mirror of https://github.com/ArduPilot/ardupilot
108 lines
2.7 KiB
Python
Executable File
108 lines
2.7 KiB
Python
Executable File
#!/usr/bin/env python3
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'''
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Run a mission in SITL
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AP_FLAKE8_CLEAN
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'''
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import vehicle_test_suite
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import os
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import sys
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import argparse
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from pysim import util
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class RunMission(vehicle_test_suite.TestSuite):
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def __init__(self, vehicle_binary, model, mission_filepath, speedup=None, sim_rate_hz=None):
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super(RunMission, self).__init__(vehicle_binary)
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self.mission_filepath = mission_filepath
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self.model = model
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self.speedup = speedup
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self.sim_rate_hz = sim_rate_hz
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if self.speedup is None:
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self.speedup = 100
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def vehicleinfo_key(self):
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'''magically guess vehicleinfo_key from filepath'''
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path = self.binary.lower()
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if "plane" in path:
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return "ArduPlane"
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if "copter" in path:
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return "ArduCopter"
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raise ValueError("Can't determine vehicleinfo_key from binary path")
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def run(self):
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self.start_SITL(
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binary=self.binary,
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model=self.model,
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sitl_home=self.sitl_home_string_from_mission_filepath(self.mission_filepath),
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speedup=self.speedup,
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sim_rate_hz=self.sim_rate_hz,
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defaults_filepath=self.model_defaults_filepath(self.model),
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)
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self.get_mavlink_connection_going()
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# hack; Plane defaults are annoying... we should do better
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# here somehow.
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if self.vehicleinfo_key() == "ArduPlane":
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self.set_parameter("RTL_AUTOLAND", 1)
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self.load_mission_from_filepath(self.mission_filepath, strict=False)
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self.change_mode('AUTO')
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self.set_streamrate(1)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.wait_disarmed(timeout=600)
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self.stop_SITL()
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if __name__ == "__main__":
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''' main program '''
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os.environ['PYTHONUNBUFFERED'] = '1'
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if sys.platform != "darwin":
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os.putenv('TMPDIR', util.reltopdir('tmp'))
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parser = argparse.ArgumentParser("run_mission.py")
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parser.add_argument(
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'vehicle_binary',
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type=str,
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help='vehicle binary to use'
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)
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parser.add_argument(
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'model',
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type=str,
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help='vehicle model to use'
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)
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parser.add_argument(
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'mission_filepath',
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type=str,
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help='mission file path'
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)
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parser.add_argument(
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'--speedup',
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type=int,
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help='simulation speedup',
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default=None,
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)
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parser.add_argument(
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'--sim-rate-hz',
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type=int,
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help='simulation physics rate',
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default=None,
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)
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args = parser.parse_args()
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x = RunMission(
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args.vehicle_binary,
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args.model,
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args.mission_filepath,
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speedup=args.speedup,
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sim_rate_hz=args.sim_rate_hz
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)
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x.run()
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