''' Dive ArduSub in SITL AP_FLAKE8_CLEAN ''' from __future__ import print_function import os import sys import time from pymavlink import mavutil import vehicle_test_suite from vehicle_test_suite import NotAchievedException from vehicle_test_suite import AutoTestTimeoutException from vehicle_test_suite import PreconditionFailedException if sys.version_info[0] < 3: ConnectionResetError = AutoTestTimeoutException # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185) class Joystick(): Pitch = 1 Roll = 2 Throttle = 3 Yaw = 4 Forward = 5 Lateral = 6 class AutoTestSub(vehicle_test_suite.TestSuite): @staticmethod def get_not_armable_mode_list(): return [] @staticmethod def get_not_disarmed_settable_modes_list(): return [] @staticmethod def get_no_position_not_settable_modes_list(): return ["AUTO", "GUIDED", "CIRCLE", "POSHOLD"] @staticmethod def get_position_armable_modes_list(): return [] @staticmethod def get_normal_armable_modes_list(): return ["ACRO", "ALT_HOLD", "MANUAL", "STABILIZE", "SURFACE"] def log_name(self): return "ArduSub" def default_speedup(self): '''Sub seems to be race-free''' return 100 def test_filepath(self): return os.path.realpath(__file__) def set_current_test_name(self, name): self.current_test_name_directory = "ArduSub_Tests/" + name + "/" def default_mode(self): return 'MANUAL' def sitl_start_location(self): return SITL_START_LOCATION def default_frame(self): return 'vectored' def is_sub(self): return True def watch_altitude_maintained(self, delta=0.3, timeout=5.0): """Watch and wait for the actual altitude to be maintained Keyword Arguments: delta {float} -- Maximum altitude range to be allowed from actual point (default: {0.5}) timeout {float} -- Timeout time in simulation seconds (default: {5.0}) Raises: NotAchievedException: Exception when altitude fails to hold inside the time and altitude range """ tstart = self.get_sim_time_cached() previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt self.progress('Altitude to be watched: %f' % (previous_altitude)) while True: m = self.mav.recv_match(type='VFR_HUD', blocking=True) if self.get_sim_time_cached() - tstart > timeout: self.progress('Altitude hold done: %f' % (previous_altitude)) return if abs(m.alt - previous_altitude) > delta: raise NotAchievedException( "Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" % (previous_altitude, delta, m.alt)) def AltitudeHold(self): """Test ALT_HOLD mode""" self.wait_ready_to_arm() self.arm_vehicle() self.change_mode('ALT_HOLD') msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5) if msg is None: raise NotAchievedException("Did not get GLOBAL_POSITION_INT") pwm = 1300 if msg.relative_alt/1000.0 < -6.0: # need to go up, not down! pwm = 1700 self.set_rc(Joystick.Throttle, pwm) self.wait_altitude(altitude_min=-6, altitude_max=-5) self.set_rc(Joystick.Throttle, 1500) # let the vehicle settle (momentum / stopping point shenanigans....) self.delay_sim_time(1) self.watch_altitude_maintained() self.set_rc(Joystick.Throttle, 1000) self.wait_altitude(altitude_min=-20, altitude_max=-19) self.set_rc(Joystick.Throttle, 1500) # let the vehicle settle (momentum / stopping point shenanigans....) self.delay_sim_time(1) self.watch_altitude_maintained() self.set_rc(Joystick.Throttle, 1900) self.wait_altitude(altitude_min=-14, altitude_max=-13) self.set_rc(Joystick.Throttle, 1500) # let the vehicle settle (momentum / stopping point shenanigans....) self.delay_sim_time(1) self.watch_altitude_maintained() self.set_rc(Joystick.Throttle, 1900) self.wait_altitude(altitude_min=-5, altitude_max=-4) self.set_rc(Joystick.Throttle, 