mirror of https://github.com/ArduPilot/ardupilot
582 lines
17 KiB
Python
582 lines
17 KiB
Python
from __future__ import print_function
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import math
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import os
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import random
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import re
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import sys
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import tempfile
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import time
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from math import acos, atan2, cos, pi, sqrt
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from subprocess import PIPE, Popen, call, check_call
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import pexpect
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from . rotmat import Matrix3, Vector3
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if (sys.version_info[0] >= 3):
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ENCODING = 'ascii'
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else:
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ENCODING = None
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def m2ft(x):
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"""Meters to feet."""
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return float(x) / 0.3048
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def ft2m(x):
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"""Feet to meters."""
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return float(x) * 0.3048
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def kt2mps(x):
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return x * 0.514444444
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def mps2kt(x):
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return x / 0.514444444
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def topdir():
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"""Return top of git tree where autotest is running from."""
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d = os.path.dirname(os.path.realpath(__file__))
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assert(os.path.basename(d) == 'pysim')
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d = os.path.dirname(d)
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assert(os.path.basename(d) == 'autotest')
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d = os.path.dirname(d)
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assert(os.path.basename(d) == 'Tools')
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d = os.path.dirname(d)
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return d
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def reltopdir(path):
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"""Return a path relative to topdir()."""
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return os.path.normpath(os.path.join(topdir(), path))
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def run_cmd(cmd, directory=".", show=True, output=False, checkfail=True):
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"""Run a shell command."""
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shell = False
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if not isinstance(cmd, list):
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cmd = [cmd]
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shell = True
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if show:
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print("Running: (%s) in (%s)" % (cmd_as_shell(cmd), directory,))
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if output:
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return Popen(cmd, shell=shell, stdout=PIPE, cwd=directory).communicate()[0]
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elif checkfail:
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return check_call(cmd, shell=shell, cwd=directory)
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else:
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return call(cmd, shell=shell, cwd=directory)
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def rmfile(path):
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"""Remove a file if it exists."""
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try:
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os.unlink(path)
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except Exception:
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pass
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def deltree(path):
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"""Delete a tree of files."""
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run_cmd('rm -rf %s' % path)
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def relwaf():
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return "./modules/waf/waf-light"
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def waf_configure(board, j=None, debug=False):
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cmd_configure = [relwaf(), "configure", "--board", board]
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if debug:
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cmd_configure.append('--debug')
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if j is not None:
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cmd_configure.extend(['-j', str(j)])
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run_cmd(cmd_configure, directory=topdir(), checkfail=True)
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def waf_clean():
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run_cmd([relwaf(), "clean"], directory=topdir(), checkfail=True)
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def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, configure=True):
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"""Build desktop SITL."""
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# first configure
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if configure:
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waf_configure(board, j=j, debug=debug)
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# then clean
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if clean:
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waf_clean()
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# then build
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cmd_make = [relwaf(), "build", "--target", build_target]
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if j is not None:
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cmd_make.extend(['-j', str(j)])
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run_cmd(cmd_make, directory=topdir(), checkfail=True, show=True)
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return True
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def build_examples(board, j=None, debug=False, clean=False):
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# first configure
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waf_configure(board, j=j, debug=debug)
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# then clean
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if clean:
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waf_clean()
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# then build
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cmd_make = [relwaf(), "examples"]
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run_cmd(cmd_make, directory=topdir(), checkfail=True, show=True)
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return True
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# list of pexpect children to close on exit
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close_list = []
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def pexpect_autoclose(p):
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"""Mark for autoclosing."""
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global close_list
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close_list.append(p)
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def pexpect_close(p):
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"""Close a pexpect child."""
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global close_list
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try:
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p.close()
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except Exception:
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pass
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try:
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p.close(force=True)
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except Exception:
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pass
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if p in close_list:
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close_list.remove(p)
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def pexpect_close_all():
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"""Close all pexpect children."""
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global close_list
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for p in close_list[:]:
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pexpect_close(p)
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def pexpect_drain(p):
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"""Drain any pending input."""
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import pexpect
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try:
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p.read_nonblocking(1000, timeout=0)
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except Exception:
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pass
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def cmd_as_shell(cmd):
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return (" ".join(['"%s"' % x for x in cmd]))
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def make_safe_filename(text):
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"""Return a version of text safe for use as a filename."""
