_poly_fence_noarms_exclusion_circle(target_system=target_system, target_component=target_component) self.test_poly_fence_noarms_inclusion_circle(target_system=target_system, target_component=target_component) self.test_poly_fence_noarms_exclusion_polyfence(target_system=target_system, target_component=target_component) self.test_poly_fence_noarms_inclusion_polyfence(target_system=target_system, target_component=target_component) def test_poly_fence_noarms_exclusion_circle(self, target_system=1, target_component=1): self.start_subtest("Ensure not armable when within an exclusion circle") here = self.mav.location() items = [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, 0, # current 0, # autocontinue 5, # p1 - radius 0, # p2 0, # p3 0, # p4 int(here.lat * 1e7), # latitude int(here.lng * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, 0, # current 0, # autocontinue 5, # p1 - radius 0, # p2 0, # p3 0, # p4 int(self.offset_location_ne(here, 100, 100).lat * 1e7), # latitude int(here.lng * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, items) self.delay_sim_time(5) # ArduPilot only checks for breaches @1Hz self.drain_mav() self.assert_fence_breached() try: self.arm_motors_with_rc_input() except NotAchievedException: pass if self.armed(): raise NotAchievedException( "Armed when within exclusion zone") self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, []) self.wait_fence_not_breached() def test_poly_fence_noarms_inclusion_circle(self, target_system=1, target_component=1): self.start_subtest("Ensure not armable when outside an inclusion circle (but within another") here = self.mav.location() items = [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION, 0, # current 0, # autocontinue 5, # p1 - radius 0, # p2 0, # p3 0, # p4 int(here.lat * 1e7), # latitude int(here.lng * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION, 0, # current 0, # autocontinue 5, # p1 - radius 0, # p2 0, # p3 0, # p4 int(self.offset_location_ne(here, 100, 100).lat * 1e7), # latitude int(here.lng * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE), ] self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, items) self.delay_sim_time(5) # ArduPilot only checks for breaches @1Hz self.drain_mav() self.assert_fence_breached() try: self.arm_motors_with_rc_input() except NotAchievedException: pass if self.armed(): raise NotAchievedException( "Armed when outside an inclusion zone") self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, []) self.wait_fence_not_breached() def test_poly_fence_noarms_exclusion_polyfence(self, target_system=1, target_component=1): self.start_subtest("Ensure not armable when inside an exclusion polyfence (but outside another") here = self.mav.location() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # east self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # over the top of the vehicle self.offset_location_ne(here, -50, -50), # bl self.offset_location_ne(here, -50, 50), # br self.offset_location_ne(here, 50, 50), # tr self.offset_location_ne(here, 50, -50), # tl, ]), ]) self.delay_sim_time(5) # ArduPilot only checks for breaches @1Hz self.drain_mav() self.assert_fence_breached() try: self.arm_motors_with_rc_input() except NotAchievedException: pass if self.armed(): raise NotAchievedException( "Armed when within polygon exclusion zone") self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, []) self.wait_fence_not_breached() def test_poly_fence_noarms_inclusion_polyfence(self, target_system=1, target_component=1): self.start_subtest("Ensure not armable when outside an inclusion polyfence (but within another") here = self.mav.location() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ # east self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ # over the top of the vehicle self.offset_location_ne(here, -50, -50), # bl self.offset_location_ne(here, -50, 50), # br self.offset_location_ne(here, 50, 50), # tr self.offset_location_ne(here, 50, -50), # tl, ]), ]) self.delay_sim_time(5) # ArduPilot only checks for breaches @1Hz self.drain_mav() self.assert_fence_breached() try: self.arm_motors_with_rc_input() except NotAchievedException: pass if self.armed(): raise NotAchievedException( "Armed when outside polygon inclusion zone") self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, []) self.wait_fence_not_breached() def test_fence_upload_timeouts_1(self, target_system=1, target_component=1): self.start_subtest("fence_upload timeouts 1") self.progress("Telling victim there will be one item coming") self.mav.mav.mission_count_send(target_system, target_component, 1, mavutil.mavlink.MAV_MISSION_TYPE_FENCE) m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK'], blocking=True, timeout=1) self.progress("Got (%s)" % str(m)) if m is None: raise NotAchievedException("Did not get ACK or mission request") if m.get_type() == "MISSION_ACK": raise NotAchievedException("Expected MISSION_REQUEST") if m.seq != 0: raise NotAchievedException("Expected request for seq=0") if m.target_system != self.mav.mav.srcSystem: raise NotAchievedException("Incorrect target system in MISSION_REQUEST") if m.target_component != self.mav.mav.srcComponent: raise NotAchievedException("Incorrect target component in MISSION_REQUEST") tstart = self.get_sim_time() rerequest_count = 0 received_text = False received_ack = False while True: if received_ack and received_text: break if self.get_sim_time_cached() - tstart > 10: raise NotAchievedException("Did not get expected ack and statustext") m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK', 'STATUSTEXT'], blocking=True, timeout=1) self.progress("Got (%s)" % str(m)) if m is None: self.progress("Did not receive any messages") continue if m.get_type() == "MISSION_REQUEST": if m.seq != 0: raise NotAchievedException("Received request for invalid seq") if m.target_system != self.mav.mav.srcSystem: raise NotAchievedException("Incorrect target system in MISSION_REQUEST") if m.target_component != self.mav.mav.srcComponent: raise NotAchievedException("Incorrect target component in MISSION_REQUEST") rerequest_count += 1 self.progress("Valid re-request received.") continue if m.get_type() == "MISSION_ACK": if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_FENCE: raise NotAchievedException("Wrong mission type") if m.type != mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED: raise NotAchievedException("Wrong result") received_ack = True continue if m.get_type() == "STATUSTEXT": if "upload time" in m.text: received_text = True continue if rerequest_count < 3: raise NotAchievedException("Expected several re-requests of mission item") self.end_subtest("fence upload timeouts 1") def expect_request_for_item(self, item): m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK'], blocking=True, timeout=1) self.progress("Got (%s)" % str(m)) if m is None: raise NotAchievedException("Did not get ACK or mission request") if m.get_type() == "MISSION_ACK": raise NotAchievedException("Expected MISSION_REQUEST") if m.seq != item.seq: raise NotAchievedException("Expected request for seq=%u" % item.seq) if m.target_system != self.mav.mav.srcSystem: raise NotAchievedException("Incorrect target system in MISSION_REQUEST") if m.target_component != self.mav.mav.srcComponent: raise NotAchievedException("Incorrect target component in MISSION_REQUEST") def test_fence_upload_timeouts_2(self, target_system=1, target_component=1): self.start_subtest("fence upload timeouts 2") self.progress("Telling victim there will be two items coming") # avoid a timeout race condition where ArduPilot re-requests a # fence point before we receive and respond to the first one. # Since ArduPilot has a 1s timeout on re-requesting, This only # requires a round-trip delay of 1/speedup seconds to trigger # - and that has been seen in practise on Travis old_speedup = self.get_parameter("SIM_SPEEDUP") self.set_parameter("SIM_SPEEDUP", 1) self.mav.mav.mission_count_send(target_system, target_component, 2, mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.progress("Sending item with seq=0") item = self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, 0, # current 0, # autocontinue 1, # p1 radius 0, # p2 0, # p3 0, # p4 int(1.1 * 1e7), # latitude int(1.2 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.expect_request_for_item(item) item.pack(self.mav.mav) self.mav.mav.send(item) self.progress("Sending item with seq=1") item = self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, 0, # current 0, # autocontinue 1, # p1 radius 0, # p2 0, # p3 0, # p4 int(1.1 * 1e7), # latitude int(1.2 * 1e7), # longitude 33.