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ardupilot/Tools/autotest/common.py

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'''
Common base class for each of the autotest suites
AP_FLAKE8_CLEAN
'''
from __future__ import print_function
import abc
import copy
import errno
import glob
import math
import os
import re
import shutil
import signal
import sys
import time
import traceback
import pexpect
import fnmatch
import operator
import numpy
import socket
import struct
import random
import tempfile
import threading
import enum
from MAVProxy.modules.lib import mp_util
from MAVProxy.modules.lib import mp_elevation
from pymavlink import mavparm
from pymavlink import mavwp, mavutil, DFReader
from pymavlink import mavextra
from pymavlink.rotmat import Vector3
from pymavlink import quaternion
from pymavlink.generator import mavgen
from pysim import util, vehicleinfo
try:
import queue as Queue
except ImportError:
import Queue
# Enumeration convenience class for mavlink POSITION_TARGET_TYPEMASK
class MAV_POS_TARGET_TYPE_MASK(enum.IntEnum):
POS_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE |
mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE |
mavutil.mavlink.POSITION_TARGET_TYPEMASK_Z_IGNORE)
VEL_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE |
mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE |
mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE)
ACC_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE |
mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE |
mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE)
FORCE_SET = mavutil.mavlink.POSITION_TARGET_TYPEMASK_FORCE_SET
YAW_IGNORE = mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE
YAW_RATE_IGNORE = mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE
POS_ONLY = VEL_IGNORE | ACC_IGNORE | YAW_IGNORE | YAW_RATE_IGNORE
LAST_BYTE = 0xF000
MAV_FRAMES_TO_TEST = [
mavutil.mavlink.MAV_FRAME_GLOBAL,
mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT
]
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
# Check python version for abstract base class
if sys.version_info[0] >= 3 and sys.version_info[1] >= 4:
ABC = abc.ABC
else:
ABC = abc.ABCMeta('ABC', (), {})
if sys.version_info[0] >= 3:
import io as StringIO # srsly, we just did that.
else:
import StringIO
try:
from itertools import izip as zip
except ImportError:
# probably python2
pass
class ErrorException(Exception):
"""Base class for other exceptions"""
pass
class AutoTestTimeoutException(ErrorException):
pass
if sys.version_info[0] < 3:
ConnectionResetError = AutoTestTimeoutException
class WaitModeTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given mode change."""
pass
class WaitAltitudeTimout(AutoTestTimeoutException):
"""Thrown when fails to achieve given altitude range."""
pass
class WaitGroundSpeedTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given ground speed range."""
pass
class WaitRollTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given roll in degrees."""
pass
class WaitPitchTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given pitch in degrees."""
pass
class WaitHeadingTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given heading."""
pass
class WaitDistanceTimeout(AutoTestTimeoutException):
"""Thrown when fails to attain distance"""
pass
class WaitLocationTimeout(AutoTestTimeoutException):
"""Thrown when fails to attain location"""
pass
class WaitWaypointTimeout(AutoTestTimeoutException):
"""Thrown when fails to attain waypoint ranges"""
pass
class SetRCTimeout(AutoTestTimeoutException):
"""Thrown when fails to send RC commands"""
pass
class MsgRcvTimeoutException(AutoTestTimeoutException):
"""Thrown when fails to receive an expected message"""
pass
class NotAchievedException(ErrorException):
"""Thrown when fails to achieve a goal"""
pass
class OldpymavlinkException(ErrorException):
"""Thrown when a new feature is required from pymavlink"""
pass
class YawSpeedNotAchievedException(NotAchievedException):
"""Thrown when fails to achieve given yaw speed."""
pass
class SpeedVectorNotAchievedException(NotAchievedException):
"""Thrown when fails to achieve given speed vector."""
pass
class PreconditionFailedException(ErrorException):
"""Thrown when a precondition for a test is not met"""
pass
class ArmedAtEndOfTestException(ErrorException):
"""Created when test left vehicle armed"""
pass
class Context(object):
def __init__(self):
self.parameters = []
self.sitl_commandline_customised = False
self.message_hooks = []
self.collections = {}
self.heartbeat_interval_ms = 1000
self.original_heartbeat_interval_ms = None
self.installed_scripts = []
self.installed_modules = []
self.overridden_message_rates = {}
# https://stackoverflow.com/questions/616645/how-do-i-duplicate-sys-stdout-to-a-log-file-in-python
class TeeBoth(object):
def __init__(self, name, mode, mavproxy_logfile, suppress_stdout=False):
self.suppress_stdout = suppress_stdout
self.file = open(name, mode)
self.stdout = sys.stdout
self.stderr = sys.stderr
self.mavproxy_logfile = mavproxy_logfile
self.mavproxy_logfile.set_fh(self)
sys.stdout = self
sys.stderr = self
def close(self):
sys.stdout = self.stdout
sys.stderr = self.stderr
self.mavproxy_logfile.set_fh(None)
self.mavproxy_logfile = None
self.file.close()
self.file = None
def write(self, data):
self.file.write(data)
if not self.suppress_stdout:
self.stdout.write(data)
def flush(self):
self.file.flush()
class MAVProxyLogFile(object):
def __init__(self):
self.fh = None
def close(self):
pass
def set_fh(self, fh):
self.fh = fh
def write(self, data):
if self.fh is not None:
self.fh.write(data)
else:
sys.stdout.write(data)
def flush(self):
if self.fh is not None:
self.fh.flush()
else:
sys.stdout.flush()
class Telem(object):
def __init__(self, destination_address, progress_function=None, verbose=False):
self.destination_address = destination_address
self.progress_function = progress_function
self.verbose = verbose
self.buffer = bytes()
self.connected = False
self.port = None
self.progress_log = ""
def progress(self, message):
message = "%s: %s" % (self.progress_tag(), message)
if self.progress_function is not None:
self.progress_function(message)
return
if not self.verbose:
self.progress_log += message
return
print(message)
def connect(self):
try:
self.connected = False
self.progress("Connecting to (%s:%u)" % self.destination_address)
if self.port is not None:
try:
self.port.close() # might be reopening
except Exception:
pass
self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.port.connect(self.destination_address)
self.port.setblocking(False)
self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
self.connected = True
self.progress("Connected")
except IOError as e:
self.progress("Failed to connect: %s" % str(e))
time.sleep(0.5)
return False
return True
def do_read(self):
try:
data = self.port.recv(1024)
except socket.error as e:
if e.errno not in [errno.EAGAIN, errno.EWOULDBLOCK]:
self.progress("Exception: %s" % str(e))
self.connected = False
return bytes()
if len(data) == 0:
self.progress("EOF")
self.connected = False
return bytes()
# self.progress("Read %u bytes" % len(data))
return data
def do_write(self, some_bytes):
try:
written = self.port.send(some_bytes)
except socket.error as e:
if e.errno in [errno.EAGAIN, errno.EWOULDBLOCK]:
return 0
self.progress("Exception: %s" % str(e))
raise
if written != len(some_bytes):
raise ValueError("Short write")
def update(self):
if not self.connected:
if not self.connect():
return
self.update_read()
class MSP_Generic(Telem):
def __init__(self, destination_address):
super(MSP_Generic, self).__init__(destination_address)
self.callback = None
self.STATE_IDLE = "IDLE"
self.STATE_WANT_HEADER_DOLLARS = "WANT_DOLLARS"
self.STATE_WANT_HEADER_M = "WANT_M"
self.STATE_WANT_HEADER_GT = "WANT_GT"
self.STATE_WANT_DATA_SIZE = "WANT_DATA_SIZE"
self.STATE_WANT_COMMAND = "WANT_COMMAND"
self.STATE_WANT_DATA = "WANT_DATA"
self.STATE_WANT_CHECKSUM = "WANT_CHECKSUM"
self.state = self.STATE_IDLE
def progress(self, message):
print("MSP: %s" % message)
def set_state(self, state):
# self.progress("Moving to state (%s)" % state)
self.state = state
def init_checksum(self, b):
self.checksum = 0
self.add_to_checksum(b)
def add_to_checksum(self, b):
self.checksum ^= (b & 0xFF)
def process_command(self, cmd, data):
if self.callback is not None:
self.callback(cmd, data)
else:
print("cmd=%s" % str(cmd))
def update_read(self):
for byte in self.do_read():
if sys.version_info[0] < 3:
c = byte[0]
byte = ord(c)
else:
c = chr(byte)
# print("Got (0x%02x) (%s) (%s) state=%s" % (byte, chr(byte), str(type(byte)), self.state))
if self.state == self.STATE_IDLE:
# reset state
self.set_state(self.STATE_WANT_HEADER_DOLLARS)
# deliberate fallthrough right here
if self.state == self.STATE_WANT_HEADER_DOLLARS:
if c == '$':
self.set_state(self.STATE_WANT_HEADER_M)
continue
if self.state == self.STATE_WANT_HEADER_M:
if c != 'M':
raise Exception("Malformed packet")
self.set_state(self.STATE_WANT_HEADER_GT)
continue
if self.state == self.STATE_WANT_HEADER_GT:
if c != '>':
raise Exception("Malformed packet")
self.set_state(self.STATE_WANT_DATA_SIZE)
continue
if self.state == self.STATE_WANT_DATA_SIZE:
self.data_size = byte
self.set_state(self.STATE_WANT_COMMAND)
self.data = bytearray()
self.checksum = 0
self.add_to_checksum(byte)
continue
if self.state == self.STATE_WANT_COMMAND:
self.command = byte
self.add_to_checksum(byte)
if self.data_size != 0:
self.set_state(self.STATE_WANT_DATA)
else:
self.set_state(self.STATE_WANT_CHECKSUM)
continue
if self.state == self.STATE_WANT_DATA:
self.add_to_checksum(byte)
self.data.append(byte)
if len(self.data) == self.data_size:
self.set_state(self.STATE_WANT_CHECKSUM)
continue
if self.state == self.STATE_WANT_CHECKSUM:
if self.checksum != byte:
raise Exception("Checksum fail (want=0x%02x calced=0x%02x" %
(byte, self.checksum))
self.process_command(self.command, self.data)
self.set_state(self.STATE_IDLE)
class MSP_DJI(MSP_Generic):
FRAME_GPS_RAW = 106
FRAME_ATTITUDE = 108
def __init__(self, destination_address):
super(MSP_DJI, self).__init__(destination_address)
self.callback = self.command_callback
self.frames = {}
class Frame(object):
def __init__(self, data):
self.data = data
def intn(self, offset, count):
ret = 0
for i in range(offset, offset+count):
ret = ret | (ord(self.data[i]) << ((i-offset)*8))
return ret
def int32(self, offset):
t = struct.unpack("<i", self.data[offset:offset+4])
return t[0]
def int16(self, offset):
t = struct.unpack("<h", self.data[offset:offset+2])
return t[0]
class FrameATTITUDE(Frame):
def roll(self):
'''roll in degrees'''
return self.int16(0) * 10
def pitch(self):
'''pitch in degrees'''
return self.int16(2) * 10
def yaw(self):
'''yaw in degrees'''
return self.int16(4)
class FrameGPS_RAW(Frame):
'''see gps_state_s'''
def fix_type(self):
return self.uint8(0)
def num_sats(self):
return self.uint8(1)
def lat(self):
return self.int32(2) / 1e7
def lon(self):
return self.int32(6) / 1e7
def LocationInt(self):
# other fields are available, I'm just lazy
return LocationInt(self.int32(2), self.int32(6), 0, 0)
def command_callback(self, frametype, data):
# print("X: %s %s" % (str(frametype), str(data)))
if frametype == MSP_DJI.FRAME_ATTITUDE:
frame = MSP_DJI.FrameATTITUDE(data)
elif frametype == MSP_DJI.FRAME_GPS_RAW:
frame = MSP_DJI.FrameGPS_RAW(data)
else:
return
self.frames[frametype] = frame
def get_frame(self, frametype):
return self.frames[frametype]
class LTM(Telem):
def __init__(self, destination_address):
super(LTM, self).__init__(destination_address)
self.HEADER1 = 0x24
self.HEADER2 = 0x54
self.FRAME_G = 0x47
self.FRAME_A = 0x41
self.FRAME_S = 0x53
self.frame_lengths = {
self.FRAME_G: 18,
self.FRAME_A: 10,
self.FRAME_S: 11,
}
self.frame_lengths = {
self.FRAME_G: 18,
self.FRAME_A: 10,
self.FRAME_S: 11,
}
self.data_by_id = {}
self.frames = {}
def g(self):
return self.frames.get(self.FRAME_G, None)
def a(self):
return self.frames.get(self.FRAME_A, None)
def s(self):
return self.frames.get(self.FRAME_S, None)
def progress_tag(self):
return "LTM"
def handle_data(self, dataid, value):
self.progress("%u=%u" % (dataid, value))
self.data_by_id[dataid] = value
def consume_frame(self):
b2 = self.buffer[2]
if sys.version_info.major < 3:
b2 = ord(b2)
frame_type = b2
frame_length = self.frame_lengths[frame_type]
# check frame CRC
crc = 0
count = 0
for c in self.buffer[3:frame_length-1]:
if sys.version_info.major < 3:
c = ord(c)
crc ^= c
count += 1
buffer_crc = self.buffer[frame_length-1]
if sys.version_info.major < 3:
buffer_crc = ord(buffer_crc)
if crc != buffer_crc:
raise NotAchievedException("Invalid checksum on frame type %s" % str(chr(frame_type)))
# self.progress("Received valid %s frame" % str(chr(frame_type)))
class Frame(object):
def __init__(self, buffer):
self.buffer = buffer
def intn(self, offset, count):
ret = 0
for i in range(offset, offset+count):
ret = ret | (ord(self.buffer[i]) << ((i-offset)*8))
return ret
def int32(self, offset):
t = struct.unpack("<i", self.buffer[offset:offset+4])
return t[0]
# return self.intn(offset, 4)
def int16(self, offset):
t = struct.unpack("<h", self.buffer[offset:offset+2])
return t[0]
# return self.intn(offset, 2)
class FrameG(Frame):
def __init__(self, buffer):
super(FrameG, self,).__init__(buffer)
def lat(self):
return self.int32(3)
def lon(self):
return self.int32(7)
def gndspeed(self):
ret = self.buffer[11]
if sys.version_info.major < 3:
ret = ord(ret)
return ret
def alt(self):
return self.int32(12)
def sats(self):
s = self.buffer[16]
if sys.version_info.major < 3:
s = ord(s)
return (s >> 2)
def fix_type(self):
s = self.buffer[16]
if sys.version_info.major < 3:
s = ord(s)
return s & 0b11
class FrameA(Frame):
def __init__(self, buffer):
super(FrameA, self,).__init__(buffer)
def pitch(self):
return self.int16(3)
def roll(self):
return self.int16(5)
def hdg(self):
return self.int16(7)
class FrameS(Frame):
def __init__(self, buffer):
super(FrameS, self,).__init__(buffer)
if frame_type == self.FRAME_G:
frame = FrameG(self.buffer[0:frame_length-1])
elif frame_type == self.FRAME_A:
frame = FrameA(self.buffer[0:frame_length-1])
elif frame_type == self.FRAME_S:
frame = FrameS(self.buffer[0:frame_length-1])
else:
raise NotAchievedException("Bad frame?!?!?!")