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r = re.compile("([^a-zA-Z0-9_.+-])")
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text.replace('/', '-')
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filename = r.sub(lambda m: "%" + str(hex(ord(str(m.group(1))))).upper(), text)
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return filename
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def valgrind_log_filepath(binary, model):
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return make_safe_filename('%s-%s-valgrind.log' % (os.path.basename(binary), model,))
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def start_SITL(binary, valgrind=False, gdb=False, wipe=False,
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synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None,
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unhide_parameters=False, gdbserver=False):
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"""Launch a SITL instance."""
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cmd = []
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if valgrind and os.path.exists('/usr/bin/valgrind'):
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# we specify a prefix for vgdb-pipe because on Vagrant virtual
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# machines the pipes are created on the mountpoint for the
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# shared directory with the host machine. mmap's,
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# unsurprisingly, fail on files created on that mountpoint.
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vgdb_prefix = os.path.join(tempfile.gettempdir(), "vgdb-pipe")
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log_file = valgrind_log_filepath(binary=binary, model=model)
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cmd.extend([
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'valgrind',
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'--vgdb-prefix=%s' % vgdb_prefix,
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'-q',
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'--log-file=%s' % log_file])
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if gdbserver:
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cmd.extend(['gdbserver', 'localhost:3333'])
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if gdb:
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# attach gdb to the gdbserver:
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f = open("/tmp/x.gdb", "w")
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f.write("target extended-remote localhost:3333\nc\n")
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f.close()
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run_cmd('screen -d -m -S ardupilot-gdb bash -c "gdb -x /tmp/x.gdb"')
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elif gdb:
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f = open("/tmp/x.gdb", "w")
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f.write("r\n")
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f.close()
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cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
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cmd.append(binary)
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if wipe:
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cmd.append('-w')
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if synthetic_clock:
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cmd.append('-S')
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if home is not None:
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cmd.extend(['--home', home])
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if model is not None:
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cmd.extend(['--model', model])
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if speedup != 1:
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cmd.extend(['--speedup', str(speedup)])
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if defaults_file is not None:
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cmd.extend(['--defaults', defaults_file])
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if unhide_parameters:
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cmd.extend(['--unhide-groups'])
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print("Running: %s" % cmd_as_shell(cmd))
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first = cmd[0]
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rest = cmd[1:]
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child = pexpect.spawn(first, rest, logfile=sys.stdout, encoding=ENCODING, timeout=5)
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delaybeforesend = 0
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pexpect_autoclose(child)
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# give time for parameters to properly setup
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time.sleep(3)
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if gdb:
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# if we run GDB we do so in an xterm. "Waiting for
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# connection" is never going to appear on xterm's output.
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# ... so let's give it another magic second.
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time.sleep(1)
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# TODO: have a SITL-compiled ardupilot able to have its
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# console on an output fd.
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else:
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child.expect('Waiting for connection', timeout=300)
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return child
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def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
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options=[], logfile=sys.stdout):
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"""Launch mavproxy connected to a SITL instance."""
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import pexpect
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global close_list
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MAVPROXY = os.getenv('MAVPROXY_CMD', 'mavproxy.py')
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cmd = MAVPROXY + ' --master=%s --out=127.0.0.1:14550' % master
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if setup:
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cmd += ' --setup'
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if aircraft is None:
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aircraft = 'test.%s' % atype
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cmd += ' --aircraft=%s' % aircraft
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cmd += ' ' + ' '.join(options)
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ret = pexpect.spawn(cmd, logfile=logfile, encoding=ENCODING, timeout=60)
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ret.delaybeforesend = 0
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pexpect_autoclose(ret)
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return ret
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def expect_setup_callback(e, callback):
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"""Setup a callback that is called once a second while waiting for
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patterns."""
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import pexpect
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def _expect_callback(pattern, timeout=e.timeout):
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tstart = time.time()
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while time.time() < tstart + timeout:
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try:
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ret = e.expect_saved(pattern, timeout=1)
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return ret
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except pexpect.TIMEOUT:
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e.expect_user_callback(e)
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pass
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print("Timed out looking for %s" % pattern)
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raise pexpect.TIMEOUT(timeout)
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e.expect_user_callback = callback
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e.expect_saved = e.expect
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e.expect = _expect_callback
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def mkdir_p(directory):
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"""Like mkdir -p ."""
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if not directory:
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return
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if directory.endswith("/"):
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mkdir_p(directory[:-1])
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return
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if os.path.isdir(directory):
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return
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mkdir_p(os.path.dirname(directory))
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os.mkdir(directory)
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def loadfile(fname):
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"""Load a file as a string."""
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f = open(fname, mode='r')
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r = f.read()
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f.close()
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return r
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def lock_file(fname):
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"""Lock a file."""