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE) self.expect_request_for_item(item) self.set_parameter("SIM_SPEEDUP", old_speedup) self.progress("Now waiting for a timeout") tstart = self.get_sim_time() rerequest_count = 0 received_text = False received_ack = False while True: if received_ack and received_text: break if self.get_sim_time_cached() - tstart > 10: raise NotAchievedException("Did not get expected ack and statustext") m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK', 'STATUSTEXT'], blocking=True, timeout=0.1) self.progress("Got (%s)" % str(m)) if m is None: self.progress("Did not receive any messages") continue if m.get_type() == "MISSION_REQUEST": if m.seq != 1: raise NotAchievedException("Received request for invalid seq") if m.target_system != self.mav.mav.srcSystem: raise NotAchievedException("Incorrect target system in MISSION_REQUEST") if m.target_component != self.mav.mav.srcComponent: raise NotAchievedException("Incorrect target component in MISSION_REQUEST") rerequest_count += 1 self.progress("Valid re-request received.") continue if m.get_type() == "MISSION_ACK": if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_FENCE: raise NotAchievedException("Wrong mission type") if m.type != mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED: raise NotAchievedException("Wrong result") received_ack = True continue if m.get_type() == "STATUSTEXT": if "upload time" in m.text: received_text = True continue if rerequest_count < 3: raise NotAchievedException("Expected several re-requests of mission item") self.end_subtest("fence upload timeouts 2") def test_fence_upload_timeouts(self, target_system=1, target_component=1): self.test_fence_upload_timeouts_1(target_system=target_system, target_component=target_component) self.test_fence_upload_timeouts_2(target_system=target_system, target_component=target_component) def test_poly_fence_compatability_ordering(self, target_system=1, target_component=1): self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) here = self.mav.location() self.progress("try uploading return point last") self.roundtrip_fence_using_fencepoint_protocol([ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ], ordering=[1, 2, 3, 4, 5, 0]) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) self.progress("try uploading return point in middle") self.roundtrip_fence_using_fencepoint_protocol([ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ], ordering=[1, 2, 3, 0, 4, 5]) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) self.progress("try closing point in middle") self.roundtrip_fence_using_fencepoint_protocol([ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ], ordering=[0, 1, 2, 5, 3, 4]) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) # this is expected to fail as we don't return the closing # point correctly until the first is uploaded # self.progress("try closing point first") # failed = False # try: # self.roundtrip_fence_using_fencepoint_protocol([ # self.offset_location_ne(here, 0, 0), # bl // return point # self.offset_location_ne(here, -50, 20), # bl # self.offset_location_ne(here, 50, 20), # br # self.offset_location_ne(here, 50, 40), # tr # self.offset_location_ne(here, -50, 40), # tl, # self.offset_location_ne(here, -50, 20), # closing point # ], ordering=[5, 0, 1, 2, 3, 4]) # except NotAchievedException as e: # failed = "got=0.000000 want=" in str(e) # if not failed: # raise NotAchievedException("Expected failure, did not get it") # self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, # target_system=target_system, # target_component=target_component) self.progress("try (almost) reverse order") self.roundtrip_fence_using_fencepoint_protocol([ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ], ordering=[4, 3, 2, 1, 0, 5]) self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) def test_poly_fence_big_then_small(self, target_system=1, target_component=1): here = self.mav.location() self.roundtrip_fence_using_fencepoint_protocol([ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ], ordering=[1, 2, 3, 4, 5, 0]) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) if len(downloaded_items) != 5: # that's one return point and then bl, br, tr, then tl raise NotAchievedException("Bad number of downloaded items in original download") self.roundtrip_fence_using_fencepoint_protocol([ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ], ordering=[1, 2, 3, 4, 0]) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) want_count = 4 if len(downloaded_items) != want_count: # that's one return point and then bl, tr, then tl raise NotAchievedException("Bad number of downloaded items in second download got=%u wanted=%u" % (len(downloaded_items), want_count)) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) if len(downloaded_items) != 4: # that's one return point and then bl, tr, then tl raise NotAchievedException("Bad number of downloaded items in second download (second time) got=%u want=%u" % (len(downloaded_items), want_count)) def test_poly_fence_compatability(self, target_system=1, target_component=1): self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, target_system=target_system, target_component=target_component) self.test_poly_fence_compatability_ordering(target_system=target_system, target_component=target_component) here = self.mav.location() self.progress("Playing with changing point count") self.roundtrip_fence_using_fencepoint_protocol( [ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ]) self.roundtrip_fence_using_fencepoint_protocol( [ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ]) self.roundtrip_fence_using_fencepoint_protocol( [ self.offset_location_ne(here, 0, 0), # bl // return point self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, self.offset_location_ne(here, -50, 20), # closing point ]) def test_poly_fence_reboot_survivability(self): here = self.mav.location() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # east self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # over the top of the vehicle self.offset_location_ne(here, -50, -50), # bl self.offset_location_ne(here, -50, 50), # br self.offset_location_ne(here, 50, 50), # tr self.offset_location_ne(here, 50, -50), # tl, ]), ]) self.reboot_sitl() downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) downloaded_len = len(downloaded_items) if downloaded_len != 8: raise NotAchievedException("Items did not survive reboot (want=%u got=%u)" % (8, downloaded_len)) def PolyFence(self): '''test fence-related functions''' target_system = 1 target_component = 1 self.change_mode("LOITER") self.wait_ready_to_arm() here = self.mav.location() self.progress("here: %f %f" % (here.lat, here.lng)) self.set_parameters({ "FENCE_ENABLE": 1, "AVOID_ENABLE": 0, }) # self.set_parameter("SIM_SPEEDUP", 1) self.test_poly_fence_big_then_small() self.test_poly_fence_compatability() self.test_fence_upload_timeouts() self.test_poly_fence_noarms(target_system=target_system, target_component=target_component) self.arm_vehicle() self.test_poly_fence_inclusion(here, target_system=target_system, target_component=target_component) self.test_poly_fence_exclusion(here, target_system=target_system, target_component=target_component) self.disarm_vehicle() self.test_poly_fence_reboot_survivability() def test_poly_fence_inclusion_overlapping_inclusion_circles(self, here, target_system=1, target_component=1): self.start_subtest("Overlapping circular inclusion") self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION, { "radius": 30, "loc": self.offset_location_ne(here, -20, 0), }), (mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION, { "radius": 30, "loc": self.offset_location_ne(here, 20, 0), }), ]) if self.mavproxy is not None: # handy for getting pretty pictures self.mavproxy.send("fence list\n") self.delay_sim_time(5) self.progress("Drive outside top circle") fence_middle = self.offset_location_ne(here, -150, 0) self.drive_somewhere_breach_boundary_and_rtl( fence_middle, target_system=target_system, target_component=target_component) self.delay_sim_time(5) self.progress("Drive outside bottom circle") fence_middle = self.offset_location_ne(here, 150, 0) self.drive_somewhere_breach_boundary_and_rtl( fence_middle, target_system=target_system, target_component=target_component) def test_poly_fence_inclusion(self, here, target_system=1, target_component=1): self.progress("Circle and Polygon inclusion") self.test_poly_fence_inclusion_overlapping_inclusion_circles( here, target_system=target_system, target_component=target_component) self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ self.offset_location_ne(here, -40, -20), # tl self.offset_location_ne(here, 50, -20), # tr self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, -40, 20), # bl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION, { "radius": 30, "loc": self.offset_location_ne(here, -20, 0), }), ]) self.delay_sim_time(5) if self.mavproxy is not None: self.mavproxy.send("fence list\n") self.progress("Drive outside polygon") fence_middle = self.offset_location_ne(here, -150, 0) self.drive_somewhere_breach_boundary_and_rtl( fence_middle, target_system=target_system, target_component=target_component) self.delay_sim_time(5) self.progress("Drive outside circle") fence_middle = self.offset_location_ne(here, 150, 0) self.drive_somewhere_breach_boundary_and_rtl( fence_middle, target_system=target_system, target_component=target_component) self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ self.offset_location_ne(here, -20, -25), # tl self.offset_location_ne(here, 50, -25), # tr self.offset_location_ne(here, 50, 15), # br self.offset_location_ne(here, -20, 15), # bl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ self.offset_location_ne(here, 20, -20), # tl self.offset_location_ne(here, -50, -20), # tr self.offset_location_ne(here, -50, 20), # br self.offset_location_ne(here, 20, 20), # bl, ]), ]) self.delay_sim_time(5) if self.mavproxy is not None: self.mavproxy.send("fence list\n") self.progress("Drive outside top polygon") fence_middle = self.offset_location_ne(here, -150, 0) self.drive_somewhere_breach_boundary_and_rtl( fence_middle, target_system=target_system, target_component=target_component) self.delay_sim_time(5) self.progress("Drive outside bottom polygon") fence_middle = self.offset_location_ne(here, 150, 0) self.drive_somewhere_breach_boundary_and_rtl( fence_middle, target_system=target_system, target_component=target_component) def test_poly_fence_exclusion(self, here, target_system=1, target_component=1): self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # east self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # west self.offset_location_ne(here, -50, -20), # tl self.offset_location_ne(here, 50, -20), # tr self.offset_location_ne(here, 50, -40), # br self.offset_location_ne(here, -50, -40), # bl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, { "radius": 30, "loc": self.offset_location_ne(here, -60, 0), }), ]) self.delay_sim_time(5) if self.mavproxy is not None: self.mavproxy.send("fence list\n") self.progress("Breach eastern boundary") fence_middle = self.offset_location_ne(here, 0, 30) self.drive_somewhere_breach_boundary_and_rtl(fence_middle, target_system=target_system, target_component=target_component) self.progress("delaying - hack to work around manual recovery bug") self.delay_sim_time(5) self.progress("Breach western boundary") fence_middle = self.offset_location_ne(here, 0, -30) self.drive_somewhere_breach_boundary_and_rtl(fence_middle, target_system=target_system, target_component=target_component) self.progress("delaying - hack to work around manual recovery bug") self.delay_sim_time(5) self.progress("Breach southern circle") fence_middle = self.offset_location_ne(here, -150, 0) self.drive_somewhere_breach_boundary_and_rtl(fence_middle, target_system=target_system, target_component=target_component) def SmartRTL(self): '''Test SmartRTL''' self.change_mode("STEERING") self.wait_ready_to_arm() self.arm_vehicle() # drive two sides of a square, make sure we don't go back through # the middle of the square self.progress("Driving North") self.reach_heading_manual(0) self.set_rc(3, 2000) self.delay_sim_time(5) self.set_rc(3, 1000) self.wait_groundspeed(0, 1) loc = self.mav.location() self.progress("Driving East") self.set_rc(3, 2000) self.reach_heading_manual(90) self.set_rc(3, 2000) self.delay_sim_time(5) self.set_rc(3, 1000) self.progress("Entering smartrtl") self.change_mode("SMART_RTL") self.progress("Ensure we go via intermediate point") self.wait_distance_to_location(loc, 0, 5, timeout=60) self.progress("Ensure we get home") self.wait_distance_to_home(3, 7, timeout=30) self.disarm_vehicle() def MotorTest(self): '''Motor Test triggered via mavlink''' magic_throttle_value = 1812 self.wait_ready_to_arm() self.run_cmd( mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST, p1=1, # motor instance p2=mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM, # throttle type p3=magic_throttle_value, # throttle p4=5, # timeout p5=1, # motor count p6=0, # test order (see MOTOR_TEST_ORDER) ) self.wait_armed() self.progress("Waiting for magic throttle value") self.wait_servo_channel_value(3, magic_throttle_value) self.wait_servo_channel_value(3, self.get_parameter("RC3_TRIM", 5), timeout=10) self.wait_disarmed() def test_poly_fence_object_avoidance_guided(self, target_system=1, target_component=1): if not self.mavproxy_can_do_mision_item_protocols(): return self.test_poly_fence_object_avoidance_guided_pathfinding( target_system=target_system, target_component=target_component) return # twosquares is currently disabled because of the requirement to have an inclusion fence (which it doesn't have ATM) # self.test_poly_fence_object_avoidance_guided_two_squares( # target_system=target_system, # target_component=target_component) def test_poly_fence_object_avoidance_auto(self, target_system=1, target_component=1): mavproxy = self.start_mavproxy() self.load_fence_using_mavproxy(mavproxy, "rover-path-planning-fence.txt") self.stop_mavproxy(mavproxy) # self.load_fence("rover-path-planning-fence.txt") self.load_mission("rover-path-planning-mission.txt") self.set_parameters({ "AVOID_ENABLE": 3, "OA_TYPE": 2, "FENCE_MARGIN": 0, # FIXME: https://github.com/ArduPilot/ardupilot/issues/11601 }) self.reboot_sitl() self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() self.set_parameter("FENCE_ENABLE", 1) if self.mavproxy is not None: self.mavproxy.send("fence list\n") # target_loc is copied from the mission file target_loc = mavutil.location(40.073799, -105.229156) self.wait_location(target_loc, height_accuracy=None, timeout=300) # mission has RTL as last item self.wait_distance_to_home(3, 7, timeout=300) self.disarm_vehicle() def send_guided_mission_item(self, loc, target_system=1, target_component=1): self.mav.mav.mission_item_send( target_system, target_component, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, # current 0, # autocontinue 0, # param1 0, # param2 0, # param3 0, # param4 loc.lat, # x loc.lng, # y 0 # z ) def test_poly_fence_object_avoidance_guided_pathfinding(self, target_system=1, target_component=1): self.load_fence("rover-path-planning-fence.txt") self.set_parameters({ "AVOID_ENABLE": 3, "OA_TYPE": 2, "FENCE_MARGIN": 0, # FIXME: https://github.com/ArduPilot/ardupilot/issues/11601 }) self.reboot_sitl() self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() self.set_parameter("FENCE_ENABLE", 1) target_loc = mavutil.location(40.073800, -105.229172) self.send_guided_mission_item(target_loc, target_system=target_system, target_component=target_component) self.wait_location(target_loc, timeout=300) self.do_RTL(timeout=300) self.disarm_vehicle() def WheelEncoders(self): '''make sure wheel encoders are generally working''' ex = None try: self.set_parameters({ "WENC_TYPE": 10, "EK3_ENABLE": 1, "AHRS_EKF_TYPE": 3, }) self.reboot_sitl() self.change_mode("LOITER") self.wait_ready_to_arm() self.change_mode("MANUAL") self.arm_vehicle() self.set_rc(3, 1600) m = self.assert_receive_message('WHEEL_DISTANCE', timeout=5) tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 10: break dist_home = self.distance_to_home(use_cached_home=True) m = self.mav.messages.get("WHEEL_DISTANCE") delta = abs(m.distance[0] - dist_home) self.progress("dist-home=%f wheel-distance=%f delta=%f" % (dist_home, m.distance[0], delta)) if delta > 5: raise NotAchievedException("wheel distance incorrect") self.disarm_vehicle() except Exception as e: self.print_exception_caught(e) self.disarm_vehicle() ex = e self.reboot_sitl() if ex is not None: raise ex def test_poly_fence_object_avoidance_guided_two_squares(self, target_system=1, target_component=1): self.start_subtest("Ensure we can steer around obstacles in guided mode") here = self.mav.location() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # east self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 10), # tl self.offset_location_ne(here, 50, 30), # tr self.offset_location_ne(here, -50, 40), # br, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # further east (and south self.offset_location_ne(here, -60, 60), # bl self.offset_location_ne(here, 40, 70), # tl self.offset_location_ne(here, 40, 90), # tr self.offset_location_ne(here, -60, 80), # br, ]), ]) if self.mavproxy is not None: self.mavproxy.send("fence list\n") self.context_push() ex = None try: self.set_parameters({ "AVOID_ENABLE": 3, "OA_TYPE": 2, }) self.reboot_sitl() self.change_mode('GUIDED') self.wait_ready_to_arm() self.set_parameter("FENCE_ENABLE", 1) if self.mavproxy is not None: self.mavproxy.send("fence list\n") self.arm_vehicle() self.change_mode("GUIDED") target = mavutil.location(40.071382, -105.228340, 0, 0) self.send_guided_mission_item(target, target_system=target_system, target_component=target_component) self.wait_location(target, timeout=300) self.do_RTL() self.disarm_vehicle() except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() self.reboot_sitl() if ex is not None: raise ex def test_poly_fence_avoidance_dont_breach_exclusion(self, target_system=1, target_component=1): self.start_subtest("Ensure we stop before breaching an exclusion fence") here = self.mav.location() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # east self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # west self.offset_location_ne(here, -50, -20), # tl self.offset_location_ne(here, 50, -20), # tr self.offset_location_ne(here, 50, -40), # br self.offset_location_ne(here, -50, -40), # bl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION, { "radius": 30, "loc": self.offset_location_ne(here, -60, 0), }), ]) if self.mavproxy is not None: self.mavproxy.send("fence list\n") self.set_parameters({ "FENCE_ENABLE": 1, "AVOID_ENABLE": 3, }) fence_middle = self.offset_location_ne(here, 0, 30) # FIXME: this might be nowhere near "here"! expected_stopping_point = mavutil.location(40.0713376, -105.2295738, 0, 0) self.drive_somewhere_stop_at_boundary( fence_middle, expected_stopping_point, target_system=target_system, target_component=target_component, expected_distance_epsilon=3) self.set_parameter("AVOID_ENABLE", 0) self.do_RTL() def do_RTL(self, distance_min=3, distance_max=7, timeout=60): self.change_mode("RTL") self.wait_distance_to_home(distance_min, distance_max, timeout=timeout) def PolyFenceAvoidance(self, target_system=1, target_component=1): '''PolyFence avoidance tests''' self.change_mode("LOITER") self.wait_ready_to_arm() self.arm_vehicle() self.change_mode("MANUAL") self.reach_heading_manual(180, turn_right=False) self.change_mode("GUIDED") self.test_poly_fence_avoidance_dont_breach_exclusion(target_system=target_system, target_component=target_component) self.disarm_vehicle() def test_poly_fence_object_avoidance_guided_bendy_ruler(self, target_system=1, target_component=1): if not self.mavproxy_can_do_mision_item_protocols(): return self.load_fence("rover-path-bendyruler-fence.txt") self.context_push() ex = None try: self.set_parameters({ "AVOID_ENABLE": 3, "OA_TYPE": 1, "OA_LOOKAHEAD": 50, }) self.reboot_sitl() self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() self.set_parameters({ "FENCE_ENABLE": 1, "WP_RADIUS": 5, }) if self.mavproxy is not None: self.mavproxy.send("fence list\n") target_loc = mavutil.location(40.071060, -105.227734, 0, 0) self.send_guided_mission_item(target_loc, target_system=target_system, target_component=target_component) # FIXME: we don't get within WP_RADIUS of our target?! self.wait_location(target_loc, timeout=300, accuracy=15) self.do_RTL(timeout=300) self.disarm_vehicle() except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() self.disarm_vehicle() self.reboot_sitl() if ex is not None: raise ex def PolyFenceObjectAvoidanceBendyRulerEasier(self, target_system=1, target_component=1): '''PolyFence object avoidance tests - easier bendy ruler test''' if not self.mavproxy_can_do_mision_item_protocols(): return self.test_poly_fence_object_avoidance_auto_bendy_ruler_easier( target_system=target_system, target_component=target_component) self.test_poly_fence_object_avoidance_guided_bendy_ruler_easier( target_system=target_system, target_component=target_component) def test_poly_fence_object_avoidance_guided_bendy_ruler_easier(self, target_system=1, target_component=1): '''finish-line issue means we can't complete the harder one. This test can go away once we've nailed that one. The only difference here is the target point. ''' if not self.mavproxy_can_do_mision_item_protocols(): return self.load_fence("rover-path-bendyruler-fence.txt") self.context_push() ex = None try: self.set_parameters({ "AVOID_ENABLE": 