self.buffer = self.buffer[frame_length:]
self.frames[frame_type] = frame
def update_read(self):
self.buffer += self.do_read()
while len(self.buffer):
if len(self.buffer) == 0:
break
b0 = self.buffer[0]
if sys.version_info.major < 3:
b0 = ord(b0)
if b0 != self.HEADER1:
self.bad_chars += 1
self.buffer = self.buffer[1:]
continue
b1 = self.buffer[1]
if sys.version_info.major < 3:
b1 = ord(b1)
if b1 != self.HEADER2:
self.bad_chars += 1
self.buffer = self.buffer[1:]
continue
b2 = self.buffer[2]
if sys.version_info.major < 3:
b2 = ord(b2)
if b2 not in [self.FRAME_G, self.FRAME_A, self.FRAME_S]:
self.bad_chars += 1
self.buffer = self.buffer[1:]
continue
frame_len = self.frame_lengths[b2]
if len(self.buffer) < frame_len:
continue
self.consume_frame()
def get_data(self, dataid):
try:
return self.data_by_id[dataid]
except KeyError:
pass
return None
class CRSF(Telem):
def __init__(self, destination_address):
super(CRSF, self).__init__(destination_address)
self.dataid_vtx_frame = 0
self.dataid_vtx_telem = 1
self.dataid_vtx_unknown = 2
self.data_id_map = {
self.dataid_vtx_frame: bytearray([0xC8, 0x8, 0xF, 0xCE, 0x30, 0x8, 0x16, 0xE9, 0x0, 0x5F]),
self.dataid_vtx_telem: bytearray([0xC8, 0x7, 0x10, 0xCE, 0xE, 0x16, 0x65, 0x0, 0x1B]),
self.dataid_vtx_unknown: bytearray([0xC8, 0x9, 0x8, 0x0, 0x9E, 0x0, 0x0, 0x0, 0x0, 0x0, 0x95]),
}
def write_data_id(self, dataid):
self.do_write(self.data_id_map[dataid])
def progress_tag(self):
return "CRSF"
class DEVO(Telem):
def __init__(self, destination_address):
super(DEVO, self).__init__(destination_address)
self.HEADER = 0xAA
self.frame_length = 20
# frame is 'None' until we receive a frame with VALID header and checksum
self.frame = None
self.bad_chars = 0
def progress_tag(self):
return "DEVO"
def consume_frame(self):
# check frame checksum
checksum = 0
for c in self.buffer[:self.frame_length-1]:
if sys.version_info.major < 3:
c = ord(c)
checksum += c
checksum &= 0xff # since we receive 8 bit checksum
buffer_checksum = self.buffer[self.frame_length-1]
if sys.version_info.major < 3:
buffer_checksum = ord(buffer_checksum)
if checksum != buffer_checksum:
raise NotAchievedException("Invalid checksum")
class FRAME(object):
def __init__(self, buffer):
self.buffer = buffer
def int32(self, offset):
t = struct.unpack("<i", self.buffer[offset:offset+4])
return t[0]
def int16(self, offset):
t = struct.unpack("<h", self.buffer[offset:offset+2])
return t[0]
def lon(self):
return self.int32(1)
def lat(self):
return self.int32(5)
def alt(self):
return self.int32(9)
def speed(self):
return self.int16(13)
def temp(self):
return self.int16(15)
def volt(self):
return self.int16(17)
self.frame = FRAME(self.buffer[0:self.frame_length-1])
self.buffer = self.buffer[self.frame_length:]
def update_read(self):
self.buffer += self.do_read()
while len(self.buffer):
if len(self.buffer) == 0:
break
b0 = self.buffer[0]
if sys.version_info.major < 3:
b0 = ord(b0)
if b0 != self.HEADER:
self.bad_chars += 1
self.buffer = self.buffer[1:]
continue
if len(self.buffer) < self.frame_length:
continue
self.consume_frame()
class FRSky(Telem):
def __init__(self, destination_address, verbose=False):
super(FRSky, self).__init__(destination_address, verbose=verbose)
self.dataid_GPS_ALT_BP = 0x01
self.dataid_TEMP1 = 0x02
self.dataid_FUEL = 0x04
self.dataid_TEMP2 = 0x05
self.dataid_GPS_ALT_AP = 0x09
self.dataid_BARO_ALT_BP = 0x10
self.dataid_GPS_SPEED_BP = 0x11
self.dataid_GPS_LONG_BP = 0x12
self.dataid_GPS_LAT_BP = 0x13
self.dataid_GPS_COURS_BP = 0x14
self.dataid_GPS_SPEED_AP = 0x19
self.dataid_GPS_LONG_AP = 0x1A
self.dataid_GPS_LAT_AP = 0x1B
self.dataid_BARO_ALT_AP = 0x21
self.dataid_GPS_LONG_EW = 0x22
self.dataid_GPS_LAT_NS = 0x23
self.dataid_CURRENT = 0x28
self.dataid_VFAS = 0x39
class FRSkyD(FRSky):
def __init__(self, destination_address):
super(FRSkyD, self).__init__(destination_address)
self.state_WANT_START_STOP_D = 16,
self.state_WANT_ID = 17
self.state_WANT_BYTE1 = 18
self.state_WANT_BYTE2 = 19
self.START_STOP_D = 0x5E
self.BYTESTUFF_D = 0x5D
self.state = self.state_WANT_START_STOP_D
self.data_by_id = {}
self.bad_chars = 0
def progress_tag(self):
return "FRSkyD"
def handle_data(self, dataid, value):
self.progress("%u=%u" % (dataid, value))
self.data_by_id[dataid] = value
def update_read(self):
self.buffer += self.do_read()
consume = None
while len(self.buffer):
if consume is not None:
self.buffer = self.buffer[consume:]
if len(self.buffer) == 0:
break
consume = 1
if sys.version_info.major >= 3:
b = self.buffer[0]
else:
b = ord(self.buffer[0])
if self.state == self.state_WANT_START_STOP_D:
if b != self.START_STOP_D:
# we may come into a stream mid-way, so we can't judge
self.bad_chars += 1
continue
self.state = self.state_WANT_ID
continue
elif self.state == self.state_WANT_ID:
self.dataid = b
self.state = self.state_WANT_BYTE1
continue
elif self.state in [self.state_WANT_BYTE1, self.state_WANT_BYTE2]:
if b == 0x5D:
# byte-stuffed
if len(self.buffer) < 2:
# try again in a little while
consume = 0
return
if ord(self.buffer[1]) == 0x3E:
b = self.START_STOP_D
elif ord(self.buffer[1]) == 0x3D:
b = self.BYTESTUFF_D
else:
raise ValueError("Unknown stuffed byte")
consume = 2
if self.state == self.state_WANT_BYTE1:
self.b1 = b
self.state = self.state_WANT_BYTE2
continue
data = self.b1 | b << 8
self.handle_data(self.dataid, data)
self.state = self.state_WANT_START_STOP_D
def get_data(self, dataid):
try:
return self.data_by_id[dataid]
except KeyError:
pass
return None
class SPortPacket(object):
def __init__(self):
self.START_STOP_SPORT = 0x7E
self.BYTESTUFF_SPORT = 0x7D
class SPortUplinkPacket(SPortPacket):
def __init__(self, appid0, appid1, data0, data1, data2, data3):
super(SPortUplinkPacket, self).__init__()
self.appid0 = appid0
self.appid1 = appid1
self.data0 = data0
self.data1 = data1
self.data2 = data2
self.data3 = data3
self.SENSOR_ID_UPLINK_ID = 0x0D
self.SPORT_UPLINK_FRAME = 0x30
self.uplink_id = self.SENSOR_ID_UPLINK_ID
self.frame = self.SPORT_UPLINK_FRAME
def packed(self):
return struct.pack(
'<BBBBBBBB',
self.uplink_id,
self.frame,
self.appid0 & 0xff,
self.appid1 & 0xff,
self.data0 & 0xff,
self.data1 & 0xff,
self.data2 & 0xff,
self.data3 & 0xff,
)
def update_checksum(self, byte):
self.checksum += byte
self.checksum += self.checksum >> 8
self.checksum &= 0xFF
def checksum(self):
self.checksum = 0
self.update_checksum(self.frame & 0xff)
self.update_checksum(self.appid0 & 0xff)
self.update_checksum(self.appid1 & 0xff)
self.update_checksum(self.data0 & 0xff)
self.update_checksum(self.data1 & 0xff)
self.update_checksum(self.data2 & 0xff)
self.update_checksum(self.data3 & 0xff)
self.checksum = 0xff - ((self.checksum & 0xff) + (self.checksum >> 8))
return self.checksum & 0xff
def for_wire(self):
out = bytearray()
out.extend(self.packed())
out.extend(struct.pack('<B', self.checksum()))
stuffed = bytearray()
stuffed.extend(struct.pack('<B', self.START_STOP_SPORT))
for pbyte in out:
if pbyte in [self.BYTESTUFF_SPORT,
self.START_STOP_SPORT]:
# bytestuff
stuffed.append(self.BYTESTUFF_SPORT)
stuffed.append(pbyte ^ self.SPORT_FRAME_XOR)
else:
stuffed.append(pbyte)
return stuffed
class SPortPollPacket(SPortPacket):
def __init__(self, sensor):
super(SPortPollPacket, self).__init__()
self.sensor = sensor
def for_wire(self):
return struct.pack(
'<BB',
self.START_STOP_SPORT,
self.sensor & 0xff,
)
class MAVliteMessage(object):
def __init__(self, msgid, body):
self.msgid = msgid
self.body = body
self.SENSOR_ID_UPLINK_ID = 0x0D
self.SPORT_UPLINK_FRAME = 0x30
def checksum_bytes(self, some_bytes):
checksum = 0
for b in some_bytes:
checksum += b
checksum += checksum >> 8
checksum &= 0xFF
return checksum
def to_sport_packets(self):
ret = []
all_bytes = bytearray([len(self.body), self.msgid])
all_bytes.extend(self.body)
# insert sequence numbers:
seq = 0
sequenced = bytearray()
while len(all_bytes):
chunk = all_bytes[0:5]
all_bytes = all_bytes[5:]
sequenced.append(seq)
sequenced.extend(chunk)
seq += 1
# we may need another sport packet just for the checksum:
if len(sequenced) % 6 == 0:
sequenced.append(seq)
seq += 1
checksum = self.checksum_bytes(sequenced)
sequenced.append(checksum)
while len(sequenced):
chunk = sequenced[0:6]
sequenced = sequenced[6:]
chunk.extend([0] * (6-len(chunk))) # pad to 6
packet = SPortUplinkPacket(
*chunk
)
ret.append(packet)
return ret
class SPortToMAVlite(object):
def __init__(self):
self.state_WANT_LEN = "want len"
self.state_WANT_MSGID = "want msgid"
self.state_WANT_PAYLOAD = "want payload"
self.state_WANT_CHECKSUM = "want checksum"
self.state_MESSAGE_RECEIVED = "message received"
self.reset()
def progress(self, message):
print("SPortToMAVLite: %s" % message)
def reset(self):
self.want_seq = 0
self.all_bytes = bytearray()
self.payload = bytearray()
self.state = self.state_WANT_LEN
def checksum_bytes(self, some_bytes):
checksum = 0
for b in some_bytes:
checksum += b
checksum += checksum >> 8
checksum &= 0xFF
return checksum
def downlink_handler(self, some_bytes):
'''adds some_bytes into a mavlite message'''
if some_bytes[0] == 0x00:
self.reset()
if some_bytes[0] != self.want_seq:
raise NotAchievedException("Unexpected seqno; want=%u got=%u" %
(self.want_seq, some_bytes[0]))
self.all_bytes.append(some_bytes[0])
self.want_seq += 1
for byte in some_bytes[1:]:
if self.state == self.state_WANT_LEN:
self.payload_len = byte
self.all_bytes.append(byte)
self.state = self.state_WANT_MSGID
continue
if self.state == self.state_WANT_MSGID:
self.msgid = byte
self.all_bytes.append(byte)
if self.payload_len == 0:
self.state = self.state_WANT_CHECKSUM
else:
self.state = self.state_WANT_PAYLOAD
continue
if self.state == self.state_WANT_PAYLOAD:
self.payload.append(byte)
self.all_bytes.append(byte)
if len(self.payload) == self.payload_len:
self.state = self.state_WANT_CHECKSUM
continue
if self.state == self.state_WANT_CHECKSUM:
calculated_checksum = self.checksum_bytes(self.all_bytes)
if calculated_checksum != byte:
raise Exception("Checksum failure (calc=%u) (recv=%u)" % (calculated_checksum, byte))
self.state = self.state_MESSAGE_RECEIVED
break
def get_message(self):
if self.state != self.state_MESSAGE_RECEIVED:
raise Exception("Wrong state")
return MAVliteMessage(self.msgid, self.payload)
class FRSkySPort(FRSky):
def __init__(self, destination_address, verbose=True, get_time=time.time):
super(FRSkySPort, self).__init__(
destination_address,
verbose=verbose
)
self.get_time = get_time
self.state_SEND_POLL = "sendpoll"
self.state_WANT_FRAME_TYPE = "want_frame_type"
self.state_WANT_ID1 = "want_id1"
self.state_WANT_ID2 = "want id2"
self.state_WANT_DATA = "want data"
self.state_WANT_CRC = "want crc"
self.START_STOP_SPORT = 0x7E
self.BYTESTUFF_SPORT = 0x7D
self.SPORT_DATA_FRAME = 0x10
self.SPORT_DOWNLINK_FRAME = 0x32
self.SPORT_FRAME_XOR = 0x20
self.SENSOR_ID_VARIO = 0x00 # Sensor ID 0
self.SENSOR_ID_FAS = 0x22 # Sensor ID 2
self.SENSOR_ID_GPS = 0x83 # Sensor ID 3
self.SENSOR_ID_RPM = 0xE4 # Sensor ID 4
self.SENSOR_ID_SP2UR = 0xC6 # Sensor ID 6
self.SENSOR_ID_27 = 0x1B # Sensor ID 27
# MAVlite support:
self.SENSOR_ID_DOWNLINK1_ID = 0x34
self.SENSOR_ID_DOWNLINK2_ID = 0x67
self.SENSOR_ID_UPLINK_ID = 0x0D
self.state = self.state_WANT_FRAME_TYPE
self.data_by_id = {}
self.dataid_counts = {}
self.bad_chars = 0
self.poll_sent = 0
self.sensor_id_poll_counts = {}
self.id_descriptions = {
0x5000: "status text (dynamic)",
0x5006: "Attitude and range (dynamic)",
0x800: "GPS lat or lon (600 with 1 sensor)",
0x5005: "Vel and Yaw",
0x5001: "AP status",
0x5002: "GPS Status",
0x5004: "Home",
0x5008: "Battery 2 status",
0x5003: "Battery 1 status",
0x5007: "parameters",
0x500A: "rpm",
0x500B: "terrain",
0x500C: "wind",
# SPort non-passthrough:
0x082F: "GALT", # gps altitude integer cm
0x040F: "TMP1", # Tmp1
0x060F: "Fuel", # fuel % 0-100
0x041F: "TMP2", # Tmp2
0x010F: "ALT", # baro alt cm
0x083F: "GSPD", # gps speed integer mm/s
0x084F: "HDG", # yaw in cd
0x020F: "CURR", # current dA
0x011F: "VSPD", # vertical speed cm/s
0x021F: "VFAS", # battery 1 voltage cV
# 0x800: "GPS", ## comments as duplicated dictrionary key
0x050E: "RPM1",
0x34: "DOWNLINK1_ID",
0x67: "DOWNLINK2_ID",
0x0D: "UPLINK_ID",
}
self.sensors_to_poll = [
self.SENSOR_ID_VARIO,
self.SENSOR_ID_FAS,
self.SENSOR_ID_GPS,
self.SENSOR_ID_RPM,
self.SENSOR_ID_SP2UR,
]
self.next_sensor_id_to_poll = 0 # offset into sensors_to_poll
self.data_downlink_handler = None
self.last_poll_sensor = None
self.last_data_time = None
def progress_tag(self):
return "FRSkySPort"
def handle_data_downlink(self, some_bytes):
self.progress("DOWNLINK %s" % (str(some_bytes),))
if self.data_downlink_handler is not None:
self.data_downlink_handler(some_bytes)
self.last_data_time = self.get_time()
def handle_data(self, dataid, value):
if dataid not in self.id_descriptions:
raise KeyError("dataid 0x%02x" % dataid)
self.progress("%s (0x%x)=%u" % (self.id_descriptions[dataid], dataid, value))
self.data_by_id[dataid] = value
if dataid not in self.dataid_counts:
self.dataid_counts[dataid] = 0
self.dataid_counts[dataid] += 1
self.last_data_time = self.get_time()
def dump_dataid_counts_as_progress_messages(self):
for dataid in self.dataid_counts:
self.progress("0x%x: %u (%s)" % (dataid, self.dataid_counts[dataid], self.id_descriptions[dataid]))
def dump_sensor_id_poll_counts_as_progress_messages(self):
for sensor_id in self.sensor_id_poll_counts:
self.progress("(0x%x): %u" % (sensor_id, self.sensor_id_poll_counts[sensor_id]))
def read_bytestuffed_byte(self):
if sys.version_info.major >= 3:
b = self.buffer[0]
else:
b = ord(self.buffer[0])
if b == 0x7D:
# byte-stuffed
if len(self.buffer) < 2:
self.consume = 0
return None
self.consume = 2
if sys.version_info.major >= 3:
b2 = self.buffer[1]
else:
b2 = ord(self.buffer[1])
if b2 == 0x5E:
return self.START_STOP_SPORT
if b2 == 0x5D:
return self.BYTESTUFF_SPORT
raise ValueError("Unknown stuffed byte (0x%02x)" % b2)
return b
def calc_crc(self, byte):
self.crc += byte
self.crc += self.crc >> 8
self.crc &= 0xFF
def next_sensor(self):
ret = self.sensors_to_poll[self.next_sensor_id_to_poll]
self.next_sensor_id_to_poll += 1
if self.next_sensor_id_to_poll >= len(self.sensors_to_poll):
self.next_sensor_id_to_poll = 0
return ret
def check_poll(self):
now = self.get_time()
# self.progress("check poll (%u)" % now)
# sometimes ArduPilot will not respond to a poll - for
# example, if you poll an unhealthy RPM sensor then we will
# *never* get a response back. So we must re-poll (which
# moves onto the next sensor):
if now - self.poll_sent > 5:
if self.last_poll_sensor is None:
self.progress("Re-polling (last poll sensor was None)")
else:
msg = ("Re-polling (last_poll_sensor=0x%02x state=%s)" %
(self.last_poll_sensor, self.state))
self.progress(msg)
if self.state != self.state_WANT_FRAME_TYPE:
raise ValueError("Expected to be wanting a frame type when repolling (state=%s)" % str(self.state))
self.state = self.state_SEND_POLL
if self.state == self.state_SEND_POLL:
sensor_id = self.next_sensor()
self.progress("Sending poll for 0x%02x" % sensor_id)
self.last_poll_sensor = sensor_id
if sensor_id not in self.sensor_id_poll_counts:
self.sensor_id_poll_counts[sensor_id] = 0
self.sensor_id_poll_counts[sensor_id] += 1
packet = SPortPollPacket(sensor_id)
self.send_sport_packet(packet)
self.state = self.state_WANT_FRAME_TYPE
self.poll_sent = now
def send_sport_packets(self, packets):
for packet in packets:
self.send_sport_packet(packet)
def send_sport_packet(self, packet):
stuffed = packet.for_wire()
self.progress("Sending (%s) (%u)" %
(["0x%02x" % x for x in bytearray(stuffed)], len(stuffed)))
self.port.sendall(stuffed)
def send_mavlite_param_request_read(self, parameter_name):
mavlite_msg = MAVliteMessage(
mavutil.mavlink.MAVLINK_MSG_ID_PARAM_REQUEST_READ,
bytearray(parameter_name.encode())
)
packets = mavlite_msg.to_sport_packets()
self.send_sport_packets(packets)
def send_mavlite_param_set(self, parameter_name, value):
out = bytearray(struct.pack("<f", value))
out.extend(parameter_name.encode())
mavlite_msg = MAVliteMessage(
mavutil.mavlink.MAVLINK_MSG_ID_PARAM_SET,
out
)
packets = mavlite_msg.to_sport_packets()
self.send_sport_packets(packets)
def send_mavlite_command_long(
self,
command,
p1=None,
p2=None,
p3=None,
p4=None,
p5=None,
p6=None,
p7=None,
):
params = bytearray()
seen_none = False
for p in p1, p2, p3, p4, p5, p6, p7:
if p is None:
seen_none = True
continue
if seen_none:
raise ValueError("Can't have values after Nones!")
params.extend(bytearray(struct.pack("<f", p)))
out = bytearray(struct.pack("<H", command)) # first two bytes are command-id
options = len(params) // 4 # low-three-bits is parameter count
out.extend(bytearray(struct.pack("<B", options))) # second byte is options
out.extend(params) # then the float values
mavlite_msg = MAVliteMessage(
mavutil.mavlink.MAVLINK_MSG_ID_COMMAND_LONG,
out
)
packets = mavlite_msg.to_sport_packets()
self.send_sport_packets(packets)
def update(self):
if not self.connected:
if not self.connect():
self.progress("Failed to connect")
return
self.check_poll()
self.do_sport_read()
def do_sport_read(self):
self.buffer += self.do_read()
self.consume = None
while len(self.buffer):
if self.consume is not None:
self.buffer = self.buffer[self.consume:]
if len(self.buffer) == 0:
break
self.consume = 1
if sys.version_info.major >= 3:
b = self.buffer[0]
else:
b = ord(self.buffer[0])
# self.progress("Have (%s) bytes state=%s b=0x%02x" % (str(len(self.buffer)), str(self.state), b));
if self.state == self.state_WANT_FRAME_TYPE:
if b in [self.SPORT_DATA_FRAME, self.SPORT_DOWNLINK_FRAME]:
self.frame = b
self.crc = 0
self.calc_crc(b)
self.state = self.state_WANT_ID1
continue
# we may come into a stream mid-way, so we can't judge
self.progress("############# Bad char %x" % b)
raise ValueError("Bad char (0x%02x)" % b)
self.bad_chars += 1
continue
elif self.state == self.state_WANT_ID1:
self.id1 = self.read_bytestuffed_byte()
if self.id1 is None:
break
self.calc_crc(self.id1)
self.state = self.state_WANT_ID2
continue
elif self.state == self.state_WANT_ID2:
self.id2 = self.read_bytestuffed_byte()
if self.id2 is None:
break
self.calc_crc(self.id2)
self.state = self.state_WANT_DATA
self.data_bytes = []
self.data = 0
continue
elif self.state == self.state_WANT_DATA:
data_byte = self.read_bytestuffed_byte()
if data_byte is None:
break
self.calc_crc(data_byte)
self.data = self.data | (data_byte << (8*(len(self.data_bytes))))
self.data_bytes.append(data_byte)
if len(self.data_bytes) == 4:
self.state = self.state_WANT_CRC
continue
elif self.state == self.state_WANT_CRC:
crc = self.read_bytestuffed_byte()
if crc is None:
break
self.crc = 0xFF - self.crc
dataid = (self.id2 << 8) | self.id1
if self.crc != crc:
self.progress("Incorrect frsky checksum (received=%02x calculated=%02x id=0x%x)" % (crc, self.crc, dataid))
# raise ValueError("Incorrect frsky checksum (want=%02x got=%02x id=0x%x)" % (crc, self.crc, dataid))
else:
if self.frame == self.SPORT_DOWNLINK_FRAME:
self.handle_data_downlink([
self.id1,
self.id2,
self.data_bytes[0],
self.data_bytes[1],
self.data_bytes[2],
self.data_bytes[3]]
)
else:
self.handle_data(dataid, self.data)
self.state = self.state_SEND_POLL
elif self.state == self.state_SEND_POLL:
# this is done in check_poll
self.progress("in send_poll state")
pass
else:
raise ValueError("Unknown state (%s)" % self.state)
def get_data(self, dataid):
try:
return self.data_by_id[dataid]
except KeyError:
pass
return None
class FRSkyPassThrough(FRSkySPort):
def __init__(self, destination_address, get_time=time.time):
super(FRSkyPassThrough, self).__init__(destination_address,
get_time=get_time)
self.sensors_to_poll = [self.SENSOR_ID_27]
def progress_tag(self):
return "FRSkyPassthrough"
class LocationInt(object):
def __init__(self, lat, lon, alt, yaw):
self.lat = lat
self.lon = lon
self.alt = alt
self.yaw = yaw
class Test(object):
'''a test definition - information about a test'''
def __init__(self, function, kwargs={}, attempts=1, speedup=None):
self.name = function.__name__
self.description = function.__doc__
if self.description is None:
raise ValueError("%s is missing a docstring" % self.name)
self.function = function
self.kwargs = kwargs
self.attempts = attempts
self.speedup = speedup
class Result(object):
'''a test result - pass, fail, exception, runtime, ....'''
def __init__(self, test):
self.test = test
self.reason = None
self.exception = None
self.debug_filename = None
# self.passed = False
def __str__(self):
ret = " %s (%s)" % (self.test.name, self.test.description)
if self.passed:
return ret + " OK"
if self.reason is not None:
ret += " (" + self.reason + ")"
if self.exception is not None:
ret += " (" + str(self.exception) + ")"
if self.debug_filename is not None:
ret += " (see " + self.debug_filename + ")"
return ret
class AutoTest(ABC):
"""Base abstract class.
It implements the common function for all vehicle types.