1500) # let the vehicle settle (momentum / stopping point shenanigans....) self.delay_sim_time(1) self.watch_altitude_maintained() # Make sure the code can handle buoyancy changes self.set_parameter("SIM_BUOYANCY", 10) self.watch_altitude_maintained() self.set_parameter("SIM_BUOYANCY", -10) self.watch_altitude_maintained() # Make sure that the ROV will dive with a small input down even if there is a 10N buoyancy force upwards self.set_parameter("SIM_BUOYANCY", 10) self.set_rc(Joystick.Throttle, 1350) self.wait_altitude(altitude_min=-6, altitude_max=-5.5) self.set_rc(Joystick.Throttle, 1500) self.watch_altitude_maintained() self.disarm_vehicle() def RngfndQuality(self): """Check lua Range Finder quality information flow""" self.context_push() self.context_collect('STATUSTEXT') ex = None try: self.set_parameters({ "SCR_ENABLE": 1, "RNGFND1_TYPE": 36, "RNGFND1_ORIENT": 25, "RNGFND1_MIN_CM": 10, "RNGFND1_MAX_CM": 5000, }) self.install_example_script_context("rangefinder_quality_test.lua") # These string must match those sent by the lua test script. complete_str = "#complete#" failure_str = "!!failure!!" self.reboot_sitl() self.wait_statustext(complete_str, timeout=20, check_context=True) found_failure = self.statustext_in_collections(failure_str) if found_failure is not None: raise NotAchievedException("RngfndQuality test failed: " + found_failure.text) except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() if ex: raise ex def watch_distance_maintained(self, delta=0.3, timeout=5.0): """Watch and wait for the rangefinder reading to be maintained""" tstart = self.get_sim_time_cached() previous_distance = self.mav.recv_match(type='RANGEFINDER', blocking=True).distance self.progress('Distance to be watched: %.2f' % previous_distance) while True: m = self.mav.recv_match(type='RANGEFINDER', blocking=True) if self.get_sim_time_cached() - tstart > timeout: self.progress('Distance hold done: %f' % previous_distance) return if abs(m.distance - previous_distance) > delta: raise NotAchievedException( "Distance not maintained: want %.2f (+/- %.2f) got=%.2f" % (previous_distance, delta, m.distance)) def Surftrak(self): """Test SURFTRAK mode""" if self.get_parameter('RNGFND1_MAX_CM') != 3000.0: raise PreconditionFailedException("RNGFND1_MAX_CM is not %g" % 3000.0) # Something closer to Bar30 noise self.context_push() self.set_parameter("SIM_BARO_RND", 0.01) self.wait_ready_to_arm() self.arm_vehicle() self.change_mode('MANUAL') # Dive to -5m, outside of rangefinder range, will act like ALT_HOLD pwm = 1300 if self.get_altitude(relative=True) > -6 else 1700 self.set_rc(Joystick.Throttle, pwm) self.wait_altitude(altitude_min=-6, altitude_max=-5, relative=False, timeout=60) self.set_rc(Joystick.Throttle, 1500) self.delay_sim_time(1) self.context_collect('STATUSTEXT') self.change_mode(21) self.wait_statustext('waiting for a rangefinder reading', check_context=True) self.context_clear_collection('STATUSTEXT') self.watch_altitude_maintained() # Move into range, should set a rangefinder target and maintain it self.set_rc(Joystick.Throttle, 1300) self.wait_altitude(altitude_min=-26, altitude_max=-25, relative=False, timeout=60) self.set_rc(Joystick.Throttle, 1500) self.delay_sim_time(4) self.wait_statustext('rangefinder target is', check_context=True) self.context_clear_collection('STATUSTEXT') self.watch_distance_maintained() # Move a few meters, should apply a delta and maintain the new rangefinder target self.set_rc(Joystick.Throttle, 