3, "OA_TYPE": 1, "OA_LOOKAHEAD": 50, }) self.reboot_sitl() self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() self.set_parameters({ "FENCE_ENABLE": 1, "WP_RADIUS": 5, }) if self.mavproxy is not None: self.mavproxy.send("fence list\n") target_loc = mavutil.location(40.071260, -105.227000, 0, 0) self.send_guided_mission_item(target_loc, target_system=target_system, target_component=target_component) # FIXME: we don't get within WP_RADIUS of our target?! self.wait_location(target_loc, timeout=300, accuracy=15) self.do_RTL(timeout=300) self.disarm_vehicle() except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() self.disarm_vehicle() self.reboot_sitl() if ex is not None: raise ex def test_poly_fence_object_avoidance_auto_bendy_ruler_easier(self, target_system=1, target_component=1): '''finish-line issue means we can't complete the harder one. This test can go away once we've nailed that one. The only difference here is the target point. ''' if not self.mavproxy_can_do_mision_item_protocols(): return self.load_fence("rover-path-bendyruler-fence.txt") self.load_mission("rover-path-bendyruler-mission-easier.txt") self.context_push() ex = None try: self.set_parameters({ "AVOID_ENABLE": 3, "OA_TYPE": 1, "OA_LOOKAHEAD": 50, }) self.reboot_sitl() self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() self.set_parameters({ "FENCE_ENABLE": 1, "WP_RADIUS": 5, }) if self.mavproxy is not None: self.mavproxy.send("fence list\n") target_loc = mavutil.location(40.071260, -105.227000, 0, 0) # target_loc is copied from the mission file self.wait_location(target_loc, timeout=300) # mission has RTL as last item self.wait_distance_to_home(3, 7, timeout=300) self.disarm_vehicle() except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() self.disarm_vehicle() self.reboot_sitl() if ex is not None: raise ex def PolyFenceObjectAvoidance(self, target_system=1, target_component=1): '''PolyFence object avoidance tests''' self.test_poly_fence_object_avoidance_auto( target_system=target_system, target_component=target_component) self.test_poly_fence_object_avoidance_guided( target_system=target_system, target_component=target_component) def PolyFenceObjectAvoidanceBendyRuler(self, target_system=1, target_component=1): '''PolyFence object avoidance tests - bendy ruler''' if not self.mavproxy_can_do_mision_item_protocols(): return # bendy Ruler isn't as flexible as Dijkstra for planning, so # it gets a simpler test: self.test_poly_fence_object_avoidance_guided_bendy_ruler( target_system=target_system, target_component=target_component, ) def test_scripting_simple_loop(self): self.start_subtest("Scripting simple loop") self.context_push() messages = [] def my_message_hook(mav, message): if message.get_type() != 'STATUSTEXT': return messages.append(message) self.install_message_hook_context(my_message_hook) self.set_parameter("SCR_ENABLE", 1) self.install_example_script_context("simple_loop.lua") self.reboot_sitl() self.delay_sim_time(10) self.context_pop() self.reboot_sitl() # check all messages to see if we got our message count = 0 for m in messages: if "hello, world" in m.text: count += 1 self.progress("Got %u hellos" % count) if count < 3: raise NotAchievedException("Expected at least three hellos") def test_scripting_internal_test(self): self.start_subtest("Scripting internal test") self.context_push() self.set_parameters({ "SCR_ENABLE": 1, "SCR_HEAP_SIZE": 1024000, "SCR_VM_I_COUNT": 1000000, }) self.install_test_modules_context() self.install_mavlink_module_context() self.install_test_scripts_context([ "scripting_test.lua", "math.lua", "strings.lua", "mavlink_test.lua", ]) self.context_collect('STATUSTEXT') self.context_collect('NAMED_VALUE_FLOAT') self.reboot_sitl() for success_text in [ "Internal tests passed", "Math tests passed", "String tests passed", "Received heartbeat from" ]: self.wait_statustext(success_text, check_context=True) for success_nvf in [ "test", ]: self.assert_received_message_field_values("NAMED_VALUE_FLOAT", { "name": success_nvf, }, check_context=True) self.context_pop() self.reboot_sitl() def test_scripting_hello_world(self): self.start_subtest("Scripting hello world") self.context_push() self.context_collect("STATUSTEXT") self.set_parameter("SCR_ENABLE", 1) self.install_example_script_context("hello_world.lua") self.reboot_sitl() self.wait_statustext('hello, world', check_context=True, timeout=30) self.context_pop() self.reboot_sitl() def ScriptingSteeringAndThrottle(self): '''Scripting test - steering and throttle''' self.start_subtest("Scripting square") self.context_push() self.install_example_script_context("rover-set-steering-and-throttle.lua") self.set_parameter("SCR_ENABLE", 1) self.reboot_sitl() self.wait_ready_to_arm() self.arm_vehicle() self.set_rc(6, 2000) tstart = self.get_sim_time() while not self.mode_is("HOLD"): if self.get_sim_time_cached() - tstart > 30: raise NotAchievedException("Did not move to hold") m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=1) if m is not None: self.progress("Current speed: %f" % m.groundspeed) self.disarm_vehicle() self.context_pop() self.reboot_sitl() def test_scripting_auxfunc(self): self.start_subtest("Scripting aufunc triggering") self.context_push() self.context_collect("STATUSTEXT") self.set_parameters({ "SCR_ENABLE": 1, "RELAY1_FUNCTION": 1, "RELAY1_PIN": 1 }) self.install_example_script_context("RCIN_test.lua") self.reboot_sitl() self.wait_parameter_value("SIM_PIN_MASK", 121) self.wait_parameter_value("SIM_PIN_MASK", 123) self.wait_parameter_value("SIM_PIN_MASK", 121) self.context_pop() self.reboot_sitl() def test_scripting_print_home_and_origin(self): self.start_subtest("Scripting print home and origin") self.context_push() self.set_parameter("SCR_ENABLE", 1) self.install_example_script_context("ahrs-print-home-and-origin.lua") self.reboot_sitl() self.wait_ready_to_arm() self.wait_statustext("Home - ") self.wait_statustext("Origin - ") self.context_pop() self.reboot_sitl() def test_scripting_set_home_to_vehicle_location(self): self.start_subtest("Scripting set home to vehicle location") self.context_push() self.set_parameter("SCR_ENABLE", 1) self.install_example_script_context("ahrs-set-home-to-vehicle-location.lua") self.reboot_sitl() self.wait_statustext("Home position reset") self.context_pop() self.reboot_sitl() def test_scripting_serial_loopback(self): self.start_subtest("Scripting serial loopback test") self.context_push() self.context_collect('STATUSTEXT') self.set_parameters({ "SCR_ENABLE": 1, "SCR_SDEV_EN": 1, "SCR_SDEV1_PROTO": 28, }) self.install_test_script_context("serial_loopback.lua") self.reboot_sitl() for success_text in [ "driver -> device good", "device -> driver good", ]: self.wait_statustext(success_text, check_context=True) self.context_pop() self.reboot_sitl() def Scripting(self): '''Scripting test''' self.test_scripting_set_home_to_vehicle_location() self.test_scripting_print_home_and_origin() self.test_scripting_hello_world() self.test_scripting_simple_loop() self.test_scripting_internal_test() self.test_scripting_auxfunc() self.test_scripting_serial_loopback() def test_mission_frame(self, frame, target_system=1, target_component=1): self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, target_system=target_system, target_component=target_component) items = [ # first item is ignored for missions self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 3, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq frame, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 3, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), ] self.check_mission_upload_download(items) def MissionFrames(self, target_system=1, target_component=1): '''Upload/Download of items in different frames''' for frame in (mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT, mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_FRAME_GLOBAL): self.test_mission_frame(frame, target_system=1, target_component=1) def mavlink_time_boot_ms(self): '''returns a time suitable for putting into the time_boot_ms entry in mavlink packets''' return int(time.time() * 1000000) def mavlink_time_boot_us(self): '''returns a time suitable for putting into the time_boot_ms entry in mavlink packets''' return int(time.time() * 1000000000) def ap_proximity_mav_obstacle_distance_send(self, data): increment = data.get("increment", 0) increment_f = data.get("increment_f", 0.0) max_distance = data["max_distance"] invalid_distance = max_distance + 1 # per spec distances = data["distances"][:] distances.extend([invalid_distance] * (72-len(distances))) self.mav.mav.obstacle_distance_send( self.mavlink_time_boot_us(), mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, distances, increment, data["min_distance"], data["max_distance"], increment_f, data["angle_offset"], mavutil.mavlink.MAV_FRAME_BODY_FRD ) def send_obstacle_distances_expect_distance_sensor_messages(self, obstacle_distances_in, expect_distance_sensor_messages): self.delay_sim_time(11) # allow obstacles to time out self.do_timesync_roundtrip() expect_distance_sensor_messages_copy = expect_distance_sensor_messages[:] last_sent = 0 while True: now = self.get_sim_time_cached() if now - last_sent > 1: self.progress("Sending") self.ap_proximity_mav_obstacle_distance_send(obstacle_distances_in) last_sent = now m = self.mav.recv_match(type='DISTANCE_SENSOR', blocking=True, timeout=1) self.progress("Got (%s)" % str(m)) if m is None: self.delay_sim_time(1) continue orientation = m.orientation found = False if m.current_distance == m.max_distance: # ignored continue for expected_distance_sensor_message in expect_distance_sensor_messages_copy: if expected_distance_sensor_message["orientation"] != orientation: continue found = True if not expected_distance_sensor_message.get("__found__", False): self.progress("Marking message as found") expected_distance_sensor_message["__found__"] = True if (m.current_distance - expected_distance_sensor_message["distance"] > 1): raise NotAchievedException( "Bad distance for orient=%u want=%u got=%u" % (orientation, expected_distance_sensor_message["distance"], m.current_distance)) break