"""
def __init__(self,
binary,
valgrind=False,
callgrind=False,
gdb=False,
gdb_no_tui=False,
speedup=None,
frame=None,
params=None,
gdbserver=False,
lldb=False,
breakpoints=[],
disable_breakpoints=False,
viewerip=None,
use_map=False,
_show_test_timings=False,
logs_dir=None,
force_ahrs_type=None,
replay=False,
sup_binaries=[],
reset_after_every_test=False,
force_32bit=False,
ubsan=False,
ubsan_abort=False,
num_aux_imus=0,
dronecan_tests=False,
build_opts={}):
self.start_time = time.time()
if binary is None:
raise ValueError("Should always have a binary")
self.binary = binary
self.valgrind = valgrind
self.callgrind = callgrind
self.gdb = gdb
self.gdb_no_tui = gdb_no_tui
self.lldb = lldb
self.frame = frame
self.params = params
self.gdbserver = gdbserver
self.breakpoints = breakpoints
self.disable_breakpoints = disable_breakpoints
self.speedup = speedup
if self.speedup is None:
self.speedup = self.default_speedup()
self.sup_binaries = sup_binaries
self.reset_after_every_test = reset_after_every_test
self.force_32bit = force_32bit
self.ubsan = ubsan
self.ubsan_abort = ubsan_abort
self.build_opts = build_opts
self.num_aux_imus = num_aux_imus
self.mavproxy = None
self._mavproxy = None # for auto-cleanup on failed tests
self.mav = None
self.viewerip = viewerip
self.use_map = use_map
self.contexts = []
self.context_push()
self.buildlog = None
self.copy_tlog = False
self.logfile = None
self.max_set_rc_timeout = 0
self.last_wp_load = 0
self.forced_post_test_sitl_reboots = 0
self.run_tests_called = False
self._show_test_timings = _show_test_timings
self.test_timings = dict()
self.total_waiting_to_arm_time = 0
self.waiting_to_arm_count = 0
self.force_ahrs_type = force_ahrs_type
self.replay = replay
if self.force_ahrs_type is not None:
self.force_ahrs_type = int(self.force_ahrs_type)
self.logs_dir = logs_dir
self.timesync_number = 137
self.last_progress_sent_as_statustext = None
self.last_heartbeat_time_ms = None
self.last_heartbeat_time_wc_s = 0
self.in_drain_mav = False
self.tlog = None
self.rc_thread = None
self.rc_thread_should_quit = False
self.rc_queue = Queue.Queue()
self.expect_list = []
self.start_mavproxy_count = 0
self.last_sim_time_cached = 0
self.last_sim_time_cached_wallclock = 0
# to autopilot we do not want to go to the internet for tiles,
# usually. Set this to False to gather tiles from internet in
# the cae there are new tiles required, then add them to the
# repo and set this back to false:
self.terrain_in_offline_mode = True
self.elevationmodel = mp_elevation.ElevationModel(
cachedir=util.reltopdir("Tools/autotest/tilecache/srtm"),
offline=self.terrain_in_offline_mode
)
self.terrain_data_messages_sent = 0 # count of messages back
self.dronecan_tests = dronecan_tests
self.statustext_id = 1
def __del__(self):
if self.rc_thread is not None:
self.progress("Joining RC thread in __del__")
self.rc_thread_should_quit = True
self.rc_thread.join()
self.rc_thread = None
def default_speedup(self):
return 8
def progress(self, text, send_statustext=True):
"""Display autotest progress text."""
delta_time = time.time() - self.start_time
formatted_text = "AT-%06.1f: %s" % (delta_time, text)
print(formatted_text)
if (send_statustext and
self.mav is not None and
self.mav.port is not None and
self.last_progress_sent_as_statustext != text):
self.send_statustext(formatted_text)
self.last_progress_sent_as_statustext = text
# following two functions swiped from autotest.py:
@staticmethod
def buildlogs_dirpath():
return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
def sitl_home(self):
HOME = self.sitl_start_location()
return "%f,%f,%u,%u" % (HOME.lat,
HOME.lng,
HOME.alt,
HOME.heading)
def mavproxy_version(self):
'''return the current version of mavproxy as a tuple e.g. (1,8,8)'''
return util.MAVProxy_version()
def mavproxy_version_gt(self, major, minor, point):
if os.getenv("AUTOTEST_FORCE_MAVPROXY_VERSION", None) is not None:
return True
(got_major, got_minor, got_point) = self.mavproxy_version()
self.progress("Got: %s.%s.%s" % (got_major, got_minor, got_point))
if got_major > major:
return True
elif got_major < major:
return False
if got_minor > minor:
return True
elif got_minor < minor:
return False
return got_point > point
def open_mavproxy_logfile(self):
return MAVProxyLogFile()
def buildlogs_path(self, path):
"""Return a string representing path in the buildlogs directory."""
bits = [self.buildlogs_dirpath()]
if isinstance(path, list):
bits.extend(path)
else:
bits.append(path)
return os.path.join(*bits)
def sitl_streamrate(self):
"""Allow subclasses to override SITL streamrate."""
return 10
def adjust_ardupilot_port(self, port):
'''adjust port in case we do not wish to use the default range (5760 and 5501 etc)'''
return port
def spare_network_port(self, offset=0):
'''returns a network port which should be able to be bound'''
if offset > 2:
raise ValueError("offset too large")
return 8000 + offset
def autotest_connection_string_to_ardupilot(self):
return "tcp:127.0.0.1:%u" % self.adjust_ardupilot_port(5760)
def sitl_rcin_port(self, offset=0):
if offset > 2:
raise ValueError("offset too large")
return 5501 + offset
def mavproxy_options(self):
"""Returns options to be passed to MAVProxy."""
ret = [
'--streamrate=%u' % self.sitl_streamrate(),
'--target-system=%u' % self.sysid_thismav(),
'--target-component=1',
]
if self.viewerip:
ret.append("--out=%s:14550" % self.viewerip)
if self.use_map:
ret.append('--map')
return ret
def vehicleinfo_key(self):
return self.log_name()
def repeatedly_apply_parameter_file(self, filepath):
if False:
return self.repeatedly_apply_parameter_file_mavproxy(filepath)
parameters = mavparm.MAVParmDict()
# correct_parameters = set()
if not parameters.load(filepath):
raise ValueError("Param load failed")
param_dict = {}
for p in parameters.keys():
param_dict[p] = parameters[p]
self.set_parameters(param_dict)
def repeatedly_apply_parameter_file_mavproxy(self, filepath):
'''keep applying a parameter file until no parameters changed'''
for i in range(0, 3):
self.mavproxy.send("param load %s\n" % filepath)
while True:
line = self.mavproxy.readline()
match = re.match(".*Loaded [0-9]+ parameters.*changed ([0-9]+)",
line)
if match is not None:
if int(match.group(1)) == 0:
return
break
raise NotAchievedException()
def apply_defaultfile_parameters(self):
"""Apply parameter file."""
self.progress("Applying default parameters file")
# setup test parameters
if self.params is None:
self.params = self.model_defaults_filepath(self.frame)
for x in self.params:
self.repeatedly_apply_parameter_file(x)
def count_lines_in_filepath(self, filepath):
return len([i for i in open(filepath)])
def count_expected_fence_lines_in_filepath(self, filepath):
count = 0
is_qgc = False
for i in open(filepath):
i = re.sub("#.*", "", i) # trim comments
if i.isspace():
# skip empty lines
continue
if re.match("QGC", i):
# skip QGC header line
is_qgc = True
continue
count += 1
if is_qgc:
count += 2 # file doesn't include return point + closing point
return count
def load_fence_using_mavproxy(self, mavproxy, filename):
self.set_parameter("FENCE_TOTAL", 0)
filepath = os.path.join(testdir, self.current_test_name_directory, filename)
count = self.count_expected_fence_lines_in_filepath(filepath)
mavproxy.send('fence load %s\n' % filepath)
# self.mavproxy.expect("Loaded %u (geo-)?fence" % count)
tstart = self.get_sim_time_cached()
while True:
t2 = self.get_sim_time_cached()
if t2 - tstart > 10:
raise AutoTestTimeoutException("Failed to do load")
newcount = self.get_parameter("FENCE_TOTAL")
self.progress("fence total: %u want=%u" % (newcount, count))
if count == newcount:
break
self.delay_sim_time(1)
def get_fence_point(self, idx, target_system=1, target_component=1):
self.mav.mav.fence_fetch_point_send(target_system,
target_component,
idx)
m = self.assert_receive_message("FENCE_POINT", timeout=2)
self.progress("m: %s" % str(m))
if m.idx != idx:
raise NotAchievedException("Invalid idx returned (want=%u got=%u)" %
(idx, m.seq))
return m
def fencepoint_protocol_epsilon(self):
return 0.00002
def roundtrip_fencepoint_protocol(self, offset, count, lat, lng, target_system=1, target_component=1):
self.progress("Sending FENCE_POINT offs=%u count=%u" % (offset, count))
self.mav.mav.fence_point_send(target_system,
target_component,
offset,
count,
lat,
lng)
self.progress("Requesting fence point")
m = self.get_fence_point(offset, target_system=target_system, target_component=target_component)
if abs(m.lat - lat) > self.fencepoint_protocol_epsilon():
raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat))
if abs(m.lng - lng) > self.fencepoint_protocol_epsilon():
raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng))
self.progress("Roundtrip OK")
def roundtrip_fence_using_fencepoint_protocol(self, loc_list, target_system=1, target_component=1, ordering=None):
count = len(loc_list)
offset = 0
self.set_parameter("FENCE_TOTAL", count)
if ordering is None:
ordering = range(count)
elif len(ordering) != len(loc_list):
raise ValueError("ordering list length mismatch")
for offset in ordering:
loc = loc_list[offset]
self.roundtrip_fencepoint_protocol(offset,
count,
loc.lat,
loc.lng,
target_system,
target_component)
self.progress("Validating uploaded fence")
returned_count = self.get_parameter("FENCE_TOTAL")
if returned_count != count:
raise NotAchievedException("Returned count mismatch (want=%u got=%u)" %
(count, returned_count))
for i in range(count):
self.progress("Requesting fence point")
m = self.get_fence_point(offset, target_system=target_system, target_component=target_component)
if abs(m.lat-loc.lat) > self.fencepoint_protocol_epsilon():
raise NotAchievedException("Returned lat mismatch (want=%f got=%f" %
(loc.lat, m.lat))
if abs(m.lng-loc.lng) > self.fencepoint_protocol_epsilon():
raise NotAchievedException("Returned lng mismatch (want=%f got=%f" %
(loc.lng, m.lng))
if m.count != count:
raise NotAchievedException("Count mismatch (want=%u got=%u)" %
(count, m.count))
def load_fence(self, filename):
filepath = os.path.join(testdir, self.current_test_name_directory, filename)
self.progress("Loading fence from (%s)" % str(filepath))
locs = []
for line in open(filepath, 'rb'):
if len(line) == 0:
continue
m = re.match(r"([-\d.]+)\s+([-\d.]+)\s*", line.decode('ascii'))
if m is None:
raise ValueError("Did not match (%s)" % line)
locs.append(mavutil.location(float(m.group(1)), float(m.group(2)), 0, 0))
if self.is_plane():
# create return point as the centroid:
total_lat = 0
total_lng = 0
total_cnt = 0
for loc in locs:
total_lat += loc.lat
total_lng += loc.lng
total_cnt += 1
locs2 = [mavutil.location(total_lat/total_cnt,
total_lng/total_cnt,
0,
0)] # return point
locs2.extend(locs)
locs2.append(copy.copy(locs2[1]))
return self.roundtrip_fence_using_fencepoint_protocol(locs2)
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
[
locs
])
def send_reboot_command(self):
self.mav.mav.command_long_send(self.sysid_thismav(),
1,
mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
1, # confirmation
1, # reboot autopilot
0,
0,
0,
0,
0,
0)
def reboot_check_valgrind_log(self):
valgrind_log = util.valgrind_log_filepath(binary=self.binary,
model=self.frame)
if os.path.getsize(valgrind_log) > 0:
backup_valgrind_log = ("%s-%s" % (str(int(time.time())), valgrind_log))
shutil.move(valgrind_log, backup_valgrind_log)
def run_cmd_reboot(self):
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
p1=1, # reboot autopilot
)
def run_cmd_run_prearms(self):
self.run_cmd(mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS)
def run_cmd_enable_high_latency(self, new_state):
p1 = 0
if new_state:
p1 = 1
self.run_cmd(
mavutil.mavlink.MAV_CMD_CONTROL_HIGH_LATENCY,
p1=p1, # enable/disable
)
def reboot_sitl_mav(self, required_bootcount=None, force=False):
"""Reboot SITL instance using mavlink and wait for it to reconnect."""
# we must make sure that stats have been reset - otherwise
# when we reboot we'll reset statistics again and lose our
# STAT_BOOTCNT increment:
tstart = time.time()
while True:
if time.time() - tstart > 30:
raise NotAchievedException("STAT_RESET did not go non-zero")
if self.get_parameter('STAT_RESET', timeout_in_wallclock=True) != 0:
break
old_bootcount = self.get_parameter('STAT_BOOTCNT')
# ardupilot SITL may actually NAK the reboot; replace with
# run_cmd when we don't do that.
do_context = False
if self.valgrind or self.callgrind:
self.reboot_check_valgrind_log()
self.progress("Stopping and restarting SITL")
if getattr(self, 'valgrind_restart_customisations', None) is not None:
self.customise_SITL_commandline(
self.valgrind_restart_customisations,
model=self.valgrind_restart_model,
defaults_filepath=self.valgrind_restart_defaults_filepath,
)
else:
self.stop_SITL()
self.start_SITL(wipe=False)
else:
# receiving an ACK from the process turns out to be really
# quite difficult. So just send it and hope for the best.
self.progress("Sending reboot command")
p6 = 0
if force:
p6 = 20190226 # magic force-reboot value
self.send_cmd(
mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
p1=1,
p2=1,
p6=p6,
)
do_context = True
if do_context:
self.context_push()
def hook(mav, m):
if m.get_type() != 'COMMAND_ACK':
return
if m.command != mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
return
self.progress("While awaiting reboot received (%s)" % str(m))
if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
raise NotAchievedException("Bad reboot ACK detected")
self.install_message_hook_context(hook)
self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount)
if do_context:
self.context_pop()
def send_cmd_enter_cpu_lockup(self):
"""Poke ArduPilot to stop the main loop from running"""
self.mav.mav.command_long_send(self.sysid_thismav(),
1,
mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
1, # confirmation
42, # lockup autopilot
24, # no, really, we mean it
71, # seriously, we're not kidding
93, # we know exactly what we're
0,
0,
0)
def reboot_sitl(self, required_bootcount=None, force=False):
"""Reboot SITL instance and wait for it to reconnect."""
if self.armed() and not force:
raise NotAchievedException("Reboot attempted while armed")
self.progress("Rebooting SITL")
self.reboot_sitl_mav(required_bootcount=required_bootcount, force=force)
self.do_heartbeats(force=True)
if self.frame != 'sailboat': # sailboats drift with wind!
self.assert_simstate_location_is_at_startup_location()
def reboot_sitl_mavproxy(self, required_bootcount=None):
"""Reboot SITL instance using MAVProxy and wait for it to reconnect."""
old_bootcount = self.get_parameter('STAT_BOOTCNT')
self.mavproxy.send("reboot\n")
self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount)
def detect_and_handle_reboot(self, old_bootcount, required_bootcount=None, timeout=10):
tstart = time.time()
if required_bootcount is None:
required_bootcount = old_bootcount + 1
while True:
if time.time() - tstart > timeout:
raise AutoTestTimeoutException("Did not detect reboot")
try:
current_bootcount = self.get_parameter('STAT_BOOTCNT',
timeout=1,
attempts=1,
verbose=True,
timeout_in_wallclock=True)
self.progress("current=%s required=%u" %
(str(current_bootcount), required_bootcount))
if current_bootcount == required_bootcount:
break
except NotAchievedException:
pass
except AutoTestTimeoutException:
pass
except ConnectionResetError:
pass
except socket.error:
pass
except Exception as e:
self.progress("Got unexpected exception (%s)" % str(type(e)))
pass
# empty mav to avoid getting old timestamps:
self.do_timesync_roundtrip(timeout_in_wallclock=True)
self.progress("Calling initialise-after-reboot")
self.initialise_after_reboot_sitl()
def scripting_restart(self):
'''restart scripting subsystem'''
self.progress("Restarting Scripting")
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_SCRIPTING,
p1=mavutil.mavlink.SCRIPTING_CMD_STOP_AND_RESTART,
timeout=5,
)
def set_streamrate(self, streamrate, timeout=20, stream=mavutil.mavlink.MAV_DATA_STREAM_ALL):
'''set MAV_DATA_STREAM_ALL; timeout is wallclock time'''
self.do_timesync_roundtrip(timeout_in_wallclock=True)
tstart = time.time()
while True:
if time.time() - tstart > timeout:
raise NotAchievedException("Failed to set streamrate")
self.mav.mav.request_data_stream_send(
1,
1,
stream,
streamrate,
1)
m = self.mav.recv_match(type='SYSTEM_TIME',
blocking=True,
timeout=1)
if m is not None:
break
def set_streamrate_mavproxy(self, streamrate, timeout=10):
tstart = time.time()
while True:
if time.time() - tstart > timeout:
raise AutoTestTimeoutException("stream rate change failed")
self.mavproxy.send("set streamrate %u\n" % (streamrate))
self.mavproxy.send("set streamrate\n")
try:
self.mavproxy.expect('.*streamrate ((?:-)?[0-9]+)', timeout=1)
except pexpect.TIMEOUT:
continue
rate = self.mavproxy.match.group(1)
# self.progress("rate: %s" % str(rate))
if int(rate) == int(streamrate):
break
if streamrate <= 0:
return
self.progress("Waiting for SYSTEM_TIME for confirmation streams are working")
self.drain_mav_unparsed()
timeout = 60
tstart = time.time()
while True:
self.drain_all_pexpects()