1300) self.wait_altitude(altitude_min=-31, altitude_max=-30, relative=False, timeout=60) self.set_rc(Joystick.Throttle, 1500) self.delay_sim_time(4) self.wait_statustext('rangefinder target is', check_context=True) self.watch_distance_maintained() self.disarm_vehicle() self.context_pop() def ModeChanges(self, delta=0.2): """Check if alternating between ALTHOLD, STABILIZE, POSHOLD and SURFTRAK (mode 21) affects altitude""" self.wait_ready_to_arm() self.arm_vehicle() # zero buoyancy and no baro noise self.set_parameter("SIM_BUOYANCY", 0) self.set_parameter("SIM_BARO_RND", 0) # dive a bit to make sure we are not surfaced self.change_mode('STABILIZE') self.set_rc(Joystick.Throttle, 1350) self.delay_sim_time(10) self.set_rc(Joystick.Throttle, 1500) self.delay_sim_time(3) # start the test itself, go through some modes and check if anything changes previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt self.change_mode('ALT_HOLD') self.delay_sim_time(2) self.change_mode('POSHOLD') self.delay_sim_time(2) self.change_mode('STABILIZE') self.delay_sim_time(2) self.change_mode(21) self.delay_sim_time(2) self.change_mode('ALT_HOLD') self.delay_sim_time(2) self.change_mode('STABILIZE') self.delay_sim_time(2) self.change_mode('ALT_HOLD') self.delay_sim_time(2) self.change_mode(21) self.delay_sim_time(2) self.change_mode('MANUAL') self.disarm_vehicle() final_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt if abs(previous_altitude - final_altitude) > delta: raise NotAchievedException( "Changing modes affected depth with no throttle input!, started at {}, ended at {}" .format(previous_altitude, final_altitude) ) def PositionHold(self): """Test POSHOLD mode""" self.wait_ready_to_arm() self.arm_vehicle() # point North self.reach_heading_manual(0) self.change_mode('POSHOLD') # dive a little self.set_rc(Joystick.Throttle, 1300) self.delay_sim_time(3) self.set_rc(Joystick.Throttle, 1500) self.delay_sim_time(2) # Save starting point msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5) if msg is None: raise NotAchievedException("Did not get GLOBAL_POSITION_INT") start_pos = self.mav.location() # Hold in perfect conditions self.progress("Testing position hold in perfect conditions") self.delay_sim_time(10) distance_m = self.get_distance(start_pos, self.mav.location()) if distance_m > 1: raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa # Hold in 1 m/s current self.progress("Testing position hold in current") self.set_parameter("SIM_WIND_SPD", 1) self.set_parameter("SIM_WIND_T", 1) self.delay_sim_time(10) distance_m = self.get_distance(start_pos, self.mav.location()) if distance_m > 1: raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa # Move forward slowly in 1 m/s current start_pos = self.mav.location() self.progress("Testing moving forward in position hold in 1m/s current") self.set_rc(Joystick.Forward, 1600) self.delay_sim_time(10) distance_m = self.get_distance(start_pos, self.mav.location()) bearing = self.get_bearing(start_pos, self.mav.location()) if distance_m < 2 or (bearing > 30 and bearing < 330): raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) # noqa self.disarm_vehicle() def MotorThrustHoverParameterIgnore(self): """Test if we are ignoring MOT_THST_HOVER parameter""" # Test default parameter value mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER") if mot_thst_hover_value != 0.5: raise NotAchievedException("Unexpected default MOT_THST_HOVER parameter value {}".format(mot_thst_hover_value)) # Test if parameter is being ignored for value in [0.25, 0.75]: self.set_parameter("MOT_THST_HOVER", value) self.AltitudeHold() def