if not found: raise NotAchievedException("Got unexpected DISTANCE_SENSOR message") all_found = True for expected_distance_sensor_message in expect_distance_sensor_messages_copy: if not expected_distance_sensor_message.get("__found__", False): self.progress("message still not found (orient=%u" % expected_distance_sensor_message["orientation"]) all_found = False break if all_found: self.progress("Have now seen all expected messages") break def AP_Proximity_MAV(self): '''Test MAV proximity backend''' self.set_parameters({ "PRX1_TYPE": 2, # AP_Proximity_MAV "OA_TYPE": 2, # dijkstra "OA_DB_OUTPUT": 3, # send all items }) self.reboot_sitl() # 1 laser pointing straight forward: self.send_obstacle_distances_expect_distance_sensor_messages( { "distances": [234], "increment_f": 10, "angle_offset": 0.0, "min_distance": 0, "max_distance": 1000, # cm }, [ {"orientation": 0, "distance": 234}, ]) # 5 lasers at front of vehicle, spread over 40 degrees: self.send_obstacle_distances_expect_distance_sensor_messages( { "distances": [111, 222, 333, 444, 555], "increment_f": 10, "angle_offset": -20.0, "min_distance": 0, "max_distance": 1000, # cm }, [ {"orientation": 0, "distance": 111}, ]) # lots of dense readings (e.g. vision camera: distances = [0] * 72 for i in range(0, 72): distances[i] = 1000 + 10*abs(36-i) self.send_obstacle_distances_expect_distance_sensor_messages( { "distances": distances, "increment_f": 90/72.0, "angle_offset": -45.0, "min_distance": 0, "max_distance": 2000, # cm }, [ {"orientation": 0, "distance": 1000}, {"orientation": 1, "distance": 1190}, {"orientation": 7, "distance": 1190}, ]) def SendToComponents(self): '''Test ArduPilot send_to_components function''' self.set_parameter("CAM1_TYPE", 5) # Camera with MAVlink trigger self.reboot_sitl() # needed for CAM1_TYPE to take effect self.progress("Introducing ourselves to the autopilot as a component") old_srcSystem = self.mav.mav.srcSystem self.mav.mav.srcSystem = 1 self.mav.mav.heartbeat_send( mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0) self.progress("Sending control message") self.context_push() self.context_collect('COMMAND_LONG') self.mav.mav.digicam_control_send( 1, # target_system 1, # target_component 1, # start or keep it up 1, # zoom_pos 0, # zoom_step 0, # focus_lock 0, # 1 shot or start filming 17, # command id (de-dupe field) 0, # extra_param 0.0, # extra_value ) self.mav.mav.srcSystem = old_srcSystem self.assert_received_message_field_values('COMMAND_LONG', { 'command': mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL, 'param6': 17, }, timeout=2, check_context=True) self.context_pop() # test sending via commands: for run_cmd in self.run_cmd, self.run_cmd_int: self.progress("Sending control command") self.context_push() self.context_collect('COMMAND_LONG') run_cmd(mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL, p1=1, # start or keep it up p2=1, # zoom_pos p3=0, # zoom_step p4=0, # focus_lock p5=0, # 1 shot or start filming p6=37, # command id (de-dupe field) ) self.assert_received_message_field_values('COMMAND_LONG', { 'command': mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL, 'param6': 37, }, timeout=2, check_context=True) self.context_pop() # test sending via commands: for run_cmd in self.run_cmd, self.run_cmd_int: self.progress("Sending configure command") self.context_push() self.context_collect('COMMAND_LONG') run_cmd(mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONFIGURE, p1=1, p2=1, p3=0, p4=0, p5=12, p6=37 ) self.assert_received_message_field_values('COMMAND_LONG', { 'command': mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONFIGURE, 'param5': 12, 'param6': 37, }, timeout=2, check_context=True) self.context_pop() self.mav.mav.srcSystem = old_srcSystem def SkidSteer(self): '''Check skid-steering''' model = "rover-skid" self.customise_SITL_commandline([], model=model, defaults_filepath=self.model_defaults_filepath(model)) self.change_mode("MANUAL") self.wait_ready_to_arm() self.arm_vehicle() self.progress("get a known heading to avoid worrying about wrap") # this is steering-type-two-paddles self.set_rc(1, 1400) self.set_rc(3, 1500) self.wait_heading(90) self.progress("straighten up") self.set_rc(1, 1500) self.set_rc(3, 1500) self.progress("steer one way") self.set_rc(1, 1600) self.set_rc(3, 1400) self.wait_heading(120) self.progress("steer the other") self.set_rc(1, 1400) self.set_rc(3, 1600) self.wait_heading(60) self.zero_throttle() self.disarm_vehicle() def SlewRate(self): """Test Motor Slew Rate feature.""" self.context_push() self.change_mode("MANUAL") self.wait_ready_to_arm() self.arm_vehicle() self.start_subtest("Test no slew behavior") throttle_channel = 3 throttle_max = 2000 self.set_parameter("MOT_SLEWRATE", 0) self.set_rc(throttle_channel, throttle_max) tstart = self.get_sim_time() self.wait_servo_channel_value(throttle_channel, throttle_max) tstop = self.get_sim_time() achieved_time = tstop - tstart self.progress("achieved_time: %0.1fs" % achieved_time) if achieved_time > 0.5: raise NotAchievedException("Output response should be instant, got %f" % achieved_time) self.zero_throttle() self.wait_groundspeed(0, 0.5) # why do we not stop?! self.start_subtest("Test 100% slew rate") self.set_parameter("MOT_SLEWRATE", 100) self.set_rc(throttle_channel, throttle_max) tstart = self.get_sim_time() self.wait_servo_channel_value(throttle_channel, throttle_max) tstop = self.get_sim_time() achieved_time = tstop - tstart self.progress("achieved_time: %0.1fs" % achieved_time) if achieved_time < 0.9 or achieved_time > 1.1: raise NotAchievedException("Output response should be 1s, got %f" % achieved_time) self.zero_throttle() self.wait_groundspeed(0, 0.5) # why do we not stop?! self.start_subtest("Test 50% slew rate") self.set_parameter("MOT_SLEWRATE", 50) self.set_rc(throttle_channel, throttle_max) tstart = self.get_sim_time() self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=10) tstop = self.get_sim_time() achieved_time = tstop - tstart self.progress("achieved_time: %0.1fs" % achieved_time) if achieved_time < 1.8 or achieved_time > 2.2: raise NotAchievedException("Output response should be 2s, got %f" % achieved_time) self.zero_throttle() self.wait_groundspeed(0, 0.5) # why do we not stop?! self.start_subtest("Test 25% slew rate") self.set_parameter("MOT_SLEWRATE", 25) self.set_rc(throttle_channel, throttle_max) tstart = self.get_sim_time() self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=10) tstop = self.get_sim_time() achieved_time = tstop - tstart self.progress("achieved_time: %0.1fs" % achieved_time) if achieved_time < 3.6 or achieved_time > 4.4: raise NotAchievedException("Output response should be 4s, got %f" % achieved_time) self.zero_throttle() self.wait_groundspeed(0, 0.5) # why do we not stop?! self.start_subtest("Test 10% slew rate") self.set_parameter("MOT_SLEWRATE", 10) self.set_rc(throttle_channel, throttle_max) tstart = self.get_sim_time() self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=20) tstop = self.get_sim_time() achieved_time = tstop - tstart self.progress("achieved_time: %0.1fs" % achieved_time) if achieved_time < 9 or achieved_time > 11: raise NotAchievedException("Output response should be 10s, got %f" % achieved_time) self.zero_throttle() self.wait_groundspeed(0, 0.5) # why do we not stop?! self.disarm_vehicle() self.context_pop() def SET_ATTITUDE_TARGET(self, target_sysid=None, target_compid=1): '''Test handling of SET_ATTITUDE_TARGET''' if target_sysid is None: target_sysid = self.sysid_thismav() self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() tstart = self.get_sim_time() while True: now = self.get_sim_time_cached() if now - tstart > 10: raise AutoTestTimeoutException("Didn't get to speed") self.mav.mav.set_attitude_target_send( 0, # time_boot_ms target_sysid, target_compid, mavutil.mavlink.ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE | mavutil.mavlink.ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE | mavutil.mavlink.ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE, mavextra.euler_to_quat([0, math.radians(0), math.radians(0)]), # att 0, # yaw rate (rad/s) 0, # pitch rate 0, # yaw rate 1) # thrust msg = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=1) if msg is None: raise NotAchievedException("No VFR_HUD message") if msg.groundspeed > 5: break self.disarm_vehicle() def SET_ATTITUDE_TARGET_heading(self, target_sysid=None, target_compid=1): '''Test handling of SET_ATTITUDE_TARGET''' self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() for angle in 0, 290, 70, 180, 0: self.SET_ATTITUDE_TARGET_heading_test_target(angle, target_sysid, target_compid) self.disarm_vehicle() def SET_ATTITUDE_TARGET_heading_test_target(self, angle, target_sysid, target_compid): if target_sysid is None: target_sysid = self.sysid_thismav() def poke_set_attitude(value, target): self.mav.mav.set_attitude_target_send( 0, # time_boot_ms target_sysid, target_compid, mavutil.mavlink.ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE | mavutil.mavlink.ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE | mavutil.mavlink.ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE, mavextra.euler_to_quat([ math.radians(0), math.radians(0), math.radians(angle) ]), # att 0, # roll rate (rad/s) 0, # pitch rate 0, # yaw rate 1) # thrust self.wait_heading(angle, called_function=poke_set_attitude, minimum_duration=5) def SET_POSITION_TARGET_LOCAL_NED(self, target_sysid=None, target_compid=1): '''Test handling of SET_POSITION_TARGET_LOCAL_NED''' if target_sysid is None: target_sysid = self.sysid_thismav() self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() ofs_x = 30.0 ofs_y = 30.0 def send_target(): self.mav.mav.set_position_target_local_ned_send( 0, # time_boot_ms target_sysid, target_compid, mavutil.mavlink.MAV_FRAME_LOCAL_NED, mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE | mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE, ofs_x, # pos-x ofs_y, # pos-y 0, # pos-z 0, # vel-x 0, # vel-y 0, # vel-z 0, # acc-x 0, # acc-y 0, # acc-z 0, # yaw 0, # yaw rate ) self.wait_distance_to_local_position( (ofs_x, ofs_y, 0), distance_min=0, distance_max=3, timeout=60, called_function=lambda last_value, target : send_target(), minimum_duration=5, # make sure we stop! ) self.do_RTL() self.disarm_vehicle() def EndMissionBehavior(self, timeout=60): '''Test end mission behavior''' self.context_push() self.load_mission("end-mission.txt") self.wait_ready_to_arm() self.arm_vehicle() self.start_subtest("Test End Mission Behavior HOLD") self.context_collect("STATUSTEXT") self.change_mode("AUTO") self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2) # On Hold we should just stop and don't update the navigation target anymore tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 15: raise AutoTestTimeoutException("Still getting POSITION_TARGET_GLOBAL_INT") m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT", blocking=True, timeout=10) if m is None: self.progress("No POSITION_TARGET_GLOBAL_INT received, all good !") break self.context_clear_collection("STATUSTEXT") self.change_mode("GUIDED") self.context_collect("STATUSTEXT") self.start_subtest("Test End Mission Behavior LOITER") self.set_parameter("MIS_DONE_BEHAVE", 1) self.change_mode("AUTO") self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2) # On LOITER we should update the navigation target tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 15: raise AutoTestTimeoutException("Not getting POSITION_TARGET_GLOBAL_INT") m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT", blocking=True, timeout=5) if m is None: self.progress("No POSITION_TARGET_GLOBAL_INT received") continue else: if self.get_sim_time_cached() - tstart > 15: self.progress("Got POSITION_TARGET_GLOBAL_INT, all good !") break self.start_subtest("Test End Mission Behavior ACRO") self.set_parameter("MIS_DONE_BEHAVE", 2) # race conditions here to do with get_sim_time() # swallowing heartbeats means we have to be a little # circuitous when testing here: self.change_mode("GUIDED") self.send_cmd_do_set_mode('AUTO') self.wait_mode("ACRO") self.start_subtest("Test End Mission Behavior MANUAL") self.set_parameter("MIS_DONE_BEHAVE", 3) # race conditions here to do with get_sim_time() # swallowing heartbeats means we have to be a little # circuitous when testing here: self.change_mode("GUIDED") self.send_cmd_do_set_mode("AUTO") self.wait_mode("MANUAL") self.disarm_vehicle() self.context_pop() self.reboot_sitl() def MAVProxyParam(self): '''Test MAVProxy parameter handling''' mavproxy = self.start_mavproxy() mavproxy.send("param fetch\n") mavproxy.expect("Received [0-9]+ parameters") self.stop_mavproxy(mavproxy) def MAV_CMD_DO_SET_MISSION_CURRENT_mission(self, target_system=1, target_component=1): return copy.copy([ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 3, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), self.mav.mav.mission_item_int_encode( target_system, target_component, 1, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 3, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), self.mav.mav.mission_item_int_encode( target_system, target_component, 2, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, # current 0, # autocontinue 3, # p1 0, # p2 0, # p3 0, # p4 int(1.0000 * 1e7), # latitude int(1.0000 * 1e7), # longitude 31.0000, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION), ]) def MAV_CMD_DO_SET_MISSION_CURRENT(self, target_sysid=None, target_compid=1): '''Test handling of CMD_DO_SET_MISSION_CURRENT''' if target_sysid is None: target_sysid = self.sysid_thismav() self.check_mission_upload_download(self.MAV_CMD_DO_SET_MISSION_CURRENT_mission()) self.set_current_waypoint(2) self.set_current_waypoint_using_mav_cmd_do_set_mission_current(2) self.run_cmd( mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT, p1=17, timeout=1, target_sysid=target_sysid, target_compid=target_compid, want_result=mavutil.mavlink.MAV_RESULT_DENIED, ) def FlashStorage(self): '''Test flash storage (for parameters etc)''' self.set_parameter("LOG_BITMASK", 1) self.reboot_sitl() self.customise_SITL_commandline([ "--set-storage-posix-enabled", "0", "--set-storage-flash-enabled", "1", ]) if self.get_parameter("LOG_BITMASK") == 1: raise NotAchievedException("not using flash storage?") self.set_parameter("LOG_BITMASK", 2) self.reboot_sitl() self.assert_parameter_value("LOG_BITMASK", 2) self.set_parameter("LOG_BITMASK", 3) self.reboot_sitl() self.assert_parameter_value("LOG_BITMASK", 3) self.customise_SITL_commandline([]) # make sure we're back at our original value: self.assert_parameter_value("LOG_BITMASK", 1) def FRAMStorage(self): '''Test FRAM storage (for parameters etc)''' self.set_parameter("LOG_BITMASK", 1) self.reboot_sitl() self.customise_SITL_commandline([ "--set-storage-posix-enabled", "0", "--set-storage-fram-enabled", "1", ]) # TODO: ensure w'ere actually taking stuff from flash storage: # if self.get_parameter("LOG_BITMASK") == 1: # raise NotAchievedException("not using flash storage?") self.set_parameter("LOG_BITMASK", 2) self.reboot_sitl() self.assert_parameter_value("LOG_BITMASK", 2) self.set_parameter("LOG_BITMASK", 3) self.reboot_sitl() self.assert_parameter_value("LOG_BITMASK", 3) self.customise_SITL_commandline([]) # make sure we're back at our original value: self.assert_parameter_value("LOG_BITMASK", 1) def RangeFinder(self): '''Test RangeFinder''' # the following magic numbers correspond to the post locations in SITL home_string = "%s,%s,%s,%s" % (51.8752066, 14.6487840, 54.15, 315) rangefinder_params = { "SIM_SONAR_ROT": 6, } rangefinder_params.update(self.analog_rangefinder_parameters()) self.set_parameters(rangefinder_params) self.customise_SITL_commandline([ "--home", home_string, ]) self.wait_ready_to_arm() if self.mavproxy is not None: self.mavproxy.send('script /tmp/post-locations.scr\n') m = self.assert_receive_message('RANGEFINDER', very_verbose=True) if m.voltage == 0: raise NotAchievedException("Did not get non-zero voltage") want_range = 10 if abs(m.distance - want_range) > 0.1: raise NotAchievedException("Expected %fm got %fm" % (want_range, m.distance)) def DepthFinder(self): '''Test mulitple depthfinders for boats''' # Setup rangefinders self.customise_SITL_commandline([ "--serial7=sim:nmea", # NMEA Rangefinder ]) # RANGEFINDER_INSTANCES = [0, 2, 5] self.set_parameters({ "RNGFND1_TYPE" : 17, # NMEA must attach uart to SITL "RNGFND1_ORIENT" : 25, # Set to downward facing "SERIAL7_PROTOCOL" : 9, # Rangefinder on serial7 "SERIAL7_BAUD" : 9600, # Rangefinder specific baudrate "RNGFND3_TYPE" : 2, # MaxbotixI2C "RNGFND3_ADDR" : 112, # 0x70 address from SIM_I2C.cpp "RNGFND3_ORIENT" : 0, # Set to forward facing, thus we should not receive DPTH messages from this one "RNGFND6_ADDR" : 113, # 0x71 address from SIM_I2C.cpp "RNGFND6_ORIENT" : 25, # Set to downward facing "RNGFND6_TYPE" : 2, # MaxbotixI2C }) self.reboot_sitl() self.wait_ready_to_arm() # should not get WATER_DEPTH messages or DPTH logs when the FRAME_CLASS is not a boat m = self.mav.recv_match(type="WATER_DEPTH", blocking=True, timeout=2) if m is not None: raise NotAchievedException("WATER_DEPTH: received message when FRAME_CLASS not a Boat") # Set FRAME_CLASS to start receiving WATER_DEPTH messages & logging DPTH self.set_parameters({ "FRAME_CLASS": 2, # Boat }) # Check each rangefinder instance is in collection rangefinder = [None, None, None, None, None, None] # Be lazy FIXME only need [3] def check_rangefinder(mav, m): if m.get_type() != 'WATER_DEPTH': return id = m.id # Should not find instance 3 as it is forward facing if id == 2: raise NotAchievedException("Depthfinder Instance %i with non-downward orientation found" % (id)) rangefinder[id] = True if id == 0: if float(m.temperature) == 0.0: raise NotAchievedException("Depthfinder Instance %i NMEA with temperature not found" % (id)) elif id == 5: if float(m.temperature) != 0.0: raise NotAchievedException("Depthfinder Instance %i should not have temperature" % (id)) self.wait_ready_to_arm() self.arm_vehicle() self.install_message_hook_context(check_rangefinder) self.drive_mission("rover1.txt", strict=False) if rangefinder[0] is None: raise NotAchievedException("Never saw Depthfinder 1") if rangefinder[2] is not None: raise NotAchievedException("Should not have found a Depthfinder 3") if rangefinder[5] is None: raise NotAchievedException("Never saw Depthfinder 6") if not self.current_onboard_log_contains_message("DPTH"): raise NotAchievedException("Expected DPTH log message") # self.context_pop() def EStopAtBoot(self): '''Ensure EStop prevents arming when asserted at boot time''' self.context_push() self.set_parameters({ "RC9_OPTION": 31, }) self.set_rc(9, 2000) self.reboot_sitl() self.assert_prearm_failure( "Motors Emergency Stopped", other_prearm_failures_fatal=False) self.context_pop() self.reboot_sitl() def assert_mode(self, mode): if not self.mode_is(mode): raise NotAchievedException("Mode is not %s" % str(mode)) def ChangeModeByNumber(self): '''ensure we can set a mode by number, handy when we don't have a pymavlink number for it yet''' for (x, want) in (0, 'MANUAL'), (1, 'ACRO'), (3, 3): self.change_mode(x) self.assert_mode(want) def StickMixingAuto(self): '''Ensure Stick Mixing works in auto''' items = [] self.set_parameter('STICK_MIXING', 1) # home items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0),) # 1 waypoint a long way away items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0),) self.upload_simple_relhome_mission(items) if self.mavproxy is not None: # handy for getting pretty pictures self.mavproxy.send("wp list\n") self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() self.set_rc(1, 1150) self.wait_heading(45) self.wait_heading(90) self.disarm_vehicle() def AutoDock(self): '''Test automatic docking of rover for multiple FOVs of simulated beacon''' self.set_parameters({ "PLND_ENABLED": 1, "PLND_TYPE": 4, "PLND_ORIENT": 0, }) start = self.mav.location() target = self.offset_location_ne(start, 50, 0) self.progress("Setting target to %f %f" % (start.lat, start.lng)) stopping_dist = 0.5 self.set_parameters({ "SIM_PLD_ENABLE": 1, "SIM_PLD_LAT": target.lat, "SIM_PLD_LON": target.lng, "SIM_PLD_HEIGHT": 