if time.time() - tstart > timeout:
raise NotAchievedException("Did not get SYSTEM_TIME within %f seconds" % timeout)
m = self.mav.recv_match(timeout=0.1)
if m is None:
continue
# self.progress("Received (%s)" % str(m))
if m.get_type() == 'SYSTEM_TIME':
break
self.drain_mav()
def htree_from_xml(self, xml_filepath):
'''swiped from mavproxy_param.py'''
xml = open(xml_filepath, 'rb').read()
from lxml import objectify
objectify.enable_recursive_str()
tree = objectify.fromstring(xml)
htree = {}
for p in tree.vehicles.parameters.param:
n = p.get('name').split(':')[1]
htree[n] = p
for lib in tree.libraries.parameters:
for p in lib.param:
n = p.get('name')
htree[n] = p
return htree
def test_adsb_send_threatening_adsb_message(self, here, offset_ne=None):
self.progress("Sending ABSD_VEHICLE message")
new = here
if offset_ne is not None:
new = self.offset_location_ne(new, offset_ne[0], offset_ne[1])
self.mav.mav.adsb_vehicle_send(
37, # ICAO address
int(new.lat * 1e7),
int(new.lng * 1e7),
mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
int(here.alt*1000 + 10000), # 10m up
0, # heading in cdeg
0, # horizontal velocity cm/s
0, # vertical velocity cm/s
"bob".encode("ascii"), # callsign
mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
1, # time since last communication
65535, # flags
17 # squawk
)
def get_sim_parameter_documentation_get_whitelist(self):
# common parameters
ret = set([
"SIM_ACC1_RND",
"SIM_ACC2_RND",
"SIM_ACC3_RND",
"SIM_ACC4_RND",
"SIM_ACC5_RND",
"SIM_ACC_FILE_RW",
"SIM_ACC_TRIM_X",
"SIM_ACC_TRIM_Y",
"SIM_ACC_TRIM_Z",
"SIM_ADSB_ALT",
"SIM_ADSB_COUNT",
"SIM_ADSB_RADIUS",
"SIM_ADSB_TX",
"SIM_ARSPD2_FAIL",
"SIM_ARSPD2_FAILP",
"SIM_ARSPD2_OFS",
"SIM_ARSPD2_PITOT",
"SIM_ARSPD2_RATIO",
"SIM_ARSPD2_RND",
"SIM_ARSPD2_SIGN",
"SIM_ARSPD_FAILP",
"SIM_ARSPD_OFS",
"SIM_ARSPD_PITOT",
"SIM_ARSPD_RATIO",
"SIM_ARSPD_RND",
"SIM_ARSPD_SIGN",
"SIM_BAR2_DELAY",
"SIM_BAR2_DISABLE",
"SIM_BAR2_DRIFT",
"SIM_BAR2_FREEZE",
"SIM_BAR2_WCF_BAK",
"SIM_BAR2_WCF_DN",
"SIM_BAR2_WCF_FWD",
"SIM_BAR2_WCF_LFT",
"SIM_BAR2_WCF_RGT",
"SIM_BAR2_WCF_UP",
"SIM_BAR3_DELAY",
"SIM_BAR3_DISABLE",
"SIM_BAR3_DRIFT",
"SIM_BAR3_FREEZE",
"SIM_BAR3_WCF_BAK",
"SIM_BAR3_WCF_DN",
"SIM_BAR3_WCF_FWD",
"SIM_BAR3_WCF_LFT",
"SIM_BAR3_WCF_RGT",
"SIM_BAR3_WCF_UP",
"SIM_BARO_COUNT",
"SIM_BARO_DELAY",
"SIM_BARO_DISABLE",
"SIM_BARO_DRIFT",
"SIM_BARO_FREEZE",
"SIM_BARO_WCF_BAK",
"SIM_BARO_WCF_DN",
"SIM_BARO_WCF_FWD",
"SIM_BARO_WCF_LFT",
"SIM_BARO_WCF_RGT",
"SIM_BARO_WCF_UP",
"SIM_BATT_CAP_AH",
"SIM_BAUDLIMIT_EN",
"SIM_DRIFT_SPEED",
"SIM_DRIFT_TIME",
"SIM_EFI_TYPE",
"SIM_ENGINE_FAIL",
"SIM_ENGINE_MUL",
"SIM_ESC_ARM_RPM",
"SIM_FTOWESC_ENA",
"SIM_FTOWESC_POW",
"SIM_GND_BEHAV",
"SIM_GYR1_RND",
"SIM_GYR2_RND",
"SIM_GYR3_RND",
"SIM_GYR4_RND",
"SIM_GYR5_RND",
"SIM_GYR_FAIL_MSK",
"SIM_GYR_FILE_RW",
"SIM_IE24_ENABLE",
"SIM_IE24_ERROR",
"SIM_IE24_STATE",
"SIM_IMU_COUNT",
"SIM_IMU_POS_X",
"SIM_IMU_POS_Y",
"SIM_IMU_POS_Z",
"SIM_IMUT1_ACC1_X",
"SIM_IMUT1_ACC1_Y",
"SIM_IMUT1_ACC1_Z",
"SIM_IMUT1_ACC2_X",
"SIM_IMUT1_ACC2_Y",
"SIM_IMUT1_ACC2_Z",
"SIM_IMUT1_ACC3_X",
"SIM_IMUT1_ACC3_Y",
"SIM_IMUT1_ACC3_Z",
"SIM_IMUT1_ENABLE",
"SIM_IMUT1_GYR1_X",
"SIM_IMUT1_GYR1_Y",
"SIM_IMUT1_GYR1_Z",
"SIM_IMUT1_GYR2_X",
"SIM_IMUT1_GYR2_Y",
"SIM_IMUT1_GYR2_Z",
"SIM_IMUT1_GYR3_X",
"SIM_IMUT1_GYR3_Y",
"SIM_IMUT1_GYR3_Z",
"SIM_IMUT1_TMAX",
"SIM_IMUT1_TMIN",
"SIM_IMUT2_ACC1_X",
"SIM_IMUT2_ACC1_Y",
"SIM_IMUT2_ACC1_Z",
"SIM_IMUT2_ACC2_X",
"SIM_IMUT2_ACC2_Y",
"SIM_IMUT2_ACC2_Z",
"SIM_IMUT2_ACC3_X",
"SIM_IMUT2_ACC3_Y",
"SIM_IMUT2_ACC3_Z",
"SIM_IMUT2_ENABLE",
"SIM_IMUT2_GYR1_X",
"SIM_IMUT2_GYR1_Y",
"SIM_IMUT2_GYR1_Z",
"SIM_IMUT2_GYR2_X",
"SIM_IMUT2_GYR2_Y",
"SIM_IMUT2_GYR2_Z",
"SIM_IMUT2_GYR3_X",
"SIM_IMUT2_GYR3_Y",
"SIM_IMUT2_GYR3_Z",
"SIM_IMUT2_TMAX",
"SIM_IMUT2_TMIN",
"SIM_IMUT3_ACC1_X",
"SIM_IMUT3_ACC1_Y",
"SIM_IMUT3_ACC1_Z",
"SIM_IMUT3_ACC2_X",
"SIM_IMUT3_ACC2_Y",
"SIM_IMUT3_ACC2_Z",
"SIM_IMUT3_ACC3_X",
"SIM_IMUT3_ACC3_Y",
"SIM_IMUT3_ACC3_Z",
"SIM_IMUT3_ENABLE",
"SIM_IMUT3_GYR1_X",
"SIM_IMUT3_GYR1_Y",
"SIM_IMUT3_GYR1_Z",
"SIM_IMUT3_GYR2_X",
"SIM_IMUT3_GYR2_Y",
"SIM_IMUT3_GYR2_Z",
"SIM_IMUT3_GYR3_X",
"SIM_IMUT3_GYR3_Y",
"SIM_IMUT3_GYR3_Z",
"SIM_IMUT3_TMAX",
"SIM_IMUT3_TMIN",
"SIM_IMUT4_ACC1_X",
"SIM_IMUT4_ACC1_Y",
"SIM_IMUT4_ACC1_Z",
"SIM_IMUT4_ACC2_X",
"SIM_IMUT4_ACC2_Y",
"SIM_IMUT4_ACC2_Z",
"SIM_IMUT4_ACC3_X",
"SIM_IMUT4_ACC3_Y",
"SIM_IMUT4_ACC3_Z",
"SIM_IMUT4_ENABLE",
"SIM_IMUT4_GYR1_X",
"SIM_IMUT4_GYR1_Y",
"SIM_IMUT4_GYR1_Z",
"SIM_IMUT4_GYR2_X",
"SIM_IMUT4_GYR2_Y",
"SIM_IMUT4_GYR2_Z",
"SIM_IMUT4_GYR3_X",
"SIM_IMUT4_GYR3_Y",
"SIM_IMUT4_GYR3_Z",
"SIM_IMUT4_TMAX",
"SIM_IMUT4_TMIN",
"SIM_IMUT5_ACC1_X",
"SIM_IMUT5_ACC1_Y",
"SIM_IMUT5_ACC1_Z",
"SIM_IMUT5_ACC2_X",
"SIM_IMUT5_ACC2_Y",
"SIM_IMUT5_ACC2_Z",
"SIM_IMUT5_ACC3_X",
"SIM_IMUT5_ACC3_Y",
"SIM_IMUT5_ACC3_Z",
"SIM_IMUT5_ENABLE",
"SIM_IMUT5_GYR1_X",
"SIM_IMUT5_GYR1_Y",
"SIM_IMUT5_GYR1_Z",
"SIM_IMUT5_GYR2_X",
"SIM_IMUT5_GYR2_Y",
"SIM_IMUT5_GYR2_Z",
"SIM_IMUT5_GYR3_X",
"SIM_IMUT5_GYR3_Y",
"SIM_IMUT5_GYR3_Z",
"SIM_IMUT5_TMAX",
"SIM_IMUT5_TMIN",
"SIM_IMUT_END",
"SIM_IMUT_FIXED",
"SIM_IMUT_START",
"SIM_IMUT_TCONST",
"SIM_INS_THR_MIN",
"SIM_LED_LAYOUT",
"SIM_LOOP_DELAY",
"SIM_MAG1_SCALING",
"SIM_MAG2_DEVID",
"SIM_MAG2_DIA_X",
"SIM_MAG2_DIA_Y",
"SIM_MAG2_DIA_Z",
"SIM_MAG2_ODI_X",
"SIM_MAG2_ODI_Y",
"SIM_MAG2_ODI_Z",
"SIM_MAG2_OFS_X",
"SIM_MAG2_OFS_Y",
"SIM_MAG2_OFS_Z",
"SIM_MAG2_ORIENT",
"SIM_MAG2_SCALING",
"SIM_MAG3_DEVID",
"SIM_MAG3_DIA_X",
"SIM_MAG3_DIA_Y",
"SIM_MAG3_DIA_Z",
"SIM_MAG3_ODI_X",
"SIM_MAG3_ODI_Y",
"SIM_MAG3_ODI_Z",
"SIM_MAG3_OFS_X",
"SIM_MAG3_OFS_Y",
"SIM_MAG3_OFS_Z",
"SIM_MAG3_ORIENT",
"SIM_MAG3_SCALING",
"SIM_MAG4_DEVID",
"SIM_MAG5_DEVID",
"SIM_MAG6_DEVID",
"SIM_MAG7_DEVID",
"SIM_MAG8_DEVID",
"SIM_MAG_ALY_HGT",
"SIM_MAG_ALY_X",
"SIM_MAG_ALY_Y",
"SIM_MAG_ALY_Z",
"SIM_MAG_DELAY",
"SIM_MAG1_DIA_X",
"SIM_MAG1_DIA_Y",
"SIM_MAG1_DIA_Z",
"SIM_MAG_MOT_X",
"SIM_MAG_MOT_Y",
"SIM_MAG_MOT_Z",
"SIM_MAG1_ODI_X",
"SIM_MAG1_ODI_Y",
"SIM_MAG1_ODI_Z",
"SIM_MAG1_OFS_X",
"SIM_MAG1_OFS_Y",
"SIM_MAG1_OFS_Z",
"SIM_MAG1_ORIENT",
"SIM_MAG_RND",
"SIM_ODOM_ENABLE",
"SIM_PARA_ENABLE",
"SIM_PARA_PIN",
"SIM_PIN_MASK",
"SIM_PLD_ALT_LMT",
"SIM_PLD_DIST_LMT",
"SIM_RATE_HZ",
"SIM_RC_CHANCOUNT",
"SIM_RICH_CTRL",
"SIM_RICH_ENABLE",
"SIM_SERVO_SPEED",
"SIM_SHIP_DSIZE",
"SIM_SHIP_ENABLE",
"SIM_SHIP_OFS_X",
"SIM_SHIP_OFS_Y",
"SIM_SHIP_OFS_Z",
"SIM_SHIP_PSIZE",
"SIM_SHIP_SPEED",
"SIM_SHIP_SYSID",
"SIM_SHOVE_TIME",
"SIM_SHOVE_X",
"SIM_SHOVE_Y",
"SIM_SHOVE_Z",
"SIM_SONAR_GLITCH",
"SIM_SONAR_POS_X",
"SIM_SONAR_POS_Y",
"SIM_SONAR_POS_Z",
"SIM_SONAR_RND",
"SIM_SONAR_ROT",
"SIM_SONAR_SCALE",
"SIM_TA_ENABLE",
"SIM_TEMP_BFACTOR",
"SIM_TEMP_BRD_OFF",
"SIM_TEMP_START",
"SIM_TEMP_TCONST",
"SIM_TERRAIN",
"SIM_THML_SCENARI",
"SIM_TIDE_DIR",
"SIM_TIDE_SPEED",
"SIM_TIME_JITTER",
"SIM_TWIST_TIME",
"SIM_TWIST_X",
"SIM_TWIST_Y",
"SIM_TWIST_Z",
"SIM_VIB_FREQ_X",
"SIM_VIB_FREQ_Y",
"SIM_VIB_FREQ_Z",
"SIM_VIB_MOT_HMNC",
"SIM_VIB_MOT_MASK",
"SIM_VIB_MOT_MAX",
"SIM_VIB_MOT_MULT",
"SIM_VICON_FAIL",
"SIM_VICON_GLIT_X",
"SIM_VICON_GLIT_Y",
"SIM_VICON_GLIT_Z",
"SIM_VICON_POS_X",
"SIM_VICON_POS_Y",
"SIM_VICON_POS_Z",
"SIM_VICON_TMASK",
"SIM_VICON_VGLI_X",
"SIM_VICON_VGLI_Y",
"SIM_VICON_VGLI_Z",
"SIM_VICON_YAW",
"SIM_VICON_YAWERR",
"SIM_WAVE_AMP",
"SIM_WAVE_DIR",
"SIM_WAVE_ENABLE",
"SIM_WAVE_LENGTH",
"SIM_WAVE_SPEED",
"SIM_WIND_DIR_Z",
"SIM_WIND_T",
])
vinfo_key = self.vehicleinfo_key()
if vinfo_key == "Rover":
ret.update([
])
if vinfo_key == "ArduSub":
ret.update([
"SIM_BUOYANCY",
])
return ret
def test_parameter_documentation_get_all_parameters(self):
# this is a set of SIM_parameters which we know aren't currently
# documented - but they really should be. We use this whitelist
# to ensure any new SIM_ parameters added are documented
sim_parameters_missing_documentation = self.get_sim_parameter_documentation_get_whitelist()
xml_filepath = os.path.join(self.buildlogs_dirpath(), "apm.pdef.xml")
param_parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'param_metadata', 'param_parse.py')
try:
os.unlink(xml_filepath)
except OSError:
pass
vehicle = self.log_name()
if vehicle == "HeliCopter":
vehicle = "ArduCopter"
if vehicle == "QuadPlane":
vehicle = "ArduPlane"
cmd = [param_parse_filepath, '--vehicle', vehicle]
# cmd.append("--verbose")
if util.run_cmd(cmd, directory=self.buildlogs_dirpath()) != 0:
self.progress("Failed param_parse.py (%s)" % vehicle)
return False
htree = self.htree_from_xml(xml_filepath)
target_system = self.sysid_thismav()
target_component = 1
self.customise_SITL_commandline([
"--unhide-groups"
])
(parameters, seq_id) = self.download_parameters(target_system, target_component)
self.reset_SITL_commandline()
fail = False
for param in parameters.keys():
if param.startswith("SIM_"):
if param in sim_parameters_missing_documentation:
if param in htree:
self.progress("%s is in both XML and whitelist; remove it from the whitelist" % param)
fail = True
# hopefully these get documented sometime....
continue
if param not in htree:
self.progress("%s not in XML" % param)
fail = True
if fail:
raise NotAchievedException("Downloaded parameters missing in XML")
self.progress("There are %u SIM_ parameters left to document" % len(sim_parameters_missing_documentation))
# FIXME: this should be doable if we filter out e.g BRD_* and CAN_*?
# self.progress("Checking no extra parameters present in XML")
# fail = False
# for param in htree:
# if param.startswith("SIM_"):
# # too many of these to worry about
# continue
# if param not in parameters:
# print("%s not in downloaded parameters but in XML" % param)
# fail = True
# if fail:
# raise NotAchievedException("Extra parameters in XML")
def find_format_defines(self, lines):
ret = {}
for line in lines:
if isinstance(line, bytes):
line = line.decode("utf-8")
m = re.match(r'#define (\w+_(?:LABELS|FMT|UNITS|MULTS))\s+(".*")', line)
if m is None:
continue
(a, b) = (m.group(1), m.group(2))
if a in ret:
raise NotAchievedException("Duplicate define for (%s)" % a)
ret[a] = b
return ret
def vehicle_code_dirpath(self):
'''returns path to vehicle-specific code directory e.g. ~/ardupilot/Rover'''
dirname = self.log_name()
if dirname == "QuadPlane":
dirname = "ArduPlane"
elif dirname == "HeliCopter":
dirname = "ArduCopter"
return os.path.join(self.rootdir(), dirname)
def find_LogStructureFiles(self):
'''return list of files named LogStructure.h'''
ret = []
for root, _, files in os.walk(self.rootdir()):
for f in files:
if f == 'LogStructure.h':
ret.append(os.path.join(root, f))
if f == 'LogStructure_SBP.h':
ret.append(os.path.join(root, f))
return ret
def all_log_format_ids(self):
'''parse C++ code to extract definitions of log messages'''
structure_files = self.find_LogStructureFiles()
structure_lines = []
for f in structure_files:
structure_lines.extend(open(f).readlines())
defines = self.find_format_defines(structure_lines)
ids = {}
message_infos = []
for f in structure_files:
self.progress("structure file: %s" % f)
state_outside = 0
state_inside = 1
state = state_outside
linestate_none = 45
linestate_within = 46
linestate = linestate_none
debug = False
if f == "/home/pbarker/rc/ardupilot/libraries/AP_HAL_ChibiOS/LogStructure.h":
debug = True
for line in open(f).readlines():
if debug:
print("line: %s" % line)
if isinstance(line, bytes):
line = line.decode("utf-8")
line = re.sub("//.*", "", line) # trim comments
if re.match(r"\s*$", line):
# blank line
continue
if state == state_outside:
if ("#define LOG_COMMON_STRUCTURES" in line or
re.match("#define LOG_STRUCTURE_FROM_.*", line)):
if debug:
self.progress("Moving inside")
state = state_inside
continue
if state == state_inside:
if linestate == linestate_none:
allowed_list = ['LOG_STRUCTURE_FROM_']
allowed = False
for a in allowed_list:
if a in line:
allowed = True
if allowed:
continue
m = re.match(r"\s*{(.*)},\s*", line)
if m is not None:
# complete line
if debug:
print("Complete line: %s" % str(line))
message_infos.append(m.group(1))
continue
m = re.match(r"\s*{(.*)\\", line)
if m is None:
if debug:
self.progress("Moving outside")
state = state_outside
continue
partial_line = m.group(1)
if debug:
self.progress("partial line")
linestate = linestate_within
continue
if linestate == linestate_within:
if debug:
self.progress("Looking for close-brace")
m = re.match("(.*)}", line)
if m is None:
if debug:
self.progress("no close-brace")
line = line.rstrip()
newline = re.sub(r"\\$", "", line)
if newline == line:
raise NotAchievedException("Expected backslash at end of line")
line = newline
line = line.rstrip()
# cpp-style string concatenation:
if debug:
self.progress("more partial line")
line = re.sub(r'"\s*"', '', line)
partial_line += line
continue
if debug:
self.progress("found close-brace")
message_infos.append(partial_line + m.group(1))
linestate = linestate_none
continue
raise NotAchievedException("Bad line (%s)")
if linestate != linestate_none:
raise NotAchievedException("Must be linestate-none at end of file")
# now look in the vehicle-specific logfile:
filepath = os.path.join(self.vehicle_code_dirpath(), "Log.cpp")
state_outside = 67
state_inside = 68
state = state_outside
linestate_none = 89
linestate_within = 90
linestate = linestate_none
for line in open(filepath, 'rb').readlines():
if isinstance(line, bytes):
line = line.decode("utf-8")
line = re.sub("//.*", "", line) # trim comments
if re.match(r"\s*$", line):
# blank line
continue
if state == state_outside:
if ("const LogStructure" in line or
"const struct LogStructure" in line):
state = state_inside
continue
if state == state_inside:
if re.match("};", line):
state = state_outside
break
if linestate == linestate_none:
if "#if HAL_QUADPLANE_ENABLED" in line:
continue
if "#if FRAME_CONFIG == HELI_FRAME" in line:
continue
if "#if AC_PRECLAND_ENABLED" in line:
continue
if "#if OFFBOARD_GUIDED == ENABLED" in line:
continue
if "#end" in line:
continue
if "LOG_COMMON_STRUCTURES" in line:
continue
m = re.match(r"\s*{(.*)},\s*", line)
if m is not None:
# complete line
# print("Complete line: %s" % str(line))
message_infos.append(m.group(1))
continue
m = re.match(r"\s*{(.*)", line)
if m is None:
raise NotAchievedException("Bad line %s" % line)
partial_line = m.group(1)
linestate = linestate_within
continue
if linestate == linestate_within:
m = re.match("(.*)}", line)
if m is None:
line = line.rstrip()
newline = re.sub(r"\\$", "", line)
if newline == line:
raise NotAchievedException("Expected backslash at end of line")
line = newline
line = line.rstrip()
# cpp-style string concatenation:
line = re.sub(r'"\s*"', '', line)
partial_line += line
continue
message_infos.append(partial_line + m.group(1))
linestate = linestate_none
continue
raise NotAchievedException("Bad line (%s)")
if state == state_inside:
raise NotAchievedException("Should not be in state_inside at end")
for message_info in message_infos:
print("message_info: %s" % str(message_info))
for define in defines:
message_info = re.sub(define, defines[define], message_info)
m = re.match(r'\s*LOG_\w+\s*,\s*sizeof\([^)]+\)\s*,\s*"(\w+)"\s*,\s*"(\w+)"\s*,\s*"([\w,]+)"\s*,\s*"([^"]+)"\s*,\s*"([^"]+)"\s*(,\s*(true|false))?\s*$', message_info) # noqa
if m is None:
print("NO MATCH")
continue
(name, fmt, labels, units, multipliers) = (m.group(1), m.group(2), m.group(3), m.group(4), m.group(5))
if name in ids:
raise NotAchievedException("Already seen a (%s) message" % name)
ids[name] = {
"name": name,
"format": fmt,
"labels": labels,
"units": units,
"multipliers": multipliers,
}
# now look for Log_Write(...) messages:
base_directories = [
os.path.join(self.rootdir(), 'libraries'),
self.vehicle_code_dirpath(),
]
log_write_statements = []
for base_directory in base_directories:
for root, dirs, files in os.walk(base_directory):
state_outside = 37
state_inside = 38
state = state_outside
for f in files:
if not re.search("[.]cpp$", f):
continue
filepath = os.path.join(root, f)
if "AP_Logger/examples" in filepath:
# this is the sample file which contains examples...
continue
count = 0
for line in open(filepath, 'rb').readlines():
if isinstance(line, bytes):
line = line.decode("utf-8")
if state == state_outside:
if (re.match(r"\s*AP::logger\(\)[.]Write(?:Streaming)?\(", line) or
re.match(r"\s*logger[.]Write(?:Streaming)?\(", line)):
state = state_inside
line = re.sub("//.*", "", line) # trim comments
log_write_statement = line
continue
if state == state_inside:
line = re.sub("//.*", "", line) # trim comments
# cpp-style string concatenation:
line = re.sub(r'"\s*"', '', line)
log_write_statement += line
if re.match(r".*\);", line):
log_write_statements.append(log_write_statement)
state = state_outside
count += 1
if state != state_outside:
raise NotAchievedException("Expected to be outside at end of file")
# print("%s has %u lines" % (f, count))
# change all whitespace to single space
log_write_statements = [re.sub(r"\s+", " ", x) for x in log_write_statements]
# print("Got log-write-statements: %s" % str(log_write_statements))
results = []
for log_write_statement in log_write_statements:
for define in defines:
log_write_statement = re.sub(define, defines[define], log_write_statement)