DiveManual(self): '''Dive manual''' self.wait_ready_to_arm() self.arm_vehicle() self.set_rc(Joystick.Throttle, 1600) self.set_rc(Joystick.Forward, 1600) self.set_rc(Joystick.Lateral, 1550) self.wait_distance(50, accuracy=7, timeout=200) self.set_rc(Joystick.Yaw, 1550) self.wait_heading(0) self.set_rc(Joystick.Yaw, 1500) self.wait_distance(50, accuracy=7, timeout=100) self.set_rc(Joystick.Yaw, 1550) self.wait_heading(0) self.set_rc(Joystick.Yaw, 1500) self.set_rc(Joystick.Forward, 1500) self.set_rc(Joystick.Lateral, 1100) self.wait_distance(75, accuracy=7, timeout=100) self.set_rc_default() self.disarm_vehicle() self.progress("Manual dive OK") m = self.assert_receive_message('SCALED_PRESSURE3') # Note this temperature matches the output of the Atmospheric Model for Air currently # And should be within 1 deg C of 40 degC if (m.temperature < 3900) or (4100 < m.temperature): raise NotAchievedException("Did not get correct TSYS01 temperature: Got %f" % m.temperature) def DiveMission(self): '''Dive mission''' filename = "sub_mission.txt" self.progress("Executing mission %s" % filename) self.load_mission(filename) self.set_rc_default() self.arm_vehicle() self.change_mode('AUTO') self.wait_waypoint(1, 5, max_dist=5) self.disarm_vehicle() self.progress("Mission OK") def GripperMission(self): '''Test gripper mission items''' self.load_mission("sub-gripper-mission.txt") self.wait_ready_to_arm() self.arm_vehicle() self.change_mode('AUTO') self.wait_waypoint(1, 2, max_dist=5) self.wait_statustext("Gripper Grabbed", timeout=60) self.wait_waypoint(1, 4, max_dist=5) self.wait_statustext("Gripper Released", timeout=60) self.wait_waypoint(1, 6, max_dist=5) self.disarm_vehicle() def SET_POSITION_TARGET_GLOBAL_INT(self): '''Move vehicle using SET_POSITION_TARGET_GLOBAL_INT''' self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) lat = 5 lon = 5 alt = -10 # send a position-control command self.mav.mav.set_position_target_global_int_send( 0, # timestamp 1, # target system_id 1, # target component id mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, 0b1111111111111000, # mask specifying use-only-lat-lon-alt lat, # lat lon, # lon alt, # alt 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz 0, # yaw 0, # yawrate ) tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 200: raise NotAchievedException("Did not move far enough") pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) delta = self.get_distance_int(startpos, pos) self.progress("delta=%f (want >10)" % delta) if delta > 10: break self.change_mode('MANUAL') self.disarm_vehicle() def reboot_sitl(self): """Reboot SITL instance and wait it to reconnect.""" # our battery is reset to full on reboot. So reduce it to 10% # and wait for it to go above 50. self.run_cmd( mavutil.mavlink.MAV_CMD_BATTERY_RESET, p1=65535, # battery mask p2=10, # percentage ) self.run_cmd_reboot() tstart = time.time() while True: if time.time() - tstart > 30: raise NotAchievedException("Did not detect reboot") # ask for the message: batt = None try: self.send_cmd( mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE, p1=mavutil.mavlink.MAVLINK_MSG_ID_BATTERY_STATUS, ) batt = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1) except ConnectionResetError: pass self.progress("Battery: %s" % str(batt)) if batt is None: continue if batt.battery_remaining > 50: break self.initialise_after_reboot_sitl() def DoubleCircle(self): '''Test entering circle twice''' self.change_mode('CIRCLE') self.wait_ready_to_arm() self.arm_vehicle() self.change_mode('STABILIZE') self.change_mode('CIRCLE') self.disarm_vehicle() def