0, "SIM_PLD_ALT_LMT": 30, "SIM_PLD_DIST_LMT": 30, "SIM_PLD_ORIENT": 4, # emit beams towards south, vehicle's heading must be north to see it "SIM_PLD_OPTIONS": 1, "DOCK_SPEED": 2, "DOCK_STOP_DIST": stopping_dist, }) for type in range(0, 3): # CYLINDRICAL FOV, CONICAL FOV, SPHERICAL FOV self.set_parameter("SIM_PLD_TYPE", type) self.reboot_sitl() self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() initial_position = self.offset_location_ne(target, -20, -2) self.drive_to_location(initial_position) self.change_mode(8) # DOCK mode max_delta = 1 self.wait_distance_to_location(target, 0, max_delta, timeout=180) self.disarm_vehicle() self.assert_receive_message('GLOBAL_POSITION_INT') new_pos = self.mav.location() delta = abs(self.get_distance(target, new_pos) - stopping_dist) self.progress("Docked %f metres from stopping point" % delta) if delta > max_delta: raise NotAchievedException("Did not dock close enough to stopping point (%fm > %fm" % (delta, max_delta)) if not self.current_onboard_log_contains_message("PL"): raise NotAchievedException("Did not see expected PL message") self.progress("All done") def PrivateChannel(self): '''test the serial option bit specifying a mavlink channel as private''' global mav2 port = self.adjust_ardupilot_port(5763) mav2 = mavutil.mavlink_connection("tcp:localhost:%u" % port, robust_parsing=True, source_system=7, source_component=7) # send a heartbeat or two to make sure ArduPilot's aware: def heartbeat_on_mav2(mav, m): '''send a heartbeat on mav2 whenever we get one on mav''' global mav2 if mav == mav2: return if m.get_type() == 'HEARTBEAT': mav2.mav.heartbeat_send( mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0) return self.assert_receive_message("HEARTBEAT", mav=mav2) # ensure a targetted message is received: self.install_message_hook_context(heartbeat_on_mav2) self.progress("Ensuring we can get a message normally") self.poll_message("AUTOPILOT_VERSION", mav=mav2) self.progress("Polling AUTOPILOT_VERSION from random sysid") self.send_poll_message("AUTOPILOT_VERSION", mav=mav2, target_sysid=134) self.assert_not_receive_message("AUTOPILOT_VERSION", mav=mav2, timeout=10) # make sure we get heartbeats on the main channel from the non-private mav2: tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 5: raise NotAchievedException("Did not get expected heartbeat from %u" % 7) m = self.assert_receive_message("HEARTBEAT") if m.get_srcSystem() == 7: self.progress("Got heartbeat from (%u) on non-private channel" % 7) break # make sure we receive heartbeats from the autotest suite into # the component: tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 5: raise NotAchievedException("Did not get expected heartbeat from %u" % self.mav.source_system) m = self.assert_receive_message("HEARTBEAT", mav=mav2) if m.get_srcSystem() == self.mav.source_system: self.progress("Got heartbeat from (%u) on non-private channel" % self.mav.source_system) break def printmessage(mav, m): global mav2 if mav == mav2: return print("Got (%u/%u) (%s) " % (m.get_srcSystem(), m.get_srcComponent(), str(m))) # self.install_message_hook_context(printmessage) # ensure setting the private channel mask doesn't cause us to # execute these commands: self.set_parameter("SERIAL2_OPTIONS", 1024) self.reboot_sitl() # mavlink-private is reboot-required mav2 = mavutil.mavlink_connection("tcp:localhost:5763", robust_parsing=True, source_system=7, source_component=7) # self.send_debug_trap() self.send_poll_message("AUTOPILOT_VERSION", mav=mav2, target_sysid=134) self.assert_not_receive_message("AUTOPILOT_VERSION", mav=mav2, timeout=10) # make sure messages from a private channel don't make it to # the main channel: self.drain_mav(self.mav) self.drain_mav(mav2) # make sure we do NOT get heartbeats on the main channel from # the private mav2: tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 5: break m = self.assert_receive_message("HEARTBEAT") if m.get_srcSystem() == 7: raise NotAchievedException("Got heartbeat from private channel") self.progress("ensure no outside heartbeats reach private channels") tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 5: break m = self.assert_receive_message("HEARTBEAT") if m.get_srcSystem() == 1 and m.get_srcComponent() == 1: continue # note the above test which shows we get heartbeats from # both the vehicle and this tests's special heartbeat raise NotAchievedException("Got heartbeat on private channel from non-vehicle") def MAV_CMD_DO_SET_REVERSE(self): '''test MAV_CMD_DO_SET_REVERSE command''' self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() here = self.mav.location() target_loc = self.offset_location_ne(here, 2000, 0) self.send_guided_mission_item(target_loc) self.wait_groundspeed(3, 100, minimum_duration=5) for method in self.run_cmd, self.run_cmd_int: self.progress("Forwards!") method(mavutil.mavlink.MAV_CMD_DO_SET_REVERSE, p1=0) self.wait_heading(0) self.progress("Backwards!") method(mavutil.mavlink.MAV_CMD_DO_SET_REVERSE, p1=1) self.wait_heading(180) self.progress("Forwards!") method(mavutil.mavlink.MAV_CMD_DO_SET_REVERSE, p1=0) self.wait_heading(0) self.disarm_vehicle() def MAV_CMD_NAV_RETURN_TO_LAUNCH(self): '''test MAV_CMD_NAV_RETURN_TO_LAUNCH mavlink command''' self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() here = self.mav.location() target_loc = self.offset_location_ne(here, 2000, 0) self.send_guided_mission_item(target_loc) self.wait_distance_to_home(20, 100) self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH) self.wait_mode('RTL') self.change_mode('GUIDED') self.run_cmd_int(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH) self.wait_mode('RTL') self.wait_distance_to_home(0, 5, timeout=30) self.disarm_vehicle() def MAV_CMD_DO_CHANGE_SPEED(self): '''test MAV_CMD_NAV_RETURN_TO_LAUNCH mavlink command''' self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() original_loc = self.mav.location() here = original_loc target_loc = self.offset_location_ne(here, 2000, 0) self.send_guided_mission_item(target_loc) self.wait_distance_to_home(20, 100) speeds = 3, 7, 12, 4 for speed in speeds: self.run_cmd(mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, p2=speed) self.wait_groundspeed(speed-0.5, speed+0.5, minimum_duration=5) self.send_guided_mission_item(original_loc) for speed in speeds: self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, p2=speed) self.wait_groundspeed(speed-0.5, speed+0.5, minimum_duration=5) self.change_mode('RTL') self.wait_distance_to_home(0, 5, timeout=30) self.disarm_vehicle() def MAV_CMD_MISSION_START(self): '''simple test for starting missing using this command''' # home and 1 waypoint a long way away: self.upload_simple_relhome_mission([ (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0), (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0), ]) self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() for method in self.run_cmd, self.run_cmd_int: self.change_mode('MANUAL') self.wait_groundspeed(0, 1) method(mavutil.mavlink.MAV_CMD_MISSION_START) self.wait_mode('AUTO') self.wait_groundspeed(3, 100) self.disarm_vehicle() def MAV_CMD_NAV_SET_YAW_SPEED(self): '''tests for MAV_CMD_NAV_SET_YAW_SPEED guided-mode command''' self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() for method in self.run_cmd, self.run_cmd_int: self.change_mode('MANUAL') self.wait_groundspeed(0, 1) self.change_mode('GUIDED') self.start_subtest("Absolute angles") for (heading, speed) in (10, 5), (190, 10), (0, 2), (135, 6): def cf(*args, **kwargs): method( mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED, p1=heading, p2=speed, p3=0, # zero is absolute-angles ) self.wait_groundspeed(speed-0.5, speed+0.5, called_function=cf, minimum_duration=2) self.wait_heading(heading-0.5, heading+0.5, called_function=cf, minimum_duration=2) self.start_subtest("relative angles") original_angle = 90 method( mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED, p1=original_angle, p2=5, p3=0, # zero is absolute-angles ) self.wait_groundspeed(4, 6) self.wait_heading(original_angle-0.5, original_angle+0.5) expected_angle = original_angle for (angle_delta, speed) in (5, 6), (-30, 2), (180, 7): method( mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED, p1=angle_delta, p2=speed, p3=1, # one is relative-angles ) def cf(*args, **kwargs): method( mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED, p1=0, p2=speed, p3=1, # one is absolute-angles ) expected_angle += angle_delta if expected_angle < 0: expected_angle += 360 if expected_angle > 360: expected_angle -= 360 self.wait_groundspeed(speed-0.5, speed+0.5, called_function=cf, minimum_duration=2) self.wait_heading(expected_angle, called_function=cf, minimum_duration=2) self.do_RTL() self.disarm_vehicle() def _MAV_CMD_GET_HOME_POSITION(self, run_cmd): '''test handling of mavlink command MAV_CMD_GET_HOME_POSITION''' self.context_collect('HOME_POSITION') run_cmd(mavutil.mavlink.MAV_CMD_GET_HOME_POSITION) self.assert_receive_message('HOME_POSITION', check_context=True) def MAV_CMD_GET_HOME_POSITION(self): '''test handling of mavlink command MAV_CMD_GET_HOME_POSITION''' self.change_mode('LOITER') self.wait_ready_to_arm() self._MAV_CMD_GET_HOME_POSITION(self.run_cmd) self._MAV_CMD_GET_HOME_POSITION(self.run_cmd_int) def MAV_CMD_DO_FENCE_ENABLE(self): '''ensure MAV_CMD_DO_FENCE_ENABLE mavlink command works''' here = self.mav.location() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # east self.offset_location_ne(here, -50, 20), # bl self.offset_location_ne(here, 50, 20), # br self.offset_location_ne(here, 50, 40), # tr self.offset_location_ne(here, -50, 40), # tl, ]), (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ # over the top of the vehicle self.offset_location_ne(here, -50, -50), # bl self.offset_location_ne(here, -50, 50), # br self.offset_location_ne(here, 50, 50), # tr self.offset_location_ne(here, 50, -50), # tl, ]), ]) # enable: self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=1) self.assert_fence_enabled() # disable self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=0) self.assert_fence_disabled() def