mirror of https://github.com/ArduPilot/ardupilot
530 lines
19 KiB
Python
530 lines
19 KiB
Python
#!/usr/bin/env python
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# Drive APMrover2 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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import time
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from common import AutoTest
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from common import MsgRcvTimeoutException
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from common import NotAchievedException
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from common import PreconditionFailedException
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from pysim import util
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from pymavlink import mavutil
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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,
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-105.22978898137808,
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1583.702759,
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246)
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class AutoTestRover(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(AutoTestRover, 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 = "APMrover2"
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def init(self):
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if self.frame is None:
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self.frame = 'rover'
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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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'APMrover2', 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("APMrover2-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" %
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connection_string)
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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 reset_and_arm(self):
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# """Reset RC, set to MANUAL and arm."""
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# self.mav.wait_heartbeat()
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# # ensure all sticks in the middle
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# self.set_rc_default()
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# self.mavproxy.send('switch 1\n')
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# self.mav.wait_heartbeat()
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# self.disarm_vehicle()
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# self.mav.wait_heartbeat()
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# self.arm_vehicle()
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#
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# # TEST ARM RADIO
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# def test_arm_motors_radio(self):
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# """Test Arming motors with radio."""
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# self.progress("Test arming motors with radio")
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# self.mavproxy.send('switch 6\n') # stabilize/manual mode
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# self.wait_mode('MANUAL')
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# self.mavproxy.send('rc 3 1500\n') # throttle at zero
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# self.mavproxy.send('rc 1 2000\n') # steer full right
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# self.mavproxy.expect('APM: Throttle armed')
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# self.mavproxy.send('rc 1 1500\n')
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#
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# self.mav.motors_armed_wait()
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# self.progress("MOTORS ARMED OK")
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# return True
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#
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# # TEST DISARM RADIO
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# def test_disarm_motors_radio(self):
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# """Test Disarm motors with radio."""
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# self.progress("Test disarming motors with radio")
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# self.mavproxy.send('switch 6\n') # stabilize/manual mode
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# self.wait_mode('MANUAL')
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# self.mavproxy.send('rc 3 1500\n') # throttle at zero
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# self.mavproxy.send('rc 1 1000\n') # steer full right
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# tstart = self.get_sim_time()
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# self.mav.wait_heartbeat()
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# timeout = 15
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# while self.get_sim_time() < tstart + timeout:
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# self.mav.wait_heartbeat()
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# if not self.mav.motors_armed():
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# disarm_delay = self.get_sim_time() - tstart
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# self.progress("MOTORS DISARMED OK WITH RADIO")
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# self.mavproxy.send('rc 1 1500\n') # steer full right
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# self.mavproxy.send('rc 4 1500\n') # yaw full right
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# self.progress("Disarm in %ss" % disarm_delay)
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# return True
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# self.progress("FAILED TO DISARM WITH RADIO")
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# return False
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#
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# # TEST AUTO DISARM
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# def test_autodisarm_motors(self):
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# """Test Autodisarm motors."""
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# self.progress("Test Autodisarming motors")
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# self.mavproxy.send('switch 6\n') # stabilize/manual mode
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# # NOT IMPLEMENTED ON ROVER
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# self.progress("MOTORS AUTODISARMED OK")
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# return True
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#
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# # TEST RC OVERRIDE
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# # TEST RC OVERRIDE TIMEOUT
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# def test_rtl(self, home, distance_min=5, timeout=250):
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# """Return, land."""
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# super(AutotestRover, self).test_rtl(home, distance_min, timeout)
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#
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# def test_mission(self, filename):
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# """Test a mission from a file."""
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# self.progress("Test mission %s" % filename)
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# num_wp = self.load_mission_from_file(filename)
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# self.mavproxy.send('wp set 1\n')
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# self.mav.wait_heartbeat()
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# self.mavproxy.send('switch 4\n') # auto mode
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# self.wait_mode('AUTO')
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# ret = self.wait_waypoint(0, num_wp-1, max_dist=5, timeout=500)
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#
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# if ret:
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# self.mavproxy.expect("Mission Complete")
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# self.mav.wait_heartbeat()
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# self.wait_mode('HOLD')
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# self.progress("test: MISSION COMPLETE: passed=%s" % ret)
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# return ret
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##########################################################
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# TESTS DRIVE
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##########################################################
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# Drive a square in manual mode
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def drive_square(self, side=50):
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"""Drive a square, Driving N then E ."""