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import fcntl
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f = open(fname, mode='w')
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try:
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fcntl.lockf(f, fcntl.LOCK_EX | fcntl.LOCK_NB)
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except Exception:
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return None
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return f
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def check_parent(parent_pid=None):
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"""Check our parent process is still alive."""
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if parent_pid is None:
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try:
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parent_pid = os.getppid()
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except Exception:
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pass
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if parent_pid is None:
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return
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try:
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os.kill(parent_pid, 0)
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except Exception:
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print("Parent had finished - exiting")
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sys.exit(1)
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def EarthRatesToBodyRates(dcm, earth_rates):
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"""Convert the angular velocities from earth frame to
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body frame. Thanks to James Goppert for the formula
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all inputs and outputs are in radians
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returns a gyro vector in body frame, in rad/s .
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"""
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from math import sin, cos
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(phi, theta, psi) = dcm.to_euler()
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phiDot = earth_rates.x
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thetaDot = earth_rates.y
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psiDot = earth_rates.z
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p = phiDot - psiDot * sin(theta)
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q = cos(phi) * thetaDot + sin(phi) * psiDot * cos(theta)
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r = cos(phi) * psiDot * cos(theta) - sin(phi) * thetaDot
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return Vector3(p, q, r)
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def BodyRatesToEarthRates(dcm, gyro):
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"""Convert the angular velocities from body frame to
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earth frame.
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all inputs and outputs are in radians/s
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returns a earth rate vector.
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"""
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from math import sin, cos, tan, fabs
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p = gyro.x
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q = gyro.y
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r = gyro.z
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(phi, theta, psi) = dcm.to_euler()
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phiDot = p + tan(theta) * (q * sin(phi) + r * cos(phi))
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thetaDot = q * cos(phi) - r * sin(phi)
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if fabs(cos(theta)) < 1.0e-20:
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theta += 1.0e-10
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psiDot = (q * sin(phi) + r * cos(phi)) / cos(theta)
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return Vector3(phiDot, thetaDot, psiDot)
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radius_of_earth = 6378100.0 # in meters
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def gps_newpos(lat, lon, bearing, distance):
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"""Extrapolate latitude/longitude given a heading and distance
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thanks to http://www.movable-type.co.uk/scripts/latlong.html .
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"""
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from math import sin, asin, cos, atan2, radians, degrees
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lat1 = radians(lat)
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lon1 = radians(lon)
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brng = radians(bearing)
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dr = distance / radius_of_earth
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lat2 = asin(sin(lat1) * cos(dr) +
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cos(lat1) * sin(dr) * cos(brng))
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lon2 = lon1 + atan2(sin(brng) * sin(dr) * cos(lat1),
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cos(dr) - sin(lat1) * sin(lat2))
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return (degrees(lat2), degrees(lon2))
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def gps_distance(lat1, lon1, lat2, lon2):
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"""Return distance between two points in meters,
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coordinates are in degrees
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thanks to http://www.movable-type.co.uk/scripts/latlong.html ."""
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lat1 = math.radians(lat1)
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lat2 = math.radians(lat2)
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lon1 = math.radians(lon1)
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lon2 = math.radians(lon2)
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dLat = lat2 - lat1
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dLon = lon2 - lon1
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a = math.sin(0.5 * dLat)**2 + math.sin(0.5 * dLon)**2 * math.cos(lat1) * math.cos(lat2)
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c = 2.0 * math.atan2(math.sqrt(a), math.sqrt(1.0 - a))
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return radius_of_earth * c
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def gps_bearing(lat1, lon1, lat2, lon2):
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"""Return bearing between two points in degrees, in range 0-360
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thanks to http://www.movable-type.co.uk/scripts/latlong.html ."""
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lat1 = math.radians(lat1)
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lat2 = math.radians(lat2)
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lon1 = math.radians(lon1)
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lon2 = math.radians(lon2)
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dLon = lon2 - lon1
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y = math.sin(dLon) * math.cos(lat2)
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x = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dLon)
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bearing = math.degrees(math.atan2(y, x))
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if bearing < 0:
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bearing += 360.0
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return bearing
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class Wind(object):
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"""A wind generation object."""
