mirror of https://github.com/ArduPilot/ardupilot
261 lines
7.9 KiB
Python
261 lines
7.9 KiB
Python
# drive APMrover2 in SITL
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from __future__ import print_function
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import os
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import shutil
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import pexpect
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from pymavlink import mavutil
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from common import *
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from pysim import util
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from pysim import vehicleinfo
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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(-35.362938,149.165085,584,270)
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HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246)
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homeloc = None
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def arm_rover(mavproxy, mav):
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wait_ready_to_arm(mav);
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mavproxy.send('arm throttle\n')
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mavproxy.expect('ARMED')
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print("ROVER ARMED")
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return True
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def disarm_rover(mavproxy, mav):
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mavproxy.send('disarm\n')
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mavproxy.expect('DISARMED')
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print("ROVER DISARMED")
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return True
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def drive_left_circuit(mavproxy, mav):
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"""Drive a left circuit, 50m on a side."""
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'MANUAL')
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mavproxy.send('rc 3 2000\n')
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print("Driving left circuit")
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# do 4 turns
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for i in range(0, 4):
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# hard left
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print("Starting turn %u" % i)
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mavproxy.send('rc 1 1000\n')
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if not wait_heading(mav, 270 - (90*i), accuracy=10):
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return False
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mavproxy.send('rc 1 1500\n')
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print("Starting leg %u" % i)
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if not wait_distance(mav, 50, accuracy=7):
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return False
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mavproxy.send('rc 3 1500\n')
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print("Circuit complete")
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return True
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def drive_RTL(mavproxy, mav):
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"""Drive to home."""
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print("Driving home in RTL")
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mavproxy.send('switch 3\n')
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if not wait_location(mav, homeloc, accuracy=22, timeout=90):
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return False
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print("RTL Complete")
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return True
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def setup_rc(mavproxy):
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"""Setup RC override control."""
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for chan in [1, 2, 3, 4, 5, 6, 7]:
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mavproxy.send('rc %u 1500\n' % chan)
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mavproxy.send('rc 8 1800\n')
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def drive_mission(mavproxy, mav, filename):
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"""Drive a mission from a file."""
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global homeloc
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print("Driving mission %s" % filename)
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mavproxy.send('wp load %s\n' % filename)
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mavproxy.expect('Flight plan received')
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mavproxy.send('wp list\n')
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mavproxy.expect('Requesting [0-9]+ waypoints')
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mavproxy.send('switch 4\n') # auto mode
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mavproxy.send('rc 3 1500\n')
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wait_mode(mav, 'AUTO')
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if not wait_waypoint(mav, 1, 4, max_dist=5):
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return False
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wait_mode(mav, 'HOLD')
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print("Mission OK")
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return True
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def do_get_banner(mavproxy, mav):
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mavproxy.send("long DO_SEND_BANNER 1\n")
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mavproxy.expect("APM:Rover")
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return True;
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def do_get_autopilot_capabilities(mavproxy, mav):
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mavproxy.send("long REQUEST_AUTOPILOT_CAPABILITIES 1\n")
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m = mav.recv_match(type='AUTOPILOT_VERSION', blocking=True, timeout=10)
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if m is None:
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print("AUTOPILOT_VERSION not received")
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return False
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print("AUTOPILOT_VERSION received")
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return True;
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def do_set_mode_via_command_long(mavproxy, mav):
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base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
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custom_mode = 4 # hold
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start = time.time()
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while time.time() - start < 5:
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mavproxy.send("long DO_SET_MODE %u %u\n" % (base_mode,custom_mode))
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m = mav.recv_match(type='HEARTBEAT', blocking=True, timeout=10)
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if m is None:
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return False
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if m.custom_mode == custom_mode:
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return True
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time.sleep(0.1)
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return False
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vinfo = vehicleinfo.VehicleInfo()
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def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
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"""Drive APMrover2 in SITL.
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you can pass viewerip as an IP address to optionally send fg and
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mavproxy packets too for local viewing of the mission in real time
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"""
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global homeloc
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if frame is None:
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frame = 'rover'
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options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
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if viewerip:
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options += " --out=%s:14550" % viewerip
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if use_map:
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options += ' --map'
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home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
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mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
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print("WAITING FOR PARAMETERS")
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mavproxy.expect('Received [0-9]+ parameters')
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# setup test parameters
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if params is None:
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params = vinfo.options["APMrover2"]["frames"][frame]["default_params_filename"]
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if not isinstance(params, list):
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params = [params]
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for x in params:
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mavproxy.send("param load %s\n" % os.path.join(testdir, x))
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mavproxy.expect('Loaded [0-9]+ parameters')
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mavproxy.send("param set LOG_REPLAY 1\n")
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mavproxy.send("param set LOG_DISARMED 1\n")
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time.sleep(3)
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# restart with new parms
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util.pexpect_close(mavproxy)
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util.pexpect_close(sitl)
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sitl = util.start_SITL(binary, model='rover', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
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mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
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mavproxy.expect('Telemetry log: (\S+)')
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logfile = mavproxy.match.group(1)
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print("LOGFILE %s" % logfile)
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buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
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print("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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mavproxy.expect('Received [0-9]+ parameters')
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util.expect_setup_callback(mavproxy, expect_callback)
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expect_list_clear()
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expect_list_extend([sitl, mavproxy])
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print("Started simulator")
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# get a mavlink connection going
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try:
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mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
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except Exception as msg:
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print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
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raise
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mav.message_hooks.append(message_hook)
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mav.idle_hooks.append(idle_hook)
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failed = False
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e = 'None'
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try:
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print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
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mav.wait_heartbeat()
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print("Setting up RC parameters")
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setup_rc(mavproxy)
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print("Waiting for GPS fix")
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mav.wait_gps_fix()
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homeloc = mav.location()
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print("Home location: %s" % homeloc)
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if not arm_rover(mavproxy, mav):
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print("Failed to ARM")
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failed = True
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if not drive_mission(mavproxy, mav, os.path.join(testdir, "rover1.txt")):
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print("Failed mission")
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failed = True
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if not disarm_rover(mavproxy, mav):
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print("Failed to DISARM")
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failed = True
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if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/APMrover2-log.bin")):
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print("Failed log download")
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failed = True
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# if not drive_left_circuit(mavproxy, mav):
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# print("Failed left circuit")
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# failed = True
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# if not drive_RTL(mavproxy, mav):
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# print("Failed RTL")
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# failed = True
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# do not move this to be the first test. MAVProxy's dedupe
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# function may bite you.
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print("Getting banner")
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if not do_get_banner(mavproxy, mav):
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failed = True
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print("Getting autopilot capabilities")
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if not do_get_autopilot_capabilities(mavproxy, mav):
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failed = True
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print("Setting mode via MAV_COMMAND_DO_SET_MODE")
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if not do_set_mode_via_command_long(mavproxy, mav):
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failed = True
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except pexpect.TIMEOUT as e:
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print("Failed with timeout")
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failed = True
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mav.close()
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util.pexpect_close(mavproxy)
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util.pexpect_close(sitl)
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valgrind_log = util.valgrind_log_filepath(binary=binary, model='rover')
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if os.path.exists(valgrind_log):
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os.chmod(valgrind_log, 0o644)
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shutil.copy(valgrind_log, util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
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if failed:
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print("FAILED: %s" % e)
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return False
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return True
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