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self.progress("TEST SQUARE")
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# use LEARNING Mode
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self.mavproxy.send('switch 5\n')
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self.wait_mode('MANUAL')
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# first aim north
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self.progress("\nTurn right towards north")
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self.reach_heading_manual(10)
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# save bottom left corner of box as waypoint
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self.progress("Save WP 1 & 2")
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self.save_wp()
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# pitch forward to fly north
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self.progress("\nGoing north %u meters" % side)
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self.reach_distance_manual(side)
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# save top left corner of square as waypoint
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self.progress("Save WP 3")
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self.save_wp()
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# roll right to fly east
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self.progress("\nGoing east %u meters" % side)
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self.reach_heading_manual(100)
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self.reach_distance_manual(side)
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# save top right corner of square as waypoint
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self.progress("Save WP 4")
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self.save_wp()
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# pitch back to fly south
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self.progress("\nGoing south %u meters" % side)
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self.reach_heading_manual(190)
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self.reach_distance_manual(side)
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# save bottom right corner of square as waypoint
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self.progress("Save WP 5")
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self.save_wp()
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# roll left to fly west
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self.progress("\nGoing west %u meters" % side)
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self.reach_heading_manual(280)
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self.reach_distance_manual(side)
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# save bottom left corner of square (should be near home) as waypoint
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self.progress("Save WP 6")
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self.save_wp()
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def drive_left_circuit(self):
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"""Drive a left circuit, 50m on a side."""
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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self.set_rc(3, 2000)
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self.progress("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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self.progress("Starting turn %u" % i)
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self.set_rc(1, 1000)
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self.wait_heading(270 - (90*i), accuracy=10)
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self.set_rc(1, 1500)
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self.progress("Starting leg %u" % i)
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self.wait_distance(50, accuracy=7)
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self.set_rc(3, 1500)
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self.progress("Circuit complete")
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# def test_throttle_failsafe(self, home, distance_min=10, side=60,
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# timeout=300):
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# """Fly east, Failsafe, return, land."""
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#
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# self.mavproxy.send('switch 6\n') # manual mode
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# self.wait_mode('MANUAL')
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# self.mavproxy.send("param set FS_ACTION 1\n")
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#
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# # first aim east
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# self.progress("turn east")
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# if not self.reach_heading_manual(135):
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# return False
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#
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# # fly east 60 meters
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# self.progress("# Going forward %u meters" % side)
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# if not self.reach_distance_manual(side):
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# return False
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#
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# # pull throttle low
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# self.progress("# Enter Failsafe")
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# self.mavproxy.send('rc 3 900\n')
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#
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# tstart = self.get_sim_time()
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# success = False
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# while self.get_sim_time() < tstart + timeout and not success:
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# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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# pos = self.mav.location()
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# home_distance = self.get_distance(home, pos)
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# self.progress("Alt: %u HomeDistance: %.0f" %
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# (m.alt, home_distance))
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# # check if we've reached home
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# if home_distance <= distance_min:
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# self.progress("RTL Complete")
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# success = True
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#
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# # reduce throttle
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# self.mavproxy.send('rc 3 1500\n')
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# self.mavproxy.expect('APM: Failsafe ended')
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# self.mavproxy.send('switch 2\n') # manual mode
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# self.mav.wait_heartbeat()
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# self.wait_mode('MANUAL')
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#
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# if success:
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# self.progress("Reached failsafe home OK")
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# return True
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# else:
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# self.progress("Failed to reach Home on failsafe RTL - "
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# "timed out after %u seconds" % timeout)
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# return False
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#################################################
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# AUTOTEST ALL
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#################################################
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def drive_mission(self, filename):
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"""Drive a mission from a file."""
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self.progress("Driving 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('Requesting [0-9]+ waypoints')
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self.mavproxy.send('switch 4\n') # auto mode
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self.set_rc(3, 1500)
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self.wait_mode('AUTO')
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self.wait_waypoint(1, 4, max_dist=5)
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self.wait_mode('HOLD')
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self.progress("Mission OK")
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def drive_mission_rover1(self):
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self.drive_mission(os.path.join(testdir, "rover1.txt"))
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def do_get_banner(self):
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self.mavproxy.send("long DO_SEND_BANNER 1\n")
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start = time.time()
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while True:
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m = self.mav.recv_match(type='STATUSTEXT',
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blocking=True,
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timeout=1)
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if m is not None and "ArduRover" in m.text:
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self.progress("banner received: %s" % m.text)
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return
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if time.time() - start > 10:
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break
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self.progress("banner not received")
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raise MsgRcvTimeoutException()
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def drive_brake_get_stopping_distance(self, speed):
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# measure our stopping distance:
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old_cruise_speed = self.get_parameter('CRUISE_SPEED')
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old_accel_max = self.get_parameter('ATC_ACCEL_MAX')
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# controller tends not to meet cruise speed (max of ~14 when 15
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# set), thus *1.2
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self.set_parameter('CRUISE_SPEED', speed*1.2)
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# at time of writing, the vehicle is only capable of 10m/s/s accel
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self.set_parameter('ATC_ACCEL_MAX', 15)
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self.mavproxy.send("mode STEERING\n")
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self.wait_mode('STEERING')
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self.set_rc(3, 2000)
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self.wait_groundspeed(15, 100)
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initial = self.mav.location()
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initial_time = time.time()
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while time.time() - initial_time < 2:
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# wait for a position update from the autopilot
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start = self.mav.location()
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if start != initial:
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break
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self.set_rc(3, 1500)
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self.wait_groundspeed(0, 0.2) # why do we not stop?!