MAV_CMD_BATTERY_RESET(self): '''manipulate battery levels with MAV_CMD_BATTERY_RESET''' for (run_cmd, value) in (self.run_cmd, 56), (self.run_cmd_int, 97): run_cmd( mavutil.mavlink.MAV_CMD_BATTERY_RESET, p1=65535, # battery mask p2=value, ) self.assert_received_message_field_values('BATTERY_STATUS', { "battery_remaining": value, }, { "poll": True, }) def TestWebServer(self, url): '''test active web server''' self.progress("Accessing webserver main page") import urllib.request main_page = urllib.request.urlopen(url).read().decode('utf-8') if main_page.find('ArduPilot Web Server') == -1: raise NotAchievedException("Expected banner on main page") board_status = urllib.request.urlopen(url + '/@DYNAMIC/board_status.shtml').read().decode('utf-8') if board_status.find('0 hours') == -1: raise NotAchievedException("Expected uptime in board status") if board_status.find('40.713') == -1: raise NotAchievedException("Expected lattitude in board status") self.progress("WebServer tests OK") def NetworkingWebServer(self): '''web server''' applet_script = "net_webserver.lua" self.context_push() self.install_applet_script_context(applet_script) self.set_parameters({ "SCR_ENABLE": 1, "SCR_VM_I_COUNT": 1000000, "SIM_SPEEDUP": 20, "NET_ENABLE": 1, }) self.reboot_sitl() self.context_push() self.context_collect('STATUSTEXT') self.set_parameters({ "WEB_BIND_PORT": 8081, }) self.scripting_restart() self.wait_text("WebServer: starting on port 8081", check_context=True) self.wait_ready_to_arm() self.TestWebServer("http://127.0.0.1:8081") self.context_pop() self.context_pop() self.reboot_sitl() def NetworkingWebServerPPP(self): '''web server over PPP''' applet_script = "net_webserver.lua" self.context_push() self.install_applet_script_context(applet_script) self.set_parameters({ "SCR_ENABLE": 1, "SCR_VM_I_COUNT": 1000000, "SIM_SPEEDUP": 20, "NET_ENABLE": 1, "SERIAL5_PROTOCOL": 48, }) self.progress('rebuilding rover with ppp enabled') import shutil shutil.copy('build/sitl/bin/ardurover', 'build/sitl/bin/ardurover.noppp') util.build_SITL('bin/ardurover', clean=False, configure=True, extra_configure_args=['--enable-ppp', '--debug']) self.reboot_sitl() self.progress("Starting PPP daemon") pppd = util.start_PPP_daemon("192.168.14.15:192.168.14.13", '127.0.0.1:5765') self.context_push() self.context_collect('STATUSTEXT') pppd.expect("remote IP address 192.168.14.13") self.progress("PPP daemon started") self.set_parameters({ "WEB_BIND_PORT": 8081, }) self.scripting_restart() self.wait_text("WebServer: starting on port 8081", check_context=True) self.wait_ready_to_arm() self.TestWebServer("http://192.168.14.13:8081") self.context_pop() self.context_pop() # restore rover without ppp enabled for next test os.unlink('build/sitl/bin/ardurover') shutil.copy('build/sitl/bin/ardurover.noppp', 'build/sitl/bin/ardurover') self.reboot_sitl() def FenceFullAndPartialTransfer(self, target_system=1, target_component=1): '''ensure starting a fence transfer then a partial transfer behaves appropriately''' # start uploading a 10 item list: self.mav.mav.mission_count_send( target_system, target_component, 10, mavutil.mavlink.MAV_MISSION_TYPE_FENCE ) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, 0) # change our mind and try a partial mission upload: self.mav.mav.mission_write_partial_list_send( target_system, target_component, 3, 3, mavutil.mavlink.MAV_MISSION_TYPE_FENCE) # should get denied for that one: self.assert_receive_mission_ack( mavutil.mavlink.MAV_MISSION_TYPE_FENCE, want_type=mavutil.mavlink.MAV_MISSION_DENIED, ) # now wait for the original upload to be "cancelled" self.assert_receive_mission_ack( mavutil.mavlink.MAV_MISSION_TYPE_FENCE, want_type=mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED, ) def MissionRetransfer(self, target_system=1, target_component=1): '''torture-test with MISSION_COUNT''' # self.send_debug_trap() self.mav.mav.mission_count_send( target_system, target_component, 10, mavutil.mavlink.MAV_MISSION_TYPE_FENCE ) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, 0) self.context_push() self.context_collect('STATUSTEXT') self.mav.mav.mission_count_send( target_system, target_component, 10000, mavutil.mavlink.MAV_MISSION_TYPE_FENCE ) self.wait_statustext('Only [0-9]+ items are supported', regex=True, check_context=True) self.context_pop() self.assert_not_receive_message('MISSION_REQUEST') self.mav.mav.mission_count_send( target_system, target_component, 10, mavutil.mavlink.MAV_MISSION_TYPE_FENCE ) self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, 0) self.assert_receive_mission_ack( mavutil.mavlink.MAV_MISSION_TYPE_FENCE, want_type=mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED, ) def MissionPolyEnabledPreArm(self): '''check Polygon porearm checks''' self.set_parameters({ 'FENCE_ENABLE': 1, }) self.progress("Ensure that we can arm if polyfence is enabled but we have no polyfence") self.assert_parameter_value('FENCE_TYPE', 6) self.wait_ready_to_arm() self.reboot_sitl() self.wait_ready_to_arm() self.progress("Ensure we can arm when we have an inclusion fence we are inside of") here = self.mav.location() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ # over the top of the vehicle self.offset_location_ne(here, -50, -50), # bl self.offset_location_ne(here, -50, 50), # br self.offset_location_ne(here, 50, 50), # tr self.offset_location_ne(here, 50, -50), # tl, ]), ]) self.delay_sim_time(5) self.wait_ready_to_arm() self.reboot_sitl() self.wait_ready_to_arm() self.progress("Ensure we can't arm when we are in breacnh of a polyfence") self.clear_fence() self.progress("Now create a fence we are in breach of") here = self.mav.location() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ # over the top of the vehicle self.offset_location_ne(here, 20, 20), # bl self.offset_location_ne(here, 20, 50), # br self.offset_location_ne(here, 50, 50), # tr self.offset_location_ne(here, 50, 20), # tl, ]), ]) self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False) self.reboot_sitl() self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120) self.progress("Ensure we can arm when a polyfence fence is cleared when we've previously been in breach") self.clear_fence() self.wait_ready_to_arm() self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ # over the top of the vehicle self.offset_location_ne(here, 20, 20), # bl self.offset_location_ne(here, 20, 50), # br self.offset_location_ne(here, 50, 50), # tr self.offset_location_ne(here, 50, 20), # tl, ]), ]) self.reboot_sitl() self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120) self.clear_fence() self.wait_ready_to_arm() self.progress("Ensure we can arm after clearing polygon fence type enabled") self.upload_fences_from_locations([ (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ # over the top of the vehicle self.offset_location_ne(here, 20, 20), # bl self.offset_location_ne(here, 20, 50), # br self.offset_location_ne(here, 50, 50), # tr self.offset_location_ne(here, 50, 20), # tl, ]), ]) self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120) self.set_parameter('FENCE_TYPE', 2) self.wait_ready_to_arm() self.set_parameter('FENCE_TYPE', 6) self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120) def OpticalFlow(self): '''lightly test OpticalFlow''' self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, False, False, False, verbose=True) self.context_push() self.set_parameter("SIM_FLOW_ENABLE", 1) self.set_parameter("FLOW_TYPE", 10) self.reboot_sitl() self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, True, True, True, verbose=True) self.context_pop() self.reboot_sitl() def tests(self): '''return list of all tests''' ret = super(AutoTestRover, self).tests() ret.extend([ self.MAVProxy_SetModeUsingSwitch, self.HIGH_LATENCY2, self.MAVProxy_SetModeUsingMode, self.ModeSwitch, self.AuxModeSwitch, self.DriveRTL, self.SmartRTL, self.DriveSquare, self.DriveMission, # self.DriveBrake, # disabled due to frequent failures self.MAV_CMD_DO_SEND_BANNER, self.DO_SET_MODE, self.MAVProxy_DO_SET_MODE, self.ServoRelayEvents, self.RCOverrides, self.RCOverridesCancel, self.MANUAL_CONTROL, self.Sprayer, self.AC_Avoidance, self.CameraMission, self.Gripper, self.GripperMission, self.SET_MESSAGE_INTERVAL, self.MESSAGE_INTERVAL_COMMAND_INT, self.REQUEST_MESSAGE, self.SYSID_ENFORCE, self.SET_ATTITUDE_TARGET, self.SET_ATTITUDE_TARGET_heading, self.SET_POSITION_TARGET_LOCAL_NED, self.MAV_CMD_DO_SET_MISSION_CURRENT, self.MAV_CMD_DO_CHANGE_SPEED, self.MAV_CMD_MISSION_START, self.MAV_CMD_NAV_SET_YAW_SPEED, self.Button, self.Rally, self.Offboard, self.MAVProxyParam, self.GCSFence, self.GCSMission, self.GCSRally, self.MotorTest, self.WheelEncoders, self.DataFlashOverMAVLink, self.DataFlash, self.SkidSteer, self.PolyFence, self.PolyFenceAvoidance, self.PolyFenceObjectAvoidance, self.PolyFenceObjectAvoidanceBendyRuler, self.SendToComponents, self.PolyFenceObjectAvoidanceBendyRulerEasier, self.SlewRate, self.Scripting, self.ScriptingSteeringAndThrottle, self.MissionFrames, self.SetpointGlobalPos, self.SetpointGlobalVel, self.AccelCal, self.RangeFinder, self.AP_Proximity_MAV, self.EndMissionBehavior, self.FlashStorage, self.FRAMStorage, self.DepthFinder, self.ChangeModeByNumber, self.EStopAtBoot, self.MAV_CMD_NAV_RETURN_TO_LAUNCH, self.StickMixingAuto, self.AutoDock, self.PrivateChannel, self.GCSFailsafe, self.RoverInitialMode, self.DriveMaxRCIN, self.NoArmWithoutMissionItems, self.CompassPrearms, self.MAV_CMD_DO_SET_REVERSE, self.MAV_CMD_GET_HOME_POSITION, self.MAV_CMD_DO_FENCE_ENABLE, self.MAV_CMD_BATTERY_RESET, self.NetworkingWebServer, self.NetworkingWebServerPPP, self.RTL_SPEED, self.MissionRetransfer, self.FenceFullAndPartialTransfer, self.MissionPolyEnabledPreArm, self.OpticalFlow, ]) return ret def disabled_tests(self): return { "SlewRate": "got timing report failure on CI", "MAV_CMD_NAV_SET_YAW_SPEED": "compiled out of code by default", } def rc_defaults(self): ret = super(AutoTestRover, self).rc_defaults() ret[3] = 1500 ret[8] = 1800 return ret def initial_mode_switch_mode(self): return "MANUAL" def default_mode(self): return 'MANUAL'