mirror of https://github.com/ArduPilot/ardupilot
132 lines
4.1 KiB
Python
132 lines
4.1 KiB
Python
#!/usr/bin/env python
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from __future__ import print_function
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import os
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import pexpect
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from pymavlink import mavutil
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from common import AutoTest
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from pysim import util
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from pysim import vehicleinfo
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import operator
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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HOME = mavutil.location(-27.274439, 151.290064, 343, 8.7)
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class AutoTestTracker(AutoTest):
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def __init__(self,
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binary,
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valgrind=False,
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gdb=False,
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speedup=10,
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frame=None,
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params=None,
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gdbserver=False,
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breakpoints=[],
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**kwargs):
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super(AutoTestTracker, self).__init__(**kwargs)
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self.binary = binary
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self.valgrind = valgrind
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self.gdb = gdb
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self.frame = frame
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self.params = params
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self.gdbserver = gdbserver
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self.breakpoints = breakpoints
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self.home = "%f,%f,%u,%u" % (HOME.lat,
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HOME.lng,
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HOME.alt,
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HOME.heading)
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self.homeloc = None
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self.speedup = speedup
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self.log_name = "AntennaTracker"
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self.logfile = None
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self.sitl = None
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def start_stream_systemtime(self):
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'''AntennaTracker doesn't stream this by default but we need it for get_sim_time'''
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try:
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self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SYSTEM_TIME, 10)
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except Exception:
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pass
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self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SYSTEM_TIME, 10)
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def set_rc_default(self):
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'''tracker does not send RC_CHANNELS, so can't set_rc_default'''
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'''... however, dodgily hook in here to get system time:'''
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self.start_stream_systemtime()
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def initialise_after_reboot_sitl(self):
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self.start_stream_systemtime()
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def default_mode(self):
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return "AUTO"
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def is_tracker(self):
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return True
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def init(self):
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if self.frame is None:
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self.frame = "tracker"
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self.mavproxy_logfile = self.open_mavproxy_logfile()
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self.sitl = util.start_SITL(self.binary,
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wipe=True,
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model=self.frame,
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home=self.home,
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speedup=self.speedup,
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valgrind=self.valgrind,
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gdb=self.gdb,
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gdbserver=self.gdbserver,
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breakpoints=self.breakpoints,
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)
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self.mavproxy = util.start_MAVProxy_SITL(
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'AntennaTracker',
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logfile=self.mavproxy_logfile,
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options=self.mavproxy_options())
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self.mavproxy.expect('Telemetry log: (\S+)\r\n')
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self.logfile = self.mavproxy.match.group(1)
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self.progress("LOGFILE %s" % self.logfile)
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self.try_symlink_tlog()
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self.mavproxy.expect('Received [0-9]+ parameters')
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util.expect_setup_callback(self.mavproxy, self.expect_callback)
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self.expect_list_clear()
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self.expect_list_extend([self.sitl, self.mavproxy])
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self.progress("Started simulator")
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self.get_mavlink_connection_going()
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self.progress("Ready to start testing!")
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def sysid_thismav(self):
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return 2
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def reboot_sitl(self):
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"""Reboot SITL instance and wait it to reconnect."""
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self.mavproxy.send("reboot\n")
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self.mavproxy.expect("Initialising APM")
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# empty mav to avoid getting old timestamps:
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while self.mav.recv_match(blocking=False):
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pass
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self.initialise_after_reboot_sitl()
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def disabled_tests(self):
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return {
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"ArmFeatures": "See https://github.com/ArduPilot/ardupilot/issues/10652",
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}
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def tests(self):
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'''return list of all tests'''
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ret = super(AutoTestTracker, self).tests()
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ret.extend([
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])
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return ret
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