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initial = self.mav.location()
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initial_time = time.time()
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while time.time() - initial_time < 2:
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# wait for a position update from the autopilot
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stop = self.mav.location()
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if stop != initial:
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break
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delta = self.get_distance(start, stop)
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self.set_parameter('CRUISE_SPEED', old_cruise_speed)
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self.set_parameter('ATC_ACCEL_MAX', old_accel_max)
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return delta
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def drive_brake(self):
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old_using_brake = self.get_parameter('ATC_BRAKE')
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old_cruise_speed = self.get_parameter('CRUISE_SPEED')
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self.set_parameter('CRUISE_SPEED', 15)
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self.set_parameter('ATC_BRAKE', 0)
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distance_without_brakes = self.drive_brake_get_stopping_distance(15)
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# brakes on:
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self.set_parameter('ATC_BRAKE', 1)
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distance_with_brakes = self.drive_brake_get_stopping_distance(15)
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# revert state:
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self.set_parameter('ATC_BRAKE', old_using_brake)
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self.set_parameter('CRUISE_SPEED', old_cruise_speed)
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delta = distance_without_brakes - distance_with_brakes
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if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
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self.progress("Brakes have negligible effect"
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"(with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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(distance_with_brakes,
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distance_without_brakes,
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delta))
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raise NotAchievedException()
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self.progress(
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"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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(distance_with_brakes, distance_without_brakes, delta))
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def drive_rtl_mission(self):
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mission_filepath = os.path.join(testdir,
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"ArduRover-Missions",
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"rtl.txt")
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self.mavproxy.send('wp load %s\n' % mission_filepath)
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self.mavproxy.expect('Flight plan received')
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self.mavproxy.send('switch 4\n') # auto mode
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self.set_rc(3, 1500)
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self.wait_mode('AUTO')
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self.mavproxy.expect('Executing RTL')
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m = self.mav.recv_match(type='NAV_CONTROLLER_OUTPUT',
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blocking=True,
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timeout=0.1)
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if m is None:
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self.progress("Did not receive NAV_CONTROLLER_OUTPUT message")
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raise MsgRcvTimeoutException()
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wp_dist_min = 5
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if m.wp_dist < wp_dist_min:
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self.progress("Did not start at least 5 metres from destination")
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raise PreconditionFailedException()
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self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" %
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(m.wp_dist, wp_dist_min,))
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self.wait_mode('HOLD')
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pos = self.mav.location()
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home_distance = self.get_distance(HOME, pos)
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home_distance_max = 5
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if home_distance > home_distance_max:
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self.progress("Did not get home (%u metres distant > %u)" %
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(home_distance, home_distance_max))
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raise NotAchievedException()
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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self.progress("RTL Mission OK")
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def test_servorelayevents(self):
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self.mavproxy.send("relay set 0 0\n")
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off = self.get_parameter("SIM_PIN_MASK")
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self.mavproxy.send("relay set 0 1\n")
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on = self.get_parameter("SIM_PIN_MASK")
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if on == off:
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self.progress("Pin mask unchanged after relay command")
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raise NotAchievedException()
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self.progress("Pin mask changed after relay command")
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def autotest(self):
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"""Autotest APMrover2 in SITL."""
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if not self.hasInit:
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self.init()
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self.progress("Started simulator")
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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.progress("Setting up RC parameters")
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self.set_rc_default()
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self.set_rc(8, 1800)
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self.progress("Waiting for GPS fix")
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self.mav.wait_gps_fix()
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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.mavproxy.send('switch 6\n') # Manual mode
|
|
self.wait_mode('MANUAL')
|
|
self.progress("Waiting reading for arm")
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
|
|
self.run_test("Drive an RTL Mission", self.drive_rtl_mission)
|
|
|
|
self.run_test("Learn/Drive Square with Ch7 option",
|
|
self.drive_square)
|
|
|
|
self.run_test("Drive Mission %s" % "rover1.txt",
|
|
self.drive_mission_rover1)
|
|
|
|
self.run_test("Drive Brake", self.drive_brake)
|
|
|
|
self.run_test("Disarm Vehicle", self.disarm_vehicle)
|
|
|
|
self.run_test("Get Banner", self.do_get_banner)
|
|
|
|
self.run_test("Get Capabilities",
|
|
self.do_get_autopilot_capabilities)
|
|
|
|
self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE",
|
|
self.do_set_mode_via_command_long)
|
|
|
|
self.run_test("Test ServoRelayEvents",
|
|
self.test_servorelayevents)
|
|
|
|
self.run_test("Download logs", lambda:
|
|
self.log_download(
|
|
self.buildlogs_path("APMrover2-log.bin")))
|
|
# if not drive_left_circuit(self):
|
|
# self.progress("Failed left circuit")
|
|
# failed = True
|
|
# if not drive_RTL(self):
|
|
# self.progress("Failed RTL")
|
|
# failed = True
|
|
|
|
except pexpect.TIMEOUT as e:
|
|
self.progress("Failed with timeout")
|
|
self.fail_list.append(("*timeout*", None))
|
|
|
|
self.close()
|
|
|
|
if len(self.fail_list):
|
|
self.progress("FAILED STEPS: %s" % self.fail_list)
|
|
return False
|
|
return True
|