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def __init__(self, windstring, cross_section=0.1):
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a = windstring.split(',')
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if len(a) != 3:
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raise RuntimeError("Expected wind in speed,direction,turbulance form, not %s" % windstring)
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self.speed = float(a[0]) # m/s
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self.direction = float(a[1]) # direction the wind is going in
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self.turbulance = float(a[2]) # turbulance factor (standard deviation)
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# the cross-section of the aircraft to wind. This is multiplied by the
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# difference in the wind and the velocity of the aircraft to give the acceleration
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self.cross_section = cross_section
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# the time constant for the turbulance - the average period of the
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# changes over time
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self.turbulance_time_constant = 5.0
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# wind time record
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self.tlast = time.time()
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# initial turbulance multiplier
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self.turbulance_mul = 1.0
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def current(self, deltat=None):
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"""Return current wind speed and direction as a tuple
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speed is in m/s, direction in degrees."""
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if deltat is None:
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tnow = time.time()
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deltat = tnow - self.tlast
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self.tlast = tnow
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# update turbulance random walk
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w_delta = math.sqrt(deltat) * (1.0 - random.gauss(1.0, self.turbulance))
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w_delta -= (self.turbulance_mul - 1.0) * (deltat / self.turbulance_time_constant)
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self.turbulance_mul += w_delta
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speed = self.speed * math.fabs(self.turbulance_mul)
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return (speed, self.direction)
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# Calculate drag.
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def drag(self, velocity, deltat=None, testing=None):
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"""Return current wind force in Earth frame. The velocity parameter is
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a Vector3 of the current velocity of the aircraft in earth frame, m/s ."""
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from math import radians
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# (m/s, degrees) : wind vector as a magnitude and angle.
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(speed, direction) = self.current(deltat=deltat)
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# speed = self.speed
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# direction = self.direction
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# Get the wind vector.
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w = toVec(speed, radians(direction))
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obj_speed = velocity.length()
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# Compute the angle between the object vector and wind vector by taking
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# the dot product and dividing by the magnitudes.
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d = w.length() * obj_speed
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if d == 0:
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alpha = 0
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else:
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alpha = acos((w * velocity) / d)
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# Get the relative wind speed and angle from the object. Note that the
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# relative wind speed includes the velocity of the object; i.e., there
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# is a headwind equivalent to the object's speed even if there is no
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# absolute wind.
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(rel_speed, beta) = apparent_wind(speed, obj_speed, alpha)
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# Return the vector of the relative wind, relative to the coordinate
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# system.
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relWindVec = toVec(rel_speed, beta + atan2(velocity.y, velocity.x))
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# Combine them to get the acceleration vector.
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return Vector3(acc(relWindVec.x, drag_force(self, relWindVec.x)), acc(relWindVec.y, drag_force(self, relWindVec.y)), 0)
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def apparent_wind(wind_sp, obj_speed, alpha):
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"""http://en.wikipedia.org/wiki/Apparent_wind
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Returns apparent wind speed and angle of apparent wind. Alpha is the angle
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between the object and the true wind. alpha of 0 rads is a headwind; pi a
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tailwind. Speeds should always be positive."""
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delta = wind_sp * cos(alpha)
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x = wind_sp**2 + obj_speed**2 + 2 * obj_speed * delta
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rel_speed = sqrt(x)
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if rel_speed == 0:
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beta = pi
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else:
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beta = acos((delta + obj_speed) / rel_speed)
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return (rel_speed, beta)
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def drag_force(wind, sp):
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"""See http://en.wikipedia.org/wiki/Drag_equation
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Drag equation is F(a) = cl * p/2 * v^2 * a, where cl : drag coefficient
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(let's assume it's low, .e.g., 0.2), p : density of air (assume about 1
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kg/m^3, the density just over 1500m elevation), v : relative speed of wind
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(to the body), a : area acted on (this is captured by the cross_section
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parameter).
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So then we have
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F(a) = 0.2 * 1/2 * v^2 * cross_section = 0.1 * v^2 * cross_section."""
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return (sp**2.0) * 0.1 * wind.cross_section
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def acc(val, mag):
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|
""" Function to make the force vector. relWindVec is the direction the apparent
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wind comes *from*. We want to compute the accleration vector in the direction
|
|
the wind blows to."""
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if val == 0:
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return mag
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else:
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return (val / abs(val)) * (0 - mag)
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def toVec(magnitude, angle):
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"""Converts a magnitude and angle (radians) to a vector in the xy plane."""
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|
v = Vector3(magnitude, 0, 0)
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m = Matrix3()
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m.from_euler(0, 0, angle)
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return m.transposed() * v
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def constrain(value, minv, maxv):
|
|
"""Constrain a value to a range."""
|
|
if value < minv:
|
|
value = minv
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|
if value > maxv:
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|
value = maxv
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|
return value
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|
|
if __name__ == "__main__":
|
|
import doctest
|
|
doctest.testmod()
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