# fair warning: order is important here because of the
# NKT/XKT special case below....
my_re = r' logger[.]Write(?:Streaming)?\(\s*"(\w+)"\s*,\s*"([\w,]+)".*\);'
m = re.match(my_re, log_write_statement)
if m is None:
my_re = r' AP::logger\(\)[.]Write(?:Streaming)?\(\s*"(\w+)"\s*,\s*"([\w,]+)".*\);'
m = re.match(my_re, log_write_statement)
if m is None:
raise NotAchievedException("Did not match (%s) with (%s)" % (log_write_statement, str(my_re)))
else:
results.append((m.group(1), m.group(2)))
for result in results:
(name, labels) = result
if name in ids:
raise Exception("Already have id for (%s)" % name)
# self.progress("Adding Log_Write result (%s)" % name)
ids[name] = {
"name": name,
"labels": labels,
}
if len(ids) == 0:
raise NotAchievedException("Did not get any ids")
return ids
def LoggerDocumentation(self):
'''Test Onboard Logging Generation'''
xml_filepath = os.path.join(self.buildlogs_dirpath(), "LogMessages.xml")
parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'logger_metadata', 'parse.py')
try:
os.unlink(xml_filepath)
except OSError:
pass
vehicle = self.log_name()
if vehicle == 'BalanceBot':
# same binary and parameters as Rover
return
vehicle_map = {
"ArduCopter": "Copter",
"HeliCopter": "Copter",
"ArduPlane": "Plane",
"QuadPlane": "Plane",
"Rover": "Rover",
"AntennaTracker": "Tracker",
"ArduSub": "Sub",
}
vehicle = vehicle_map[vehicle]
cmd = [parse_filepath, '--vehicle', vehicle]
# cmd.append("--verbose")
if util.run_cmd(cmd, directory=self.buildlogs_dirpath()) != 0:
self.progress("Failed parse.py (%s)" % vehicle)
return False
length = os.path.getsize(xml_filepath)
min_length = 1024
if length < min_length:
raise NotAchievedException("short xml file (%u < %u)" %
(length, min_length))
self.progress("xml file length is %u" % length)
from lxml import objectify
xml = open(xml_filepath, 'rb').read()
objectify.enable_recursive_str()
tree = objectify.fromstring(xml)
# we allow for no docs for replay messages, as these are not for end-users. They are
# effectively binary blobs for replay
REPLAY_MSGS = ['RFRH', 'RFRF', 'REV2', 'RSO2', 'RWA2', 'REV3', 'RSO3', 'RWA3', 'RMGI',
'REY3', 'RFRN', 'RISH', 'RISI', 'RISJ', 'RBRH', 'RBRI', 'RRNH', 'RRNI',
'RGPH', 'RGPI', 'RGPJ', 'RASH', 'RASI', 'RBCH', 'RBCI', 'RVOH', 'RMGH',
'ROFH', 'REPH', 'REVH', 'RWOH', 'RBOH', 'RSLL']
docco_ids = {}
for thing in tree.logformat:
name = str(thing.get("name"))
docco_ids[name] = {
"name": name,
"labels": [],
}
if getattr(thing.fields, 'field', None) is None:
if name in REPLAY_MSGS:
continue
raise NotAchievedException("no doc fields for %s" % name)
for field in thing.fields.field:
# print("field: (%s)" % str(field))
fieldname = field.get("name")
# print("Got (%s.%s)" % (name,str(fieldname)))
docco_ids[name]["labels"].append(fieldname)
code_ids = self.all_log_format_ids()
# self.progress("Code ids: (%s)" % str(sorted(code_ids.keys())))
# self.progress("Docco ids: (%s)" % str(sorted(docco_ids.keys())))
for name in sorted(code_ids.keys()):
if name not in docco_ids:
self.progress("Undocumented message: %s" % str(name))
continue
seen_labels = {}
for label in code_ids[name]["labels"].split(","):
if label in seen_labels:
raise NotAchievedException("%s.%s is duplicate label" %
(name, label))
seen_labels[label] = True
if label not in docco_ids[name]["labels"]:
raise NotAchievedException("%s.%s not in documented fields (have (%s))" %
(name, label, ",".join(docco_ids[name]["labels"])))
missing = []
for name in sorted(docco_ids):
if name not in code_ids and name not in REPLAY_MSGS:
missing.append(name)
continue
for label in docco_ids[name]["labels"]:
if label not in code_ids[name]["labels"].split(","):
# "name" was found in the XML, so was found in an
# @LoggerMessage markup line, but was *NOT* found
# in our bodgy parsing of the C++ code (in a
# Log_Write call or in the static structures
raise NotAchievedException("documented field %s.%s not found in code" %
(name, label))
if len(missing) > 0:
raise NotAchievedException("Documented messages (%s) not in code" % missing)
def initialise_after_reboot_sitl(self):
# after reboot stream-rates may be zero. Request streams.
self.drain_mav()
self.wait_heartbeat()
self.set_streamrate(self.sitl_streamrate())
self.progress("Reboot complete")
def customise_SITL_commandline(self,
customisations,
model=None,
defaults_filepath=None,
wipe=False,
set_streamrate_callback=None,
binary=None):
'''customisations could be "--uartF=sim:nmea" '''
self.contexts[-1].sitl_commandline_customised = True
self.mav.close()
self.stop_SITL()
self.start_SITL(binary=binary,
model=model,
defaults_filepath=defaults_filepath,
customisations=customisations,
wipe=wipe)
self.mav.do_connect()
tstart = time.time()
while True:
if time.time() - tstart > 30:
raise NotAchievedException("Failed to customise")
try:
m = self.wait_heartbeat(drain_mav=True)
if m.type == 0:
self.progress("Bad heartbeat: %s" % str(m))
continue
except IOError:
pass
break
if set_streamrate_callback is not None:
set_streamrate_callback()
else:
self.set_streamrate(self.sitl_streamrate())
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=15)
if m is None:
raise NotAchievedException("No RC_CHANNELS message after restarting SITL")
# stash our arguments in case we need to preserve them in
# reboot_sitl with Valgrind active:
if self.valgrind or self.callgrind:
self.valgrind_restart_model = model
self.valgrind_restart_defaults_filepath = defaults_filepath
self.valgrind_restart_customisations = customisations
def default_parameter_list(self):
ret = {
'LOG_DISARMED': 1,
}
if self.force_ahrs_type is not None:
if self.force_ahrs_type == 2:
ret["EK2_ENABLE"] = 1
if self.force_ahrs_type == 3:
ret["EK3_ENABLE"] = 1
ret["AHRS_EKF_TYPE"] = self.force_ahrs_type
if self.num_aux_imus > 0:
ret["SIM_IMU_COUNT"] = self.num_aux_imus + 3
if self.replay:
ret["LOG_REPLAY"] = 1
return ret
def apply_default_parameter_list(self):
self.set_parameters(self.default_parameter_list())
def apply_default_parameters(self):
self.apply_defaultfile_parameters()
self.apply_default_parameter_list()
self.reboot_sitl()
def reset_SITL_commandline(self):
self.progress("Resetting SITL commandline to default")
self.stop_SITL()
try:
del self.valgrind_restart_customisations
except Exception:
pass
self.start_SITL(wipe=True)
self.set_streamrate(self.sitl_streamrate())
self.apply_default_parameters()
self.progress("Reset SITL commandline to default")
def pause_SITL(self):
'''temporarily stop the SITL process from running. Note that
simulation time will not move forward!'''
# self.progress("Pausing SITL")
self.sitl.kill(signal.SIGSTOP)
def unpause_SITL(self):
# self.progress("Unpausing SITL")
self.sitl.kill(signal.SIGCONT)
def stop_SITL(self):
self.progress("Stopping SITL")
self.expect_list_remove(self.sitl)
util.pexpect_close(self.sitl)
self.sitl = None
def close(self):
"""Tidy up after running all tests."""
if self.mav is not None:
self.mav.close()
self.mav = None
self.stop_SITL()
valgrind_log = util.valgrind_log_filepath(binary=self.binary,
model=self.frame)
files = glob.glob("*" + valgrind_log)
for valgrind_log in files:
os.chmod(valgrind_log, 0o644)
if os.path.getsize(valgrind_log) > 0:
target = self.buildlogs_path("%s-%s" % (
self.log_name(),
os.path.basename(valgrind_log)))
self.progress("Valgrind log: moving %s to %s" % (valgrind_log, target))
shutil.move(valgrind_log, target)
def start_test(self, description):
self.progress("##################################################################################")
self.progress("########## %s ##########" % description)
self.progress("##################################################################################")
def try_symlink_tlog(self):
self.buildlog = self.buildlogs_path(self.log_name() + "-test.tlog")
self.progress("buildlog=%s" % self.buildlog)
if os.path.exists(self.buildlog):
os.unlink(self.buildlog)
try:
os.link(self.logfile, self.buildlog)
except OSError as error:
self.progress("OSError [%d]: %s" % (error.errno, error.strerror))
self.progress("WARN: Failed to create link: %s => %s, "
"will copy tlog manually to target location" %
(self.logfile, self.buildlog))
self.copy_tlog = True
#################################################
# GENERAL UTILITIES
#################################################
def expect_list_clear(self):
"""clear the expect list."""
for p in self.expect_list[:]:
self.expect_list.remove(p)
def expect_list_extend(self, list_to_add):
"""Extend the expect list."""
self.expect_list.extend(list_to_add)
def expect_list_add(self, item):
"""Extend the expect list."""
self.expect_list.extend([item])
def expect_list_remove(self, item):
"""Remove item from the expect list."""
self.expect_list.remove(item)
def heartbeat_interval_ms(self):
c = self.context_get()
if c is None:
return 1000
return c.heartbeat_interval_ms
def set_heartbeat_interval_ms(self, interval_ms):
c = self.context_get()
if c is None:
raise ValueError("No context")
if c.original_heartbeat_interval_ms is None:
c.original_heartbeat_interval_ms = c.heartbeat_interval_ms
c.heartbeat_interval_ms = interval_ms
def set_heartbeat_rate(self, rate_hz):
if rate_hz == 0:
self.set_heartbeat_interval_ms(None)
return
self.set_heartbeat_interval_ms(1000.0/rate_hz)
def do_heartbeats(self, force=False):
# self.progress("do_heartbeats")
if self.heartbeat_interval_ms() is None and not force:
return
x = self.mav.messages.get("SYSTEM_TIME", None)
now_wc = time.time()
if (force or
x is None or
self.last_heartbeat_time_ms is None or
self.last_heartbeat_time_ms < x.time_boot_ms or
x.time_boot_ms - self.last_heartbeat_time_ms > self.heartbeat_interval_ms() or
now_wc - self.last_heartbeat_time_wc_s > 1):
if x is not None:
self.last_heartbeat_time_ms = x.time_boot_ms
self.last_heartbeat_time_wc_s = now_wc
self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
mavutil.mavlink.MAV_AUTOPILOT_INVALID,
0,
0,
0)
def drain_all_pexpects(self):
for p in self.expect_list:
util.pexpect_drain(p)
def idle_hook(self, mav):
"""Called when waiting for a mavlink message."""
if self.in_drain_mav:
return
self.drain_all_pexpects()
def message_hook(self, mav, msg):
"""Called as each mavlink msg is received."""
# print("msg: %s" % str(msg))
if msg.get_type() == 'STATUSTEXT':
self.progress("AP: %s" % msg.text, send_statustext=False)
self.write_msg_to_tlog(msg)
self.idle_hook(mav)
self.do_heartbeats()
def send_message_hook(self, msg, x):
self.write_msg_to_tlog(msg)
def write_msg_to_tlog(self, msg):
usec = int(time.time() * 1.0e6)
if self.tlog is None:
tlog_filename = "autotest-%u.tlog" % usec
self.tlog = open(tlog_filename, 'wb')
content = bytearray(struct.pack('>Q', usec) + msg.get_msgbuf())
self.tlog.write(content)
def expect_callback(self, e):
"""Called when waiting for a expect pattern."""
for p in self.expect_list:
if p == e:
continue
util.pexpect_drain(p)
self.drain_mav(quiet=True)
self.do_heartbeats()
def drain_mav_unparsed(self, mav=None, quiet=True, freshen_sim_time=False):
'''drain all data on mavlink connection mav (defaulting to self.mav).
It is assumed that this connection is connected to the normal
simulation.'''
if mav is None:
mav = self.mav
count = 0
tstart = time.time()
self.pause_SITL()
# sometimes we recv() when the process is likely to go away..
old_autoreconnect = mav.autoreconnect
mav.autoreconnect = False
while True:
try:
this = mav.recv(1000000)
except Exception:
mav.autoreconnect = old_autoreconnect
self.unpause_SITL()
raise
if len(this) == 0:
break
count += len(this)
mav.autoreconnect = old_autoreconnect
self.unpause_SITL()
if quiet:
return
tdelta = time.time() - tstart
if tdelta == 0:
rate = "instantly"
else:
rate = "%f/s" % (count/float(tdelta),)
self.progress("Drained %u bytes from mav (%s). These were unparsed." % (count, rate), send_statustext=False)
if freshen_sim_time:
self.get_sim_time()
def drain_mav(self, mav=None, unparsed=False, quiet=True):
'''parse all data available on connection mav (defaulting to
self.mav). It is assumed that mav is connected to the normal
simulation'''
if unparsed:
return self.drain_mav_unparsed(quiet=quiet, mav=mav)
if mav is None:
mav = self.mav
self.in_drain_mav = True
count = 0
tstart = time.time()
timeout = 120
failed_to_drain = False
self.pause_SITL()
# sometimes we recv() when the process is likely to go away..
old_autoreconnect = mav.autoreconnect
mav.autoreconnect = False
while True:
try:
receive_result = mav.recv_msg()
except Exception:
mav.autoreconnect = True
self.unpause_SITL()
raise
if receive_result is None:
break
count += 1
if time.time() - tstart > timeout:
# ArduPilot can produce messages faster than we can
# consume them. Until a better solution is found,
# just die if that seems to be the case:
failed_to_drain = True
quiet = False
mav.autoreconnect = old_autoreconnect
self.unpause_SITL()
if quiet:
self.in_drain_mav = False
return
tdelta = time.time() - tstart
if tdelta == 0:
rate = "instantly"
else:
rate = "%f/s" % (count/float(tdelta),)
if not quiet:
self.progress("Drained %u messages from mav (%s)" % (count, rate), send_statustext=False)
if failed_to_drain:
raise NotAchievedException("Did not fully drain MAV within %ss" % timeout)
self.in_drain_mav = False
def do_timesync_roundtrip(self, quiet=False, timeout_in_wallclock=False):
if not quiet:
self.progress("Doing timesync roundtrip")
if timeout_in_wallclock:
tstart = time.time()
else:
tstart = self.get_sim_time()
self.mav.mav.timesync_send(0, self.timesync_number * 1000 + self.mav.source_system)
while True:
if timeout_in_wallclock:
now = time.time()
else:
now = self.get_sim_time_cached()
if now - tstart > 5:
raise AutoTestTimeoutException("Did not get timesync response")
m = self.mav.recv_match(type='TIMESYNC', blocking=True, timeout=1)
if not quiet:
self.progress("Received: %s" % str(m))
if m is None:
continue
if m.ts1 % 1000 != self.mav.source_system:
self.progress("this isn't a response to our timesync (%s)" % (m.ts1 % 1000))
continue
if m.tc1 == 0:
# this should also not happen:
self.progress("this is a timesync request, which we don't answer")
continue
if int(m.ts1 / 1000) != self.timesync_number:
self.progress("this isn't the one we just sent")
continue
if m.get_srcSystem() != self.mav.target_system:
self.progress("response from system other than our target (want=%u got=%u" %
(self.mav.target_system, m.get_srcSystem()))
continue
# no component check ATM because we send broadcast...
# if m.get_srcComponent() != self.mav.target_component:
# self.progress("response from component other than our target (got=%u want=%u)" % (m.get_srcComponent(), self.mav.target_component)) # noqa
# continue
if not quiet:
self.progress("Received TIMESYNC response after %fs" % (now - tstart))
self.timesync_number += 1
break
def log_filepath(self, lognum):
'''return filepath to lognum (where lognum comes from LOG_ENTRY'''
log_list = self.log_list()
return log_list[lognum-1]
def assert_bytes_equal(self, bytes1, bytes2, maxlen=None):
tocheck = len(bytes1)
if maxlen is not None:
if tocheck > maxlen:
tocheck = maxlen
for i in range(0, tocheck):
if bytes1[i] != bytes2[i]:
raise NotAchievedException("differ at offset %u" % i)
def HIGH_LATENCY2(self):
'''test sending of HIGH_LATENCY2'''
# set airspeed sensor type to DLVR for air temperature message testing
if not self.is_plane():
# Plane does not have enable parameter
self.set_parameter("ARSPD_ENABLE", 1)
self.set_parameter("ARSPD_BUS", 2)
self.set_parameter("ARSPD_TYPE", 7)
self.reboot_sitl()
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, True, True, True, verbose=True, timeout=30)
# should not be getting HIGH_LATENCY2 by default
m = self.mav.recv_match(type='HIGH_LATENCY2', blocking=True, timeout=2)
if m is not None:
raise NotAchievedException("Shouldn't be getting HIGH_LATENCY2 by default")
m = self.poll_message("HIGH_LATENCY2")
if (m.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) != 0:
raise NotAchievedException("Expected GPS to be OK")
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, True, True, True)
self.set_parameter("SIM_GPS_TYPE", 0)
self.delay_sim_time(10)
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, False, False, False)
m = self.poll_message("HIGH_LATENCY2")
self.progress(self.dump_message_verbose(m))
if (m.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) == 0:
raise NotAchievedException("Expected GPS to be failed")
self.start_subtest("HIGH_LATENCY2 location")
self.set_parameter("SIM_GPS_TYPE", 1)
self.delay_sim_time(10)
m = self.poll_message("HIGH_LATENCY2")
self.progress(self.dump_message_verbose(m))
loc = mavutil.location(m.latitude, m.longitude, m.altitude, 0)
dist = self.get_distance_int(loc, self.sim_location_int())
if dist > 1:
raise NotAchievedException("Bad location from HIGH_LATENCY2")
self.start_subtest("HIGH_LATENCY2 Air Temperature")
m = self.poll_message("HIGH_LATENCY2")
mavutil.dump_message_verbose(sys.stdout, m)
if m.temperature_air == -128: # High_Latency2 defaults to INT8_MIN for no temperature available
raise NotAchievedException("Air Temperature not received from HIGH_LATENCY2")
self.HIGH_LATENCY2_links()
def context_set_message_rate_hz(self, id, rate_hz):
overridden_message_rates = self.context_get().overridden_message_rates
if id not in overridden_message_rates:
overridden_message_rates[id] = self.get_message_rate(id)
self.set_message_rate_hz(id, rate_hz)
def HIGH_LATENCY2_links(self):
self.start_subtest("SerialProtocol_MAVLinkHL links")
ex = None
self.context_push()
mav2 = None
try:
self.set_parameter("SERIAL2_PROTOCOL", 43) # HL)
self.reboot_sitl()
mav2 = mavutil.mavlink_connection(
"tcp:localhost:%u" % self.adjust_ardupilot_port(5763),
robust_parsing=True,
source_system=7,
source_component=7,
)
self.start_subsubtest("Don't get HIGH_LATENCY2 by default")
for mav in self.mav, mav2:
self.assert_not_receive_message('HIGH_LATENCY2', mav=mav, timeout=10)
self.start_subsubtest("Get HIGH_LATENCY2 upon link enabled only on HL link")
self.run_cmd_enable_high_latency(True)
self.assert_receive_message("HIGH_LATENCY2", mav=mav2, timeout=10)
self.assert_not_receive_message("HIGH_LATENCY2", mav=self.mav, timeout=10)
self.start_subsubtest("Not get HIGH_LATENCY2 upon HL disable")
self.run_cmd_enable_high_latency(False)
self.delay_sim_time(10)
self.assert_not_receive_message('HIGH_LATENCY2', mav=self.mav, timeout=10)
self.drain_mav(mav2)
self.assert_not_receive_message('HIGH_LATENCY2', mav=mav2, timeout=10)
self.start_subsubtest("Stream rate adjustments")
self.run_cmd_enable_high_latency(True)
self.assert_message_rate_hz("HIGH_LATENCY2", 0.2, ndigits=1, mav=mav2, sample_period=60)
for test_rate in (1, 0.1, 2):
self.test_rate(
"HIGH_LATENCY2 on enabled link",
test_rate,
test_rate,
mav=mav2,
ndigits=1,
victim_message="HIGH_LATENCY2",
message_rate_sample_period=60,
)
self.assert_not_receive_message("HIGH_LATENCY2", mav=self.mav, timeout=10)
self.run_cmd_enable_high_latency(False)
self.start_subsubtest("Not get HIGH_LATENCY2 after disabling after playing with rates")
self.assert_not_receive_message('HIGH_LATENCY2', mav=self.mav, timeout=10)
self.delay_sim_time(1)
self.drain_mav(mav2)
self.assert_not_receive_message('HIGH_LATENCY2', mav=mav2, timeout=10)
self.start_subsubtest("Enable and disable should not affect non-HL links getting HIGH_LATENCY2")
self.set_message_rate_hz("HIGH_LATENCY2", 5, mav=self.mav)
self.assert_message_rate_hz("HIGH_LATENCY2", 5, mav=self.mav)
self.run_cmd_enable_high_latency(True)
self.assert_message_rate_hz("HIGH_LATENCY2", 5, mav=self.mav),
self.run_cmd_enable_high_latency(False)
self.assert_message_rate_hz("HIGH_LATENCY2", 5, mav=self.mav)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
self.set_message_rate_hz("HIGH_LATENCY2", 0)
if ex is not None:
raise ex
def LogDownload(self):
'''Test Onboard Log Download'''
if self.is_tracker():
# tracker starts armed, which is annoying
return
self.progress("Ensuring we have contents we care about")
self.set_parameter("LOG_FILE_DSRMROT", 1)
self.set_parameter("LOG_DISARMED", 0)
self.reboot_sitl()
original_log_list = self.log_list()
for i in range(0, 10):
self.wait_ready_to_arm()
self.arm_vehicle()
self.delay_sim_time(1)
self.disarm_vehicle()
new_log_list = self.log_list()
new_log_count = len(new_log_list) - len(original_log_list)
if new_log_count != 10:
raise NotAchievedException("Expected exactly 10 new logs got %u (%s) to (%s)" %
(new_log_count, original_log_list, new_log_list))
self.progress("Directory contents: %s" % str(new_log_list))
tstart = self.get_sim_time()
self.mav.mav.log_request_list_send(self.sysid_thismav(),
1, # target component
0,
0xff)
logs = []
last_id = None
num_logs = None
while True:
now = self.get_sim_time_cached()
if now - tstart > 5:
raise NotAchievedException("Did not download list")
m = self.mav.recv_match(type='LOG_ENTRY',
blocking=True,
timeout=1)
self.progress("Received (%s)" % str(m))
if m is None:
continue
logs.append(m)
if last_id is None:
if m.num_logs == 0:
# caller to guarantee this works:
raise NotAchievedException("num_logs is zero")
num_logs = m.num_logs
else:
if m.id != last_id + 1:
raise NotAchievedException("Sequence not increasing")
if m.num_logs != num_logs:
raise NotAchievedException("Number of logs changed")
if m.time_utc < 1000:
raise NotAchievedException("Bad timestamp")
if m.id != m.last_log_num:
if m.size == 0:
raise NotAchievedException("Zero-sized log")
last_id = m.id
if m.id == m.last_log_num:
self.progress("Got all logs")
break
# ensure we don't get any extras:
m = self.mav.recv_match(type='LOG_ENTRY',
blocking=True,
timeout=2)
if m is not None:
raise NotAchievedException("Received extra LOG_ENTRY?!")
