mirror of https://github.com/ArduPilot/ardupilot
204 lines
6.0 KiB
Python
204 lines
6.0 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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# 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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**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.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.speedup_default = 10
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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.apply_parameters_using_sitl()
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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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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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logfile = self.mavproxy.match.group(1)
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self.progress("LOGFILE %s" % logfile)
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buildlog = self.buildlogs_path("ArduSub-test.tlog")
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self.progress("buildlog=%s" % buildlog)
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if os.path.exists(buildlog):
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os.unlink(buildlog)
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try:
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os.link(logfile, buildlog)
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except Exception:
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pass
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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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# get a mavlink connection going
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connection_string = '127.0.0.1:19550'
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try:
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self.mav = mavutil.mavlink_connection(connection_string,
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robust_parsing=True)
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except Exception as msg:
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self.progress("Failed to start mavlink connection on %s: %s" %
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(connection_string, msg,))
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raise
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self.mav.message_hooks.append(self.message_hook)
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self.mav.idle_hooks.append(self.idle_hook)
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self.hasInit = True
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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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if not self.wait_distance(50, accuracy=7, timeout=200):
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return False
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self.set_rc(4, 1550)
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if not self.wait_heading(0):
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return False
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self.set_rc(4, 1500)
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if not self.wait_distance(50, accuracy=7, timeout=100):
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return False
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self.set_rc(4, 1550)
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if not self.wait_heading(0):
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return False
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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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if not self.wait_distance(75, accuracy=7, timeout=100):
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return False
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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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return True
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def dive_mission(self, filename):
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self.progress("Executing mission %s" % filename)
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self.mavproxy.send('wp load %s\n' % filename)
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self.mavproxy.expect('Flight plan received')
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self.mavproxy.send('wp list\n')
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self.mavproxy.expect('Saved [0-9]+ waypoints')
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self.set_rc_default()
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if not self.arm_vehicle():
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self.progress("Failed to ARM")
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return False
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self.mavproxy.send('mode auto\n')
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self.wait_mode('AUTO')
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if not self.wait_waypoint(1, 5, max_dist=5):
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return False
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self.disarm_vehicle()
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self.progress("Mission OK")
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return True
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def autotest(self):
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"""Autotest ArduSub in SITL."""
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if not self.hasInit:
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self.init()
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failed = False
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e = 'None'
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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.mavproxy.send('param set FS_GCS_ENABLE 0\n')
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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.mavproxy.expect('IMU0 is using GPS')
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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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if not self.arm_vehicle():
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self.progress("Failed to ARM")
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failed = True
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if not self.dive_manual():
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self.progress("Failed manual dive")
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failed = True
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if not self.dive_mission(os.path.join(testdir, "sub_mission.txt")):
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self.progress("Failed auto mission")
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failed = True
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if not self.log_download(self.buildlogs_path("ArduSub-log.bin")):
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self.progress("Failed log download")
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failed = True
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except pexpect.TIMEOUT as e:
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self.progress("Failed with timeout")
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failed = True
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self.close()
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if failed:
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self.progress("FAILED: %s" % e)
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return False
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return True
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