default_parameter_list(self): ret = super(AutoTestSub, self).default_parameter_list() ret["FS_GCS_ENABLE"] = 0 # FIXME return ret def disabled_tests(self): ret = super(AutoTestSub, self).disabled_tests() ret.update({ "ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", # noqa }) return ret def MAV_CMD_NAV_LOITER_UNLIM(self): '''test handling of MAV_CMD_NAV_LOITER_UNLIM received via mavlink''' for cmd in self.run_cmd, self.run_cmd_int: self.change_mode('CIRCLE') cmd(mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM) self.assert_mode('POSHOLD') def MAV_CMD_NAV_LAND(self): '''test handling of MAV_CMD_NAV_LAND received via mavlink''' for cmd in self.run_cmd, self.run_cmd_int: self.change_mode('CIRCLE') cmd(mavutil.mavlink.MAV_CMD_NAV_LAND) self.assert_mode('SURFACE') def MAV_CMD_MISSION_START(self): '''test handling of MAV_CMD_NAV_LAND received via mavlink''' self.upload_simple_relhome_mission([ (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0), (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0), ]) self.wait_ready_to_arm() self.arm_vehicle() for cmd in self.run_cmd, self.run_cmd_int: self.change_mode('CIRCLE') cmd(mavutil.mavlink.MAV_CMD_MISSION_START) self.assert_mode('AUTO') self.disarm_vehicle() def MAV_CMD_DO_CHANGE_SPEED(self): '''ensure vehicle changes speeds when DO_CHANGE_SPEED received''' items = [ (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, -3), # Dive so we have constrat drag (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, -1), (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0), ] self.upload_simple_relhome_mission(items) self.wait_ready_to_arm() self.arm_vehicle() self.run_cmd(mavutil.mavlink.MAV_CMD_MISSION_START) self.progress("SENT MISSION START") self.wait_mode('AUTO') self.wait_current_waypoint(2) # wait after we finish diving to 3m for run_cmd in self.run_cmd, self.run_cmd_int: for speed in [1, 1.5, 0.5]: run_cmd(mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, p2=speed) self.wait_groundspeed(speed-0.2, speed+0.2, minimum_duration=2, timeout=60) self.disarm_vehicle() def _MAV_CMD_CONDITION_YAW(self, run_cmd): self.arm_vehicle() self.change_mode('GUIDED') for angle in 5, 30, 60, 10: angular_rate = 10 direction = 1 relative_or_absolute = 0 run_cmd( mavutil.mavlink.MAV_CMD_CONDITION_YAW, p1=angle, p2=angular_rate, p3=direction, p4=relative_or_absolute, # 1 for relative, 0 for absolute ) self.wait_heading(angle, minimum_duration=2) self.start_subtest('Relative angle') run_cmd( mavutil.mavlink.MAV_CMD_CONDITION_YAW, p1=0, p2=10, p3=1, p4=0, # 1 for relative, 0 for absolute ) self.wait_heading(0, minimum_duration=2) run_cmd( mavutil.mavlink.MAV_CMD_CONDITION_YAW, p1=20, p2=10, p3=1, p4=1, # 1 for relative, 0 for absolute ) self.wait_heading(20, minimum_duration=2) self.disarm_vehicle() def MAV_CMD_CONDITION_YAW(self): '''ensure vehicle yaws according to GCS command''' self._MAV_CMD_CONDITION_YAW(self.run_cmd) self._MAV_CMD_CONDITION_YAW(self.run_cmd_int) def tests(self): '''return list of all tests''' ret = super(AutoTestSub, self).tests() ret.extend([ self.DiveManual, self.AltitudeHold, self.Surftrak, self.RngfndQuality, self.PositionHold, self.ModeChanges, self.DiveMission, self.GripperMission, self.DoubleCircle, self.MotorThrustHoverParameterIgnore, self.SET_POSITION_TARGET_GLOBAL_INT, self.TestLogDownloadMAVProxy, self.TestLogDownloadMAVProxyNetwork, self.MAV_CMD_NAV_LOITER_UNLIM, self.MAV_CMD_NAV_LAND, self.MAV_CMD_MISSION_START, self.MAV_CMD_DO_CHANGE_SPEED, self.MAV_CMD_CONDITION_YAW, ]) return ret