mirror of https://github.com/ArduPilot/ardupilot
206 lines
6.2 KiB
Python
206 lines
6.2 KiB
Python
#!/usr/bin/env python
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# Dive ArduSub in SITL
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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 pysim import util
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from common import AutoTest
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from common import NotAchievedException
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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(33.810313, -118.393867, 0, 185)
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class AutoTestSub(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(AutoTestSub, 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.sitl = None
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self.hasInit = False
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self.log_name = "ArduSub"
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def init(self):
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if self.frame is None:
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self.frame = 'vectored'
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self.sitl = util.start_SITL(self.binary,
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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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wipe=True)
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self.mavproxy = util.start_MAVProxy_SITL(
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'ArduSub', 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.progress("WAITING FOR PARAMETERS")
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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.hasInit = True
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self.apply_defaultfile_parameters()
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self.progress("Ready to start testing!")
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def dive_manual(self):
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self.set_rc(3, 1600)
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self.set_rc(5, 1600)
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self.set_rc(6, 1550)
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self.wait_distance(50, accuracy=7, timeout=200)
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self.set_rc(4, 1550)
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self.wait_heading(0)
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self.set_rc(4, 1500)
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self.wait_distance(50, accuracy=7, timeout=100)
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self.set_rc(4, 1550)
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self.wait_heading(0)
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self.set_rc(4, 1500)
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self.set_rc(5, 1500)
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self.set_rc(6, 1100)
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self.wait_distance(75, accuracy=7, timeout=100)
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self.set_rc_default()
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self.disarm_vehicle()
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self.progress("Manual dive OK")
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def dive_mission(self, filename):
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self.progress("Executing mission %s" % filename)
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self.load_mission(filename)
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self.set_rc_default()
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self.arm_vehicle()
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self.mavproxy.send('mode auto\n')
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self.wait_mode('AUTO')
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self.wait_waypoint(1, 5, max_dist=5)
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self.disarm_vehicle()
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self.progress("Mission OK")
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def test_gripper_mission(self):
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self.context_push()
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ex = None
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try:
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try:
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self.get_parameter("GRIP_ENABLE", timeout=5)
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except NotAchievedException as e:
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self.progress("Skipping; Gripper not enabled in config?")
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return
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self.load_mission("sub-gripper-mission.txt")
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self.mavproxy.send('mode loiter\n')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.send('mode auto\n')
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self.wait_mode('AUTO')
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self.mavproxy.expect("Gripper Grabbed")
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self.mavproxy.expect("Gripper Released")
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except Exception as e:
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self.progress("Exception caught")
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ex = e
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self.context_pop()
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if ex is not None:
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raise ex
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def autotest(self):
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"""Autotest ArduSub in SITL."""
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self.check_test_syntax(test_file=os.path.realpath(__file__))
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if not self.hasInit:
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self.init()
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self.fail_list = []
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try:
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self.progress("Waiting for a heartbeat with mavlink protocol %s"
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% self.mav.WIRE_PROTOCOL_VERSION)
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self.mav.wait_heartbeat()
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self.set_parameter("FS_GCS_ENABLE", 0)
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self.progress("Waiting for GPS fix")
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self.mav.wait_gps_fix()
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# wait for EKF and GPS checks to pass
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self.progress("Waiting for ready-to-arm")
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self.wait_ready_to_arm()
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self.run_test("Arm features", self.test_arm_feature)
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self.arm_vehicle()
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self.homeloc = self.mav.location()
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self.progress("Home location: %s" % self.homeloc)
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self.set_rc_default()
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self.run_test("Arm vehicle", self.arm_vehicle)
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self.run_test("Dive manual", self.dive_manual)
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self.run_test("Dive mission",
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lambda: self.dive_mission("sub_mission.txt"))
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self.run_test("Test gripper mission items",
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self.test_gripper_mission);
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self.run_test("Log download",
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lambda: self.log_download(
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self.buildlogs_path("ArduSub-log.bin"),
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upload_logs=len(self.fail_list)>0))
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except pexpect.TIMEOUT:
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self.progress("Failed with timeout")
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self.fail_list.append("Failed with timeout")
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self.close()
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if len(self.fail_list):
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self.progress("FAILED: %s" % self.fail_list)
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return False
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return True
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