log_id = 5
ofs = 6
count = 2
self.start_subtest("downloading %u bytes from offset %u from log_id %u" %
(count, ofs, log_id))
self.mav.mav.log_request_data_send(self.sysid_thismav(),
1, # target component
log_id,
ofs,
count)
m = self.assert_receive_message('LOG_DATA', timeout=2)
if m.ofs != ofs:
raise NotAchievedException("Incorrect offset")
if m.count != count:
raise NotAchievedException("Did not get correct number of bytes")
log_filepath = self.log_filepath(log_id)
self.progress("Checking against log_filepath (%s)" % str(log_filepath))
with open(log_filepath, "rb") as bob:
bob.seek(ofs)
actual_bytes = bob.read(2)
actual_bytes = bytearray(actual_bytes)
if m.data[0] != actual_bytes[0]:
raise NotAchievedException("Bad first byte got=(0x%02x) want=(0x%02x)" %
(m.data[0], actual_bytes[0]))
if m.data[1] != actual_bytes[1]:
raise NotAchievedException("Bad second byte")
log_id = 7
log_filepath = self.log_filepath(log_id)
self.start_subtest("Downloading log id %u (%s)" % (log_id, log_filepath))
with open(log_filepath, "rb") as bob:
actual_bytes = bytearray(bob.read())
# get the size first
self.mav.mav.log_request_list_send(self.sysid_thismav(),
1, # target component
log_id,
log_id)
log_entry = self.assert_receive_message('LOG_ENTRY', timeout=2, verbose=True)
if log_entry.size != len(actual_bytes):
raise NotAchievedException("Incorrect bytecount")
if log_entry.id != log_id:
raise NotAchievedException("Incorrect log id received")
# download the log file in the normal way:
bytes_to_fetch = 100000
self.progress("Sending request for %u bytes at offset 0" % (bytes_to_fetch,))
tstart = self.get_sim_time()
self.mav.mav.log_request_data_send(
self.sysid_thismav(),
1, # target component
log_id,
0,
bytes_to_fetch
)
bytes_to_read = bytes_to_fetch
if log_entry.size < bytes_to_read:
bytes_to_read = log_entry.size
data_downloaded = []
bytes_read = 0
last_print = 0
while True:
if bytes_read >= bytes_to_read:
break
if self.get_sim_time_cached() - tstart > 120:
raise NotAchievedException("Did not download log in good time")
m = self.assert_receive_message('LOG_DATA', timeout=2)
if m.ofs != bytes_read:
raise NotAchievedException("Unexpected offset")
if m.id != log_id:
raise NotAchievedException("Unexpected id")
if m.count == 0:
raise NotAchievedException("Zero bytes read")
data_downloaded.extend(m.data[0:m.count])
bytes_read += m.count
# self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
if time.time() - last_print > 10:
last_print = time.time()
self.progress("Read %u/%u" % (bytes_read, bytes_to_read))
self.progress("actual_bytes_len=%u data_downloaded_len=%u" %
(len(actual_bytes), len(data_downloaded)))
self.assert_bytes_equal(actual_bytes, data_downloaded, maxlen=bytes_to_read)
if False:
bytes_to_read = log_entry.size
bytes_read = 0
data_downloaded = []
while bytes_read < bytes_to_read:
bytes_to_fetch = int(random.random() * 100)
if bytes_to_fetch > 90:
bytes_to_fetch = 90
self.progress("Sending request for %u bytes at offset %u" % (bytes_to_fetch, bytes_read))
self.mav.mav.log_request_data_send(
self.sysid_thismav(),
1, # target component
log_id,
bytes_read,
bytes_to_fetch
)
m = self.assert_receive_message('LOG_DATA', timeout=2)
self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
if m.ofs != bytes_read:
raise NotAchievedException("Incorrect offset in reply want=%u got=%u (%s)" % (bytes_read, m.ofs, str(m)))
stuff = m.data[0:m.count]
data_downloaded.extend(stuff)
bytes_read += m.count
if len(data_downloaded) != bytes_read:
raise NotAchievedException("extend fail")
if len(actual_bytes) != len(data_downloaded):
raise NotAchievedException("Incorrect length: disk:%u downloaded: %u" %
(len(actual_bytes), len(data_downloaded)))
self.assert_bytes_equal(actual_bytes, data_downloaded)
self.start_subtest("Download log backwards")
bytes_to_read = bytes_to_fetch
if log_entry.size < bytes_to_read:
bytes_to_read = log_entry.size
bytes_read = 0
backwards_data_downloaded = []
last_print = 0
while bytes_read < bytes_to_read:
bytes_to_fetch = int(random.random() * 99) + 1
if bytes_to_fetch > 90:
bytes_to_fetch = 90
if bytes_to_fetch > bytes_to_read - bytes_read:
bytes_to_fetch = bytes_to_read - bytes_read
ofs = bytes_to_read - bytes_read - bytes_to_fetch
# self.progress("bytes_to_read=%u bytes_read=%u bytes_to_fetch=%u ofs=%d" %
# (bytes_to_read, bytes_read, bytes_to_fetch, ofs))
self.mav.mav.log_request_data_send(
self.sysid_thismav(),
1, # target component
log_id,
ofs,
bytes_to_fetch
)
m = self.assert_receive_message('LOG_DATA', timeout=2)
if m.count == 0:
raise NotAchievedException("xZero bytes read (ofs=%u)" % (ofs,))
if m.count > bytes_to_fetch:
raise NotAchievedException("Read too many bytes?!")
stuff = m.data[0:m.count]
stuff.extend(backwards_data_downloaded)
backwards_data_downloaded = stuff
bytes_read += m.count
# self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
if time.time() - last_print > 10:
last_print = time.time()
self.progress("xRead %u/%u" % (bytes_read, bytes_to_read))
self.assert_bytes_equal(actual_bytes, backwards_data_downloaded, maxlen=bytes_to_read)
# if len(actual_bytes) != len(backwards_data_downloaded):
# raise NotAchievedException("Size delta: actual=%u vs downloaded=%u" %
# (len(actual_bytes), len(backwards_data_downloaded)))
#################################################
# SIM UTILITIES
#################################################
def get_sim_time(self, timeout=60, drain_mav=True):
"""Get SITL time in seconds."""
if drain_mav:
self.drain_mav()
tstart = time.time()
while True:
self.drain_all_pexpects()
if time.time() - tstart > timeout:
raise AutoTestTimeoutException("Did not get SYSTEM_TIME message after %f seconds" % timeout)
m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True, timeout=0.1)
if m is None:
continue
return m.time_boot_ms * 1.0e-3
def get_sim_time_cached(self):
"""Get SITL time in seconds."""
x = self.mav.messages.get("SYSTEM_TIME", None)
if x is None:
raise NotAchievedException("No cached time available (%s)" % (self.mav.sysid,))
ret = x.time_boot_ms * 1.0e-3
if ret != self.last_sim_time_cached:
self.last_sim_time_cached = ret
self.last_sim_time_cached_wallclock = time.time()
else:
timeout = 30
if self.valgrind:
timeout *= 10
if time.time() - self.last_sim_time_cached_wallclock > timeout and not self.gdb:
raise AutoTestTimeoutException("sim_time_cached is not updating!")
return ret
def sim_location(self):
"""Return current simulator location."""
m = self.mav.recv_match(type='SIMSTATE', blocking=True)
return mavutil.location(m.lat*1.0e-7,
m.lng*1.0e-7,
0,
math.degrees(m.yaw))
def sim_location_int(self):
"""Return current simulator location."""
m = self.mav.recv_match(type='SIMSTATE', blocking=True)
return mavutil.location(m.lat,
m.lng,
0,
math.degrees(m.yaw))
def save_wp(self, ch=7):
"""Trigger RC Aux to save waypoint."""
self.set_rc(ch, 1000)
self.delay_sim_time(1)
self.set_rc(ch, 2000)
self.delay_sim_time(1)
self.set_rc(ch, 1000)
self.delay_sim_time(1)
def correct_wp_seq_numbers(self, wps):
# renumber the items:
count = 0
for item in wps:
item.seq = count
count += 1
def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1):
'''takes a list of (type, n, e, alt) items. Creates a mission in
absolute frame using alt as relative-to-home and n and e as
offsets in metres from home'''
# add a dummy waypoint for home
items = [(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0)]
items.extend(items_in)
seq = 0
ret = []
for item in items:
if not isinstance(item, tuple):
# hope this is a mission item...
item.seq = seq
seq += 1
ret.append(item)
continue
(t, n, e, alt) = item
lat = 0
lng = 0
if n != 0 or e != 0:
loc = self.home_relative_loc_ne(n, e)
lat = loc.lat
lng = loc.lng
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
if not self.ardupilot_stores_frame_for_cmd(t):
frame = mavutil.mavlink.MAV_FRAME_GLOBAL
ret.append(self.create_MISSION_ITEM_INT(t, seq=seq, frame=frame, x=int(lat*1e7), y=int(lng*1e7), z=alt))
seq += 1
return ret
def upload_simple_relhome_mission(self, items, target_system=1, target_component=1):
mission = self.create_simple_relhome_mission(
items,
target_system=target_system,
target_component=target_component)
self.check_mission_upload_download(mission)
def get_mission_count(self):
return self.get_parameter("MIS_TOTAL")
def run_auxfunc(self,
function,
level,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_AUX_FUNCTION,
p1=function,
p2=level,
want_result=want_result,
)
def assert_mission_count(self, expected):
count = self.get_mission_count()
if count != expected:
raise NotAchievedException("Unexpected count got=%u want=%u" %
(count, expected))
def clear_wp(self, ch=8):
"""Trigger RC Aux to clear waypoint."""
self.progress("Clearing waypoints")
self.set_rc(ch, 1000)
self.delay_sim_time(0.5)
self.set_rc(ch, 2000)
self.delay_sim_time(0.5)
self.set_rc(ch, 1000)
self.assert_mission_count(0)
def log_list(self):
'''return a list of log files present in POSIX-style loging dir'''
ret = sorted(glob.glob("logs/00*.BIN"))
self.progress("log list: %s" % str(ret))
return ret
def assert_parameter_values(self, parameters):
names = parameters.keys()
got = self.get_parameters(names)
for name in names:
if got[name] != parameters[name]:
raise NotAchievedException("parameter %s want=%f got=%f" %
(name, parameters[name], got[name]))
self.progress("%s has expected value %f" % (name, got[name]))
def assert_parameter_value(self, parameter, required):
got = self.get_parameter(parameter)
if got != required:
raise NotAchievedException("%s has unexpected value; want=%f got=%f" %
(parameter, required, got))
self.progress("%s has value %f" % (parameter, required))
def assert_reach_imu_temperature(self, target, timeout):
'''wait to reach a target temperature'''
tstart = self.get_sim_time()
temp_ok = False
last_print_temp = -100
while self.get_sim_time_cached() - tstart < timeout:
m = self.assert_receive_message('RAW_IMU', timeout=2)
temperature = m.temperature*0.01
if temperature >= target:
self.progress("Reached temperature %.1f" % temperature)
temp_ok = True
break
if temperature - last_print_temp > 1:
self.progress("temperature %.1f" % temperature)
last_print_temp = temperature
if not temp_ok:
raise NotAchievedException("target temperature")
def message_has_field_values(self, m, fieldvalues, verbose=True, epsilon=None):
for (fieldname, value) in fieldvalues.items():
got = getattr(m, fieldname)
if math.isnan(value) or math.isnan(got):
equal = math.isnan(value) and math.isnan(got)
elif epsilon is not None:
equal = abs(got - value) <= epsilon
else:
equal = got == value
value_string = value
got_string = got
enum_name = m.fieldenums_by_name.get(fieldname, None)
if enum_name is not None:
enum = mavutil.mavlink.enums[enum_name]
if value not in enum:
raise ValueError("Expected value %s not in enum %s" % (value, enum_name))
if got not in enum:
raise ValueError("Received value %s not in enum %s" % (value, enum_name))
value_string = "%s (%s)" % (value, enum[value].name)
got_string = "%s (%s)" % (got, enum[got].name)
if not equal:
# see if this is an enumerated field:
self.progress(self.dump_message_verbose(m))
self.progress("Expected %s.%s to be %s, got %s" %
(m.get_type(), fieldname, value_string, got_string))
return False
if verbose:
self.progress("%s.%s has expected value %s" %
(m.get_type(), fieldname, value_string))
return True
def assert_message_field_values(self, m, fieldvalues, verbose=True, epsilon=None):
if self.message_has_field_values(m, fieldvalues, verbose=verbose, epsilon=epsilon):
return
raise NotAchievedException("Did not get expected field values")
def assert_cached_message_field_values(self, message, fieldvalues, verbose=True, very_verbose=False, epsilon=None):
'''checks the most-recently received instance of message to ensure it
has the correct field values'''
m = self.get_cached_message(message)
self.assert_message_field_values(m, fieldvalues, verbose=verbose, epsilon=epsilon)
return m
def assert_received_message_field_values(self, message, fieldvalues, verbose=True, very_verbose=False, epsilon=None, poll=False): # noqa
if poll:
self.poll_message(message)
m = self.assert_receive_message(message, verbose=verbose, very_verbose=very_verbose)
self.assert_message_field_values(m, fieldvalues, verbose=verbose, epsilon=epsilon)
return m
# FIXME: try to use wait_and_maintain here?
def wait_message_field_values(self, message, fieldvalues, timeout=10, epsilon=None, instance=None, minimum_duration=None):
tstart = self.get_sim_time_cached()
pass_start = None
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException("Field never reached values")
m = self.assert_receive_message(message, instance=instance)
if self.message_has_field_values(m, fieldvalues, epsilon=epsilon):
if minimum_duration is not None:
if pass_start is None:
pass_start = now
continue
if now - pass_start < minimum_duration:
continue
return m
pass_start = None
def onboard_logging_not_log_disarmed(self):
self.start_subtest("Test LOG_DISARMED-is-false behaviour")
self.set_parameter("LOG_DISARMED", 0)
self.set_parameter("LOG_FILE_DSRMROT", 0)
self.reboot_sitl()
self.wait_ready_to_arm() # let things setttle
self.start_subtest("Ensure setting LOG_DISARMED yields a new file")
original_list = self.log_list()
self.progress("original list: %s" % str(original_list))
self.set_parameter("LOG_DISARMED", 1)
self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
new_list = self.log_list()
self.progress("new list: %s" % str(new_list))
if len(new_list) - len(original_list) != 1:
raise NotAchievedException("Got more than one new log")
self.set_parameter("LOG_DISARMED", 0)
self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
new_list = self.log_list()
if len(new_list) - len(original_list) != 1:
raise NotAchievedException("Got more or less than one new log after toggling LOG_DISARMED off")
self.start_subtest("Ensuring toggling LOG_DISARMED on and off doesn't increase the number of files")
self.set_parameter("LOG_DISARMED", 1)
self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
new_new_list = self.log_list()
if len(new_new_list) != len(new_list):
raise NotAchievedException("Got extra files when toggling LOG_DISARMED")
self.set_parameter("LOG_DISARMED", 0)
self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
new_new_list = self.log_list()
if len(new_new_list) != len(new_list):
raise NotAchievedException("Got extra files when toggling LOG_DISARMED to 0 again")
self.end_subtest("Ensuring toggling LOG_DISARMED on and off doesn't increase the number of files")
self.start_subtest("Check disarm rot when log disarmed is zero")
self.assert_parameter_value("LOG_DISARMED", 0)
self.set_parameter("LOG_FILE_DSRMROT", 1)
old_speedup = self.get_parameter("SIM_SPEEDUP")
# reduce speedup to reduce chance of race condition here
self.set_parameter("SIM_SPEEDUP", 1)
pre_armed_list = self.log_list()
if self.is_copter() or self.is_heli():
self.set_parameter("DISARM_DELAY", 0)
self.arm_vehicle()
post_armed_list = self.log_list()
if len(post_armed_list) != len(pre_armed_list):
raise NotAchievedException("Got unexpected new log")
self.disarm_vehicle()
old_speedup = self.set_parameter("SIM_SPEEDUP", old_speedup)
post_disarmed_list = self.log_list()
if len(post_disarmed_list) != len(post_armed_list):
raise NotAchievedException("Log rotated immediately")
self.progress("Allowing time for post-disarm-logging to occur if it will")
self.delay_sim_time(5)
post_disarmed_post_delay_list = self.log_list()
if len(post_disarmed_post_delay_list) != len(post_disarmed_list):
raise NotAchievedException("Got log rotation when we shouldn't have")
self.progress("Checking that arming does produce a new log")
self.arm_vehicle()
post_armed_list = self.log_list()
if len(post_armed_list) - len(post_disarmed_post_delay_list) != 1:
raise NotAchievedException("Did not get new log for rotation")
self.progress("Now checking natural rotation after HAL_LOGGER_ARM_PERSIST")
self.disarm_vehicle()
post_disarmed_list = self.log_list()
if len(post_disarmed_list) != len(post_armed_list):
raise NotAchievedException("Log rotated immediately")
self.delay_sim_time(30)
delayed_post_disarmed_list = self.log_list()
# should *still* not get another log as LOG_DISARMED is false
if len(post_disarmed_list) != len(delayed_post_disarmed_list):
self.progress("Unexpected new log found")
def onboard_logging_log_disarmed(self):
self.start_subtest("Test LOG_DISARMED-is-true behaviour")
start_list = self.log_list()
self.set_parameter("LOG_FILE_DSRMROT", 0)
self.set_parameter("LOG_DISARMED", 0)
self.reboot_sitl()
restart_list = self.log_list()
if len(start_list) != len(restart_list):
raise NotAchievedException(
"Unexpected log detected (pre-delay) initial=(%s) restart=(%s)" %
(str(sorted(start_list)), str(sorted(restart_list))))
self.delay_sim_time(20)
restart_list = self.log_list()
if len(start_list) != len(restart_list):
raise NotAchievedException("Unexpected log detected (post-delay)")
self.set_parameter("LOG_DISARMED", 1)
self.delay_sim_time(5) # LOG_DISARMED is polled
post_log_disarmed_set_list = self.log_list()
if len(post_log_disarmed_set_list) == len(restart_list):
raise NotAchievedException("Did not get new log when LOG_DISARMED set")
self.progress("Ensuring we get a new log after a reboot")
self.reboot_sitl()
self.delay_sim_time(5)
post_reboot_log_list = self.log_list()
if len(post_reboot_log_list) == len(post_log_disarmed_set_list):
raise NotAchievedException("Did not get fresh log-disarmed log after a reboot")
self.progress("Ensuring no log rotation when we toggle LOG_DISARMED off then on again")
self.set_parameter("LOG_DISARMED", 0)
current_log_filepath = self.current_onboard_log_filepath()
self.delay_sim_time(10) # LOG_DISARMED is polled
post_toggleoff_list = self.log_list()
if len(post_toggleoff_list) != len(post_reboot_log_list):
raise NotAchievedException("Shouldn't get new file yet")
self.progress("Ensuring log does not grow when LOG_DISARMED unset...")
current_log_filepath_size = os.path.getsize(current_log_filepath)
self.delay_sim_time(5)
current_log_filepath_new_size = os.path.getsize(current_log_filepath)
if current_log_filepath_new_size != current_log_filepath_size:
raise NotAchievedException(
"File growing after LOG_DISARMED unset (new=%u old=%u" %
(current_log_filepath_new_size, current_log_filepath_size))
self.progress("Turning LOG_DISARMED back on again")
self.set_parameter("LOG_DISARMED", 1)
self.delay_sim_time(5) # LOG_DISARMED is polled
post_toggleon_list = self.log_list()
if len(post_toggleon_list) != len(post_toggleoff_list):
raise NotAchievedException("Log rotated when it shouldn't")
self.progress("Checking log is now growing again")
if os.path.getsize(current_log_filepath) == current_log_filepath_size:
raise NotAchievedException("Log is not growing")
# self.progress("Checking LOG_FILE_DSRMROT behaviour when log_DISARMED set")
# self.set_parameter("LOG_FILE_DSRMROT", 1)
# self.wait_ready_to_arm()
# pre = self.log_list()
# self.arm_vehicle()
# post = self.log_list()
# if len(pre) != len(post):
# raise NotAchievedException("Rotation happened on arming?!")
# size_a = os.path.getsize(current_log_filepath)
# self.delay_sim_time(5)
# size_b = os.path.getsize(current_log_filepath)
# if size_b <= size_a:
# raise NotAchievedException("Log not growing")
# self.disarm_vehicle()
# instant_post_disarm_list = self.log_list()
# self.progress("Should not rotate straight away")
# if len(instant_post_disarm_list) != len(post):
# raise NotAchievedException("Should not rotate straight away")
# self.delay_sim_time(20)
# post_disarm_list = self.log_list()
# if len(post_disarm_list) - len(instant_post_disarm_list) != 1:
# raise NotAchievedException("Did not get exactly one more log")
# self.progress("If we re-arm during the HAL_LOGGER_ARM_PERSIST period it should rotate")
def onboard_logging_forced_arm(self):
'''ensure a bug where we didn't start logging when arming was forced
does not reappear'''
self.start_subtest("Ensure we get a log when force-arming")
self.set_parameter("LOG_DISARMED", 0)
self.reboot_sitl() # so we'll definitely start a log on arming
pre_arming_list = self.log_list()
self.wait_ready_to_arm()
self.arm_vehicle(force=True)
# we might be relying on a thread to actually create the log
# file when doing forced-arming; give the file time to appear:
self.delay_sim_time(10)
post_arming_list = self.log_list()
self.disarm_vehicle()
if len(post_arming_list) <= len(pre_arming_list):
raise NotAchievedException("Did not get a log on forced arm")
def Logging(self):
'''Test Onboard Logging'''
if self.is_tracker():
return
self.onboard_logging_forced_arm()
self.onboard_logging_log_disarmed()
self.onboard_logging_not_log_disarmed()
def TestLogDownloadMAVProxy(self, upload_logs=False):
"""Download latest log."""
filename = "MAVProxy-downloaded-log.BIN"
mavproxy = self.start_mavproxy()
self.mavproxy_load_module(mavproxy, 'log')
mavproxy.send("log list\n")
mavproxy.expect("numLogs")
self.wait_heartbeat()
self.wait_heartbeat()
mavproxy.send("set shownoise 0\n")
mavproxy.send("log download latest %s\n" % filename)
mavproxy.expect("Finished downloading", timeout=120)
self.mavproxy_unload_module(mavproxy, 'log')
self.stop_mavproxy(mavproxy)
def show_gps_and_sim_positions(self, on_off):
"""Allow to display gps and actual position on map."""
if on_off is True:
# turn on simulator display of gps and actual position
self.mavproxy.send('map set showgpspos 1\n')
self.mavproxy.send('map set showsimpos 1\n')
else:
# turn off simulator display of gps and actual position
self.mavproxy.send('map set showgpspos 0\n')
self.mavproxy.send('map set showsimpos 0\n')
@staticmethod
def mission_count(filename):
"""Load a mission from a file and return number of waypoints."""
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
return wploader.count()
def install_message_hook(self, hook):
self.mav.message_hooks.append(hook)
def install_message_hook_context(self, hook):
'''installs a message hook which will be removed when the context goes
away'''
if self.mav is None:
return
self.mav.message_hooks.append(hook)
self.context_get().message_hooks.append(hook)
def remove_message_hook(self, hook):
'''remove hook from list of message hooks. Assumes it exists exactly
once'''
if self.mav is None:
return
self.mav.message_hooks.remove(hook)
def install_example_script_context(self, scriptname):
'''installs an example script which will be removed when the context goes
away'''
self.install_example_script(scriptname)
self.context_get().installed_scripts.append(scriptname)
def install_test_script_context(self, scriptname):
'''installs an test script which will be removed when the context goes
away'''
self.install_test_script(scriptname)
self.context_get().installed_scripts.append(scriptname)
def install_test_modules_context(self):
'''installs test modules which will be removed when the context goes
away'''
self.install_test_modules()
self.context_get().installed_modules.append("test")
def install_mavlink_module_context(self):
'''installs mavlink module which will be removed when the context goes
away'''
self.install_mavlink_module()
self.context_get().installed_modules.append("mavlink")
def install_applet_script_context(self, scriptname):
'''installs an applet script which will be removed when the context goes
away'''
self.install_applet_script(scriptname)
self.context_get().installed_scripts.append(scriptname)
def rootdir(self):
this_dir = os.path.dirname(__file__)
return os.path.realpath(os.path.join(this_dir, "../.."))
def ardupilot_stores_frame_for_cmd(self, t):
# ardupilot doesn't remember frame on these commands
return t not in [
mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME,
mavutil.mavlink.MAV_CMD_DO_JUMP,
mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
]
def assert_mission_files_same(self, file1, file2, match_comments=False):
self.progress("Comparing (%s) and (%s)" % (file1, file2, ))
f1 = open(file1)
f2 = open(file2)
lines1 = f1.readlines()
lines2 = f2.readlines()
if not match_comments:
# strip comments from all lines
lines1 = [re.sub(r"\s*#.*", "", x, re.DOTALL) for x in lines1]
lines2 = [re.sub(r"\s*#.*", "", x, re.DOTALL) for x in lines2]
# FIXME: because DOTALL doesn't seem to work as expected:
lines1 = [x.rstrip() for x in lines1]
lines2 = [x.rstrip() for x in lines2]
# remove now-empty lines:
lines1 = filter(lambda x: len(x), lines1)
lines2 = filter(lambda x: len(x), lines2)
for l1, l2 in zip(lines1, lines2):
l1 = l1.rstrip("\r\n")
l2 = l2.rstrip("\r\n")
if l1 == l2:
# e.g. the first "QGC WPL 110" line
continue
if re.match(r"0\s", l1):
# home changes...
continue
l1 = l1.rstrip()
l2 = l2.rstrip()
fields1 = re.split(r"\s+", l1)
fields2 = re.split(r"\s+", l2)
# line = int(fields1[0])
t = int(fields1[3]) # mission item type
for (count, (i1, i2)) in enumerate(zip(fields1, fields2)):
if count == 2: # frame
if not self.ardupilot_stores_frame_for_cmd(t):
if int(i1) in [3, 10]: # 3 is relative, 10 is terrain
i1 = 0
if int(i2) in [3, 10]:
i2 = 0
if count == 6: # param 3
if t in [mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME]:
# ardupilot canonicalises this to -1 for ccw or 1 for cw.
if float(i1) == 0:
i1 = 1.0
if float(i2) == 0:
i2 = 1.0
if count == 7: # param 4
if t == mavutil.mavlink.MAV_CMD_NAV_LAND:
# ardupilot canonicalises "0" to "1" param 4 (yaw)
if int(float(i1)) == 0:
i1 = 1
if int(float(i2)) == 0:
i2 = 1
if 0 <= count <= 3 or 11 <= count <= 11:
if int(i1) != int(i2):
raise ValueError("Files have different content: (%s vs %s) (%s vs %s) (%d vs %d) (count=%u)" %
(file1, file2, l1, l2, int(i1), int(i2), count)) # NOCI
continue
if 4 <= count <= 10:
f_i1 = float(i1)
f_i2 = float(i2)
delta = abs(f_i1 - f_i2)
max_allowed_delta = 0.000009
if delta > max_allowed_delta:
raise ValueError(
("Files have different (float) content: " +
"(%s) and (%s) " +
"(%s vs %s) " +
"(%f vs %f) " +
"(%.10f) " +
"(count=%u)") %
(file1, file2,
l1, l2,
f_i1, f_i2,
delta,
count)) # NOCI
continue
raise ValueError("count %u not handled" % count)
self.progress("Files same")
def assert_not_receive_message(self, message, timeout=1, mav=None, condition=None):
'''this is like assert_not_receiving_message but uses sim time not
wallclock time'''
self.progress("making sure we're not getting %s messages" % message)
if mav is None:
mav = self.mav
tstart = self.get_sim_time_cached()
while True:
m = mav.recv_match(type=message, blocking=True, timeout=0.1, condition=condition)
if m is not None:
self.progress("Received: %s" % self.dump_message_verbose(m))
raise PreconditionFailedException("Receiving %s messages" % message)
if mav != self.mav:
# update timestamp....
self.drain_mav(self.mav)
if self.get_sim_time_cached() - tstart > timeout:
return
def assert_receive_message(self,
type,
timeout=1,
verbose=False,
very_verbose=False,
mav=None,
condition=None,
delay_fn=None,
instance=None):
if mav is None:
mav = self.mav
m = None
tstart = time.time() # timeout in wallclock
while True:
m = mav.recv_match(type=type, blocking=True, timeout=0.05, condition=condition)
if instance is not None:
if getattr(m, m._instance_field) != instance:
continue
if m is not None:
break
if time.time() - tstart > timeout:
raise NotAchievedException("Did not get %s" % type)
if delay_fn is not None:
delay_fn()
if verbose:
self.progress("Received (%s)" % str(m))
if very_verbose:
self.progress(self.dump_message_verbose(m))
return m
def assert_receive_named_value_float(self, name, timeout=10):
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not get NAMED_VALUE_FLOAT %s" % name)
m = self.assert_receive_message('NAMED_VALUE_FLOAT', verbose=1, very_verbose=1, timeout=timeout)
if m.name != name:
continue
return m
def assert_receive_named_value_float_value(self, name, value, epsilon=0.0001, timeout=10):
m = self.assert_receive_named_value_float_value(name, timeout=timeout)
if abs(m.value - value) > epsilon:
raise NotAchievedException("Bad %s want=%f got=%f" % (name, value, m.value))
def assert_rally_files_same(self, file1, file2):
self.progress("Comparing (%s) and (%s)" % (file1, file2, ))
f1 = open(file1)
f2 = open(file2)
lines_f1 = f1.readlines()
lines_f2 = f2.readlines()
self.assert_rally_content_same(lines_f1, lines_f2)
def assert_rally_filepath_content(self, file1, content):
f1 = open(file1)
lines_f1 = f1.readlines()
lines_content = content.split("\n")
print("lines content: %s" % str(lines_content))
self.assert_rally_content_same(lines_f1, lines_content)
def assert_rally_content_same(self, f1, f2):
'''check each line in f1 matches one-to-one with f2'''
for l1, l2 in zip(f1, f2):
print("l1: %s" % l1)
print("l2: %s" % l2)
l1 = l1.rstrip("\n")
l2 = l2.rstrip("\n")
l1 = l1.rstrip("\r")
l2 = l2.rstrip("\r")
if l1 == l2:
# e.g. the first "QGC WPL 110" line
continue
if re.match(r"0\s", l1):
# home changes...
continue
l1 = l1.rstrip()
l2 = l2.rstrip()
print("al1: %s" % str(l1))
print("al2: %s" % str(l2))
fields1 = re.split(r"\s+", l1)
fields2 = re.split(r"\s+", l2)
# line = int(fields1[0])
# t = int(fields1[3]) # mission item type
for (count, (i1, i2)) in enumerate(zip(fields1, fields2)):
# if count == 2: # frame
# if t in [mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
# mavutil.mavlink.MAV_CMD_CONDITION_YAW,
# mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
# mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME,
# mavutil.mavlink.MAV_CMD_DO_JUMP,
# mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
# ]:
# # ardupilot doesn't remember frame on these commands
# if int(i1) == 3:
# i1 = 0
# if int(i2) == 3:
# i2 = 0
# if count == 6: # param 3
# if t in [mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME]:
# # ardupilot canonicalises this to -1 for ccw or 1 for cw.
# if float(i1) == 0:
# i1 = 1.0
# if float(i2) == 0:
# i2 = 1.0
# if count == 7: # param 4
# if t == mavutil.mavlink.MAV_CMD_NAV_LAND:
# # ardupilot canonicalises "0" to "1" param 4 (yaw)
# if int(float(i1)) == 0:
# i1 = 1
# if int(float(i2)) == 0:
# i2 = 1
if 0 <= count <= 3 or 11 <= count <= 11:
if int(i1) != int(i2):
raise ValueError("Rally points different: (%s vs %s) (%d vs %d) (count=%u)" %
(l1, l2, int(i1), int(i2), count)) # NOCI
continue
if 4 <= count <= 10:
f_i1 = float(i1)
f_i2 = float(i2)
delta = abs(f_i1 - f_i2)
max_allowed_delta = 0.000009
if delta > max_allowed_delta:
raise ValueError(
("Rally has different (float) content: " +
"(%s vs %s) " +
"(%f vs %f) " +
"(%.10f) " +
"(count=%u)") %
(l1, l2,
f_i1, f_i2,
delta,
count)) # NOCI
continue
raise ValueError("count %u not handled" % count)
self.progress("Rally content same")
def load_rally_using_mavproxy(self, filename):
"""Load rally points from a file to flight controller."""
self.progress("Loading rally points (%s)" % filename)
path = os.path.join(testdir, self.current_test_name_directory, filename)
mavproxy = self.start_mavproxy()
mavproxy.send('rally load %s\n' % path)
mavproxy.expect("Loaded")
self.delay_sim_time(10) # allow transfer to complete
self.stop_mavproxy(mavproxy)
def load_sample_mission(self):
self.load_mission(self.sample_mission_filename())
def generic_mission_filepath_for_filename(self, filename):
return os.path.join(testdir, "Generic_Missions", filename)
def load_generic_mission(self, filename, strict=True):
return self.load_mission_from_filepath(
self.generic_mission_filepath_for_filename(filename),
strict=strict)
def load_mission(self, filename, strict=True):
return self.load_mission_from_filepath(
os.path.join(testdir, self.current_test_name_directory, filename),
strict=strict)
def wp_to_mission_item_int(self, wp):
'''convert a MISSION_ITEM to a MISSION_ITEM_INT. We always send as
MISSION_ITEM_INT to give cm level accuracy
Swiped from mavproxy_wp.py
'''
if wp.get_type() == 'MISSION_ITEM_INT':
return wp
wp_int = mavutil.mavlink.MAVLink_mission_item_int_message(
wp.target_system,
wp.target_component,
wp.seq,
wp.frame,
wp.command,
wp.current,
wp.autocontinue,
wp.param1,
wp.param2,
wp.param3,
wp.param4,
int(wp.x*1.0e7),
int(wp.y*1.0e7),
wp.z)
return wp_int
def mission_from_filepath(self, filepath, target_system=1, target_component=1):
'''returns a list of mission-item-ints from filepath'''
print("filepath: %s" % filepath)
self.progress("Loading mission (%s)" % os.path.basename(filepath))
wploader = mavwp.MAVWPLoader(
target_system=target_system,
target_component=target_component
)
wploader.load(filepath)
return [self.wp_to_mission_item_int(x) for x in wploader.wpoints]
def sitl_home_string_from_mission(self, filename):
'''return a string of the form "lat,lng,yaw,alt" from the home
location in a mission file'''
return "%s,%s,%s,%s" % self.get_home_tuple_from_mission(filename)
def sitl_home_string_from_mission_filepath(self, filepath):
'''return a string of the form "lat,lng,yaw,alt" from the home
location in a mission file'''
return "%s,%s,%s,%s" % self.get_home_tuple_from_mission_filepath(filepath)
def get_home_tuple_from_mission(self, filename):
'''gets item 0 from the mission file, returns a tuple suitable for
passing to customise_SITL_commandline as --home. Yaw will be
0, so the caller may want to fill that in
'''
return self.get_home_tuple_from_mission_filepath(
os.path.join(testdir, self.current_test_name_directory, filename)
)
def get_home_tuple_from_mission_filepath(self, filepath):
'''gets item 0 from the mission file, returns a tuple suitable for
passing to customise_SITL_commandline as --home. Yaw will be
0, so the caller may want to fill that in
'''
items = self.mission_from_filepath(filepath)
home_item = items[0]
return (home_item.x * 1e-7, home_item.y * 1e-7, home_item.z, 0)
# TODO: rename the following to "upload_mission_from_filepath"
def load_mission_from_filepath(self,
filepath,
target_system=1,
target_component=1,
strict=True,
reset_current_wp=True):
wpoints_int = self.mission_from_filepath(
filepath,
target_system=target_system,
target_component=target_component
)
self.check_mission_upload_download(wpoints_int, strict=strict)
if reset_current_wp:
# ArduPilot doesn't reset the current waypoint by default
# we may be in auto mode and running waypoints, so we
# can't check the current waypoint after resetting it.
self.set_current_waypoint(0, check_afterwards=False)
return len(wpoints_int)
def load_mission_using_mavproxy(self, mavproxy, filename):
return self.load_mission_from_filepath_using_mavproxy(
mavproxy,
self.current_test_name_directory,
filename)
def load_mission_from_filepath_using_mavproxy(self,
mavproxy,
filepath,
filename):
"""Load a mission from a file to flight controller."""
self.progress("Loading mission (%s)" % filename)
path = os.path.join(testdir, filepath, filename)
tstart = self.get_sim_time()
while True:
t2 = self.get_sim_time()
if t2 - tstart > 10:
raise AutoTestTimeoutException("Failed to do waypoint thing")
# the following hack is to get around MAVProxy statustext deduping:
while time.time() - self.last_wp_load < 3:
self.progress("Waiting for MAVProxy de-dupe timer to expire")
self.drain_mav()
time.sleep(0.1)
mavproxy.send('wp load %s\n' % path)
mavproxy.expect('Loaded ([0-9]+) waypoints from')
load_count = mavproxy.match.group(1)
self.last_wp_load = time.time()
mavproxy.expect("Flight plan received")
mavproxy.send('wp list\n')
mavproxy.expect('Requesting ([0-9]+) waypoints')
request_count = mavproxy.match.group(1)
if load_count != request_count:
self.progress("request_count=%s != load_count=%s" %
(request_count, load_count))
continue
mavproxy.expect('Saved ([0-9]+) waypoints to (.+?way.txt)')
save_count = mavproxy.match.group(1)
if save_count != request_count:
raise NotAchievedException("request count != load count")
# warning: this assumes MAVProxy was started in the CWD!
# on the autotest server we invoke autotest.py one-up from
# the git root, like this:
# timelimit 32000 APM/Tools/autotest/autotest.py --timeout=30000 > buildlogs/autotest-output.txt 2>&1
# that means the MAVProxy log files are not reltopdir!
saved_filepath = mavproxy.match.group(2)
saved_filepath = saved_filepath.rstrip()
self.assert_mission_files_same(path, saved_filepath)
break
mavproxy.send('wp status\n')
mavproxy.expect(r'Have (\d+) of (\d+)')
status_have = mavproxy.match.group(1)
status_want = mavproxy.match.group(2)
if status_have != status_want:
raise ValueError("status count mismatch")
if status_have != save_count:
raise ValueError("status have not equal to save count")
wploader = mavwp.MAVWPLoader()
wploader.load(path)
num_wp = wploader.count()
if num_wp != int(status_have):
raise ValueError("num_wp=%u != status_have=%u" %
(num_wp, int(status_have)))
if num_wp == 0:
raise ValueError("No waypoints loaded?!")
return num_wp
def save_mission_to_file_using_mavproxy(self, mavproxy, filename):
"""Save a mission to a file"""
mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints')
mavproxy.send('wp save %s\n' % filename)
mavproxy.expect('Saved ([0-9]+) waypoints')
num_wp = int(mavproxy.match.group(1))
self.progress("num_wp: %d" % num_wp)
return num_wp
def string_for_frame(self, frame):
return mavutil.mavlink.enums["MAV_FRAME"][frame].name
def frames_equivalent(self, f1, f2):
pairs = [
(mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT),
(mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT),
(mavutil.mavlink.MAV_FRAME_GLOBAL,
mavutil.mavlink.MAV_FRAME_GLOBAL_INT),
]
for pair in pairs:
if (f1 == pair[0] and f2 == pair[1]):
return True
if (f1 == pair[1] and f2 == pair[0]):
return True
return f1 == f2
def check_mission_items_same(self,
check_atts,
want,
got,
epsilon=None,
skip_first_item=False,
strict=True):
self.progress("Checking mission items same")
if epsilon is None:
epsilon = 1
if len(want) != len(got):
raise NotAchievedException("Incorrect item count (want=%u got=%u)" % (len(want), len(got)))
self.progress("Checking %u items" % len(want))
for i in range(0, len(want)):
if skip_first_item and i == 0:
continue
item = want[i]
downloaded_item = got[i]
check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1']
# z is not preserved
self.progress("Comparing (%s) and (%s)" % (str(item), str(downloaded_item)))
for att in check_atts:
item_val = getattr(item, att)
downloaded_item_val = getattr(downloaded_item, att)
if abs(item_val - downloaded_item_val) > epsilon:
raise NotAchievedException(
"Item %u (%s) has different %s after download want=%s got=%s (got-item=%s)" %
(i, str(item), att, str(item_val), str(downloaded_item_val), str(downloaded_item)))
# for waypoint items ensure z and frame are preserved:
self.progress("Type is %u" % got[0].mission_type)
if got[0].mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
item_val = getattr(item, 'frame')
downloaded_item_val = getattr(downloaded_item, 'frame')
# if you are thinking of adding another, "don't annoy
# me, I know missions aren't troundtripped" non-strict
# thing here, DON'T do it without first checking "def
# assert_mission_files_same"; it makes the same checks
# as will be needed here eventually.
if ((strict or self.ardupilot_stores_frame_for_cmd(getattr(item, 'command'))) and
not self.frames_equivalent(item_val, downloaded_item_val)):
raise NotAchievedException("Frame not same (got=%s want=%s)" %
(self.string_for_frame(downloaded_item_val),
self.string_for_frame(item_val)))
if downloaded_item.z == 0:
delta = abs(item.z)
else:
delta = 1 - abs(item.z / downloaded_item.z)
if delta > 0.01: # error should be less than 1 mm, but float precision issues in Python...
raise NotAchievedException("Z not preserved (got=%f want=%f delta=%f%%)" %
(downloaded_item.z, item.z, delta))
def check_fence_items_same(self, want, got, strict=True):
check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1']
return self.check_mission_items_same(check_atts, want, got, strict=strict)
def check_mission_waypoint_items_same(self, want, got, strict=True):
check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1']
return self.check_mission_items_same(check_atts, want, got, skip_first_item=True, strict=strict)
def check_mission_item_upload_download(self, items, itype, mission_type, strict=True):
self.progress("check %s upload/download: upload %u items" %
(itype, len(items),))
self.upload_using_mission_protocol(mission_type, items)
self.progress("check %s upload/download: download items" % itype)
downloaded_items = self.download_using_mission_protocol(mission_type)
if len(items) != len(downloaded_items):
raise NotAchievedException("Did not download same number of items as uploaded want=%u got=%u" %
(len(items), len(downloaded_items)))
if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_FENCE:
self.check_fence_items_same(items, downloaded_items, strict=strict)
elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
self.check_mission_waypoint_items_same(items, downloaded_items, strict=strict)
else:
raise NotAchievedException("Unhandled")
def check_fence_upload_download(self, items):
self.check_mission_item_upload_download(
items,
"fence",
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
def check_mission_upload_download(self, items, strict=True):
self.check_mission_item_upload_download(
items,
"waypoints",
mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
strict=strict)
def check_dflog_message_rates(self, log_filepath, message_rates):
reader = self.dfreader_for_path(log_filepath)
counts = {}
first = None
while True:
m = reader.recv_match()
if m is None:
break
if (m.fmt.instance_field is not None and
getattr(m, m.fmt.instance_field) != 0):
continue
t = m.get_type()
# print("t=%s" % str(t))
if t not in counts:
counts[t] = 0
counts[t] += 1
if hasattr(m, 'TimeUS'):
if first is None:
first = m
last = m
if first is None:
raise NotAchievedException("Did not get any messages")
delta_time_us = last.TimeUS - first.TimeUS
for (t, want_rate) in message_rates.items():
if t not in counts:
raise NotAchievedException("Wanted %s but got none" % t)
self.progress("Got (%u) in (%uus)" % (counts[t], delta_time_us))
got_rate = float(counts[t]) / delta_time_us * 1000000
if abs(want_rate - got_rate) > 5:
raise NotAchievedException("Not getting %s data at wanted rate want=%f got=%f" %
(t, want_rate, got_rate))
def generate_rate_sample_log(self):
self.reboot_sitl()
self.wait_ready_to_arm()
self.delay_sim_time(20)
path = self.current_onboard_log_filepath()
self.progress("Rate sample log (%s)" % path)
self.reboot_sitl()
return path
def rc_defaults(self):
return {
1: 1500,
2: 1500,
3: 1500,
4: 1500,
5: 1500,
6: 1500,
7: 1500,
8: 1500,
9: 1500,
10: 1500,
11: 1500,
12: 1500,
13: 1500,
14: 1500,
15: 1500,
16: 1500,
}
def set_rc_from_map(self, _map, timeout=20):
map_copy = _map.copy()
for v in map_copy.values():
if not isinstance(v, int):
raise NotAchievedException("RC values must be integers")
self.rc_queue.put(map_copy)
if self.rc_thread is None:
self.rc_thread = threading.Thread(target=self.rc_thread_main, name='RC')
if self.rc_thread is None:
raise NotAchievedException("Could not create thread")
self.rc_thread.start()
tstart = self.get_sim_time()
while True:
if tstart - self.get_sim_time_cached() > timeout:
raise NotAchievedException("Failed to set RC values")
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=1)
if m is None:
continue
bad_channels = ""
for chan in map_copy:
chan_pwm = getattr(m, "chan" + str(chan) + "_raw")
if chan_pwm != map_copy[chan]:
bad_channels += " (ch=%u want=%u got=%u)" % (chan, map_copy[chan], chan_pwm)
break
if len(bad_channels) == 0:
self.progress("RC values good")
break
self.progress("RC values bad:%s" % bad_channels)
if not self.rc_thread.is_alive():
self.rc_thread = None
raise ValueError("RC thread is dead") # FIXME: type
def rc_thread_main(self):
chan16 = [1000] * 16
sitl_output = mavutil.mavudp("127.0.0.1:%u" % self.sitl_rcin_port(), input=False)
buf = None
while True:
if self.rc_thread_should_quit:
break
# the 0.05 here means we're updating the RC values into
# the autopilot at 20Hz - that's our 50Hz wallclock, , not
# the autopilot's simulated 20Hz, so if speedup is 10 the
# autopilot will see ~2Hz.
timeout = 0.02
# ... and 2Hz is too slow when we now run at 100x speedup:
timeout /= (self.speedup / 10.0)
try:
map_copy = self.rc_queue.get(timeout=timeout)
# 16 packed entries:
for i in range(1, 17):
if i in map_copy:
chan16[i-1] = map_copy[i]
except Queue.Empty:
pass
buf = struct.pack('<HHHHHHHHHHHHHHHH', *chan16)
if buf is None:
continue
sitl_output.write(buf)
def set_rc_default(self):
"""Setup all simulated RC control to 1500."""
_defaults = self.rc_defaults()
self.set_rc_from_map(_defaults)
def check_rc_defaults(self):
"""Ensure all rc outputs are at defaults"""
self.do_timesync_roundtrip()
_defaults = self.rc_defaults()
m = self.assert_receive_message('RC_CHANNELS', timeout=5)
need_set = {}
for chan in _defaults:
default_value = _defaults[chan]
current_value = getattr(m, "chan" + str(chan) + "_raw")
if default_value != current_value:
self.progress("chan=%u needs resetting is=%u want=%u" %
(chan, current_value, default_value))
need_set[chan] = default_value
self.set_rc_from_map(need_set)
def set_rc(self, chan, pwm, timeout=20):
"""Setup a simulated RC control to a PWM value"""
self.set_rc_from_map({chan: pwm}, timeout=timeout)
def location_offset_ne(self, location, north, east):
'''move location in metres'''
print("old: %f %f" % (location.lat, location.lng))
(lat, lng) = mp_util.gps_offset(location.lat, location.lng, east, north)
location.lat = lat
location.lng = lng
print("new: %f %f" % (location.lat, location.lng))
def home_relative_loc_ne(self, n, e):
ret = self.home_position_as_mav_location()
self.location_offset_ne(ret, n, e)
return ret
def zero_throttle(self):
"""Set throttle to zero."""
if self.is_rover():
self.set_rc(3, 1500)
else:
self.set_rc(3, 1000)
def set_output_to_max(self, chan):
"""Set output to max with RC Radio taking into account REVERSED parameter."""
is_reversed = self.get_parameter("RC%u_REVERSED" % chan)
out_max = int(self.get_parameter("RC%u_MAX" % chan))
out_min = int(self.get_parameter("RC%u_MIN" % chan))
if is_reversed == 0:
self.set_rc(chan, out_max)
else:
self.set_rc(chan, out_min)
def set_output_to_min(self, chan):
"""Set output to min with RC Radio taking into account REVERSED parameter."""
is_reversed = self.get_parameter("RC%u_REVERSED" % chan)
out_max = int(self.get_parameter("RC%u_MAX" % chan))
out_min = int(self.get_parameter("RC%u_MIN" % chan))
if is_reversed == 0:
self.set_rc(chan, out_min)
else:
self.set_rc(chan, out_max)
def set_output_to_trim(self, chan):
"""Set output to trim with RC Radio."""
out_trim = int(self.get_parameter("RC%u_TRIM" % chan))
self.set_rc(chan, out_trim)
def get_stick_arming_channel(self):
"""Return the Rudder channel number as set in parameter."""
raise ErrorException("Rudder parameter is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
def get_disarm_delay(self):
"""Return disarm delay value."""
raise ErrorException("Disarm delay is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
def arming_test_mission(self):
"""Load arming test mission.
This mission is used to allow to change mode to AUTO. For each vehicle
it get an unlimited wait waypoint and the starting takeoff if needed."""
if self.is_rover() or self.is_plane() or self.is_sub():
return os.path.join(testdir, self.current_test_name_directory + "test_arming.txt")
else:
return None
def set_safetyswitch_on(self, **kwargs):
self.set_safetyswitch(1, **kwargs)
def set_safetyswitch_off(self, **kwargs):
self.set_safetyswitch(0, **kwargs)
def set_safetyswitch(self, value, target_system=1, target_component=1):
self.mav.mav.set_mode_send(
target_system,
mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY,
value)
self.wait_sensor_state(
mavutil.mavlink.MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,
True, not value, True,
verbose=True,
timeout=30
)
def armed(self):
"""Return true if vehicle is armed and safetyoff"""
self.wait_heartbeat()
return self.mav.motors_armed()
def send_mavlink_arm_command(self):
self.send_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
)
def send_mavlink_disarm_command(self):
self.send_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=0, # DISARM
)
def send_mavlink_run_prearms_command(self):
self.send_cmd(mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS)
def analog_rangefinder_parameters(self):
return {
"RNGFND1_TYPE": 1,
"RNGFND1_MIN_CM": 0,
"RNGFND1_MAX_CM": 4000,
"RNGFND1_SCALING": 12.12,
"RNGFND1_PIN": 0,
}
def set_analog_rangefinder_parameters(self):
self.set_parameters(self.analog_rangefinder_parameters())
def send_debug_trap(self, timeout=6000):
self.progress("Sending trap to autopilot")
self.run_cmd(
mavutil.mavlink.MAV_CMD_DEBUG_TRAP,
p1=32451, # magic number to trap
timeout=timeout,
)
def try_arm(self, result=True, expect_msg=None, timeout=60):
"""Send Arming command, wait for the expected result and statustext."""
self.progress("Try arming and wait for expected result")
self.drain_mav()
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED if result else mavutil.mavlink.MAV_RESULT_FAILED,
timeout=timeout,
)
if expect_msg is not None:
self.wait_statustext(
expect_msg,
timeout=timeout,
the_function=lambda: self.send_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
target_sysid=None,
target_compid=None,
))
def arm_vehicle(self, timeout=20, force=False):
"""Arm vehicle with mavlink arm message."""
self.progress("Arm motors with MAVLink cmd")
p2 = 0
if force:
p2 = 2989
try:
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
p2=p2,
timeout=timeout,
)
except ValueError as e:
# statustexts are queued; give it a second to arrive:
self.delay_sim_time(5)
raise e
try:
self.wait_armed()
except AutoTestTimeoutException:
raise AutoTestTimeoutException("Failed to ARM with mavlink")
return True
def wait_armed(self, timeout=20):
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
self.wait_heartbeat(drain_mav=False)
if self.mav.motors_armed():
self.progress("Motors ARMED")
return
raise AutoTestTimeoutException("Did not become armed")
def disarm_vehicle(self, timeout=60, force=False):
"""Disarm vehicle with mavlink disarm message."""
self.progress("Disarm motors with MAVLink cmd")
p2 = 0
if force:
p2 = 21196 # magic force disarm value
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=0, # DISARM
p2=p2,
timeout=timeout,
)
self.wait_disarmed()
def disarm_vehicle_expect_fail(self):
'''disarm, checking first that non-forced disarm fails, then doing a forced disarm'''
self.progress("Disarm - expect to fail")
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=0, # DISARM
timeout=10,
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
)
self.progress("Disarm - forced")
self.disarm_vehicle(force=True)
def wait_disarmed_default_wait_time(self):
return 30
def wait_disarmed(self, timeout=None, tstart=None):
if timeout is None:
timeout = self.wait_disarmed_default_wait_time()
self.progress("Waiting for DISARM")
if tstart is None:
tstart = self.get_sim_time()
last_print_time = 0
while True:
now = self.get_sim_time_cached()
delta = now - tstart
if delta > timeout:
raise AutoTestTimeoutException("Failed to DISARM within %fs" %
(timeout,))
if now - last_print_time > 1:
self.progress("Waiting for disarm (%.2fs so far of allowed %.2f)" % (delta, timeout))
last_print_time = now
msg = self.wait_heartbeat(quiet=True)
if msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED:
# still armed
continue
self.progress("DISARMED after %.2f seconds (allowed=%.2f)" %
(delta, timeout))
return
def wait_attitude(self, desroll=None, despitch=None, timeout=2, tolerance=10, message_type='ATTITUDE'):
'''wait for an attitude (degrees)'''
if desroll is None and despitch is None:
raise ValueError("despitch or desroll must be supplied")
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise AutoTestTimeoutException("Failed to achieve attitude")
m = self.assert_receive_message(message_type, timeout=60)
roll_deg = math.degrees(m.roll)
pitch_deg = math.degrees(m.pitch)
self.progress("wait_att: roll=%f desroll=%s pitch=%f despitch=%s" %
(roll_deg, desroll, pitch_deg, despitch))
if desroll is not None and abs(roll_deg - desroll) > tolerance:
continue
if despitch is not None and abs(pitch_deg - despitch) > tolerance:
continue
return
def wait_attitude_quaternion(self,
desroll=None,
despitch=None,
timeout=2,
tolerance=10,
message_type='ATTITUDE_QUATERNION'):
'''wait for an attitude (degrees)'''
if desroll is None and despitch is None:
raise ValueError("despitch or desroll must be supplied")
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise AutoTestTimeoutException("Failed to achieve attitude")
m = self.poll_message(message_type)
q = quaternion.Quaternion([m.q1, m.q2, m.q3, m.q4])
euler = q.euler
roll = euler[0]
pitch = euler[1]
roll_deg = math.degrees(roll)
pitch_deg = math.degrees(pitch)
self.progress("wait_att_quat: roll=%f desroll=%s pitch=%f despitch=%s" %
(roll_deg, desroll, pitch_deg, despitch))
if desroll is not None and abs(roll_deg - desroll) > tolerance:
continue
if despitch is not None and abs(pitch_deg - despitch) > tolerance:
continue
self.progress("wait_att_quat: achieved")
return
def CPUFailsafe(self):
'''Ensure we do something appropriate when the main loop stops'''
# Most vehicles just disarm on failsafe
# customising the SITL commandline ensures the process will
# get stopped/started at the end of the test
if self.frame is None:
raise ValueError("Frame is none?")
self.customise_SITL_commandline([])
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Sending enter-cpu-lockup")
# when we're in CPU lockup we don't get SYSTEM_TIME messages,
# so get_sim_time breaks:
tstart = self.get_sim_time()
self.send_cmd_enter_cpu_lockup()
self.wait_disarmed(timeout=5, tstart=tstart)
# we're not getting SYSTEM_TIME messages at this point.... and
# we're in a weird state where the vehicle is armed but the
# motors are not, and we can't disarm further because Copter
# looks at whether its *motors* are armed as part of its
# disarm process.
self.reset_SITL_commandline()
def cpufailsafe_wait_servo_channel_value(self, channel, value, timeout=30):
'''we get restricted messages while doing cpufailsafe, this working then'''
start = time.time()
while True:
if time.time() - start > timeout:
raise NotAchievedException("Did not achieve value")
m = self.assert_receive_message('SERVO_OUTPUT_RAW', timeout=1)
channel_field = "servo%u_raw" % channel
m_value = getattr(m, channel_field, None)
self.progress("Servo%u=%u want=%u" % (channel, m_value, value))
if m_value == value:
break
def plane_CPUFailsafe(self):
'''In lockup Plane should copy RC inputs to RC outputs'''
# customising the SITL commandline ensures the process will
# get stopped/started at the end of the test
self.customise_SITL_commandline([])
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Sending enter-cpu-lockup")
# when we're in CPU lockup we don't get SYSTEM_TIME messages,
# so get_sim_time breaks:
self.send_cmd_enter_cpu_lockup()
start_time = time.time() # not sim time!
self.context_push()
self.context_collect("STATUSTEXT")
while True:
want = "Initialising ArduPilot"
if time.time() - start_time > 30:
raise NotAchievedException("Did not get %s" % want)
# we still need to parse the incoming messages:
try:
self.wait_statustext(want, timeout=0.1, check_context=True, wallclock_timeout=1)
break
except AutoTestTimeoutException:
pass
self.context_pop()
# Different scaling for RC input and servo output means the
# servo output value isn't the rc input value:
self.progress("Setting RC to 1200")
self.rc_queue.put({2: 1200})
self.progress("Waiting for servo of 1260")
self.cpufailsafe_wait_servo_channel_value(2, 1260)
self.rc_queue.put({2: 1700})
self.cpufailsafe_wait_servo_channel_value(2, 1660)
self.reset_SITL_commandline()
def mavproxy_arm_vehicle(self, mavproxy):
"""Arm vehicle with mavlink arm message send from MAVProxy."""
self.progress("Arm motors with MavProxy")
mavproxy.send('arm throttle\n')
self.wait_armed()
self.progress("ARMED")
return True
def mavproxy_disarm_vehicle(self, mavproxy):
"""Disarm vehicle with mavlink disarm message send from MAVProxy."""
self.progress("Disarm motors with MavProxy")
mavproxy.send('disarm\n')
self.wait_disarmed()
def arm_motors_with_rc_input(self, timeout=20):
"""Arm motors with radio."""
self.progress("Arm motors with radio")
self.set_output_to_max(self.get_stick_arming_channel())
tstart = self.get_sim_time()
while True:
self.wait_heartbeat()
tdelta = self.get_sim_time_cached() - tstart
if self.mav.motors_armed():
self.progress("MOTORS ARMED OK WITH RADIO")
self.set_output_to_trim(self.get_stick_arming_channel())
self.progress("Arm in %ss" % tdelta) # TODO check arming time
return
print("Not armed after %f seconds" % (tdelta))
if tdelta > timeout:
break
self.set_output_to_trim(self.get_stick_arming_channel())
raise NotAchievedException("Failed to ARM with radio")
def disarm_motors_with_rc_input(self, timeout=20, watch_for_disabled=False):
"""Disarm motors with radio."""
self.progress("Disarm motors with radio")
self.do_timesync_roundtrip()
self.context_push()
self.context_collect('STATUSTEXT')
self.set_output_to_min(self.get_stick_arming_channel())
tstart = self.get_sim_time()
ret = False
while self.get_sim_time_cached() < tstart + timeout:
self.wait_heartbeat()
if not self.mav.motors_armed():
disarm_delay = self.get_sim_time_cached() - tstart
self.progress("MOTORS DISARMED OK WITH RADIO (in %ss)" % disarm_delay)
ret = True
break
if self.statustext_in_collections("Rudder disarm: disabled"):
self.progress("Found 'Rudder disarm: disabled' in statustext")
break
self.context_clear_collection('STATUSTEXT')
self.set_output_to_trim(self.get_stick_arming_channel())
self.context_pop()
if not ret:
raise NotAchievedException("Failed to DISARM with RC input")
def arm_motors_with_switch(self, switch_chan, timeout=20):
"""Arm motors with switch."""
self.progress("Arm motors with switch %d" % switch_chan)
self.set_rc(switch_chan, 2000)
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
self.wait_heartbeat()
if self.mav.motors_armed():
self.progress("MOTORS ARMED OK WITH SWITCH")
return
raise NotAchievedException("Failed to ARM with switch")
def disarm_motors_with_switch(self, switch_chan, timeout=20):
"""Disarm motors with switch."""
self.progress("Disarm motors with switch %d" % switch_chan)
self.set_rc(switch_chan, 1000)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + timeout:
self.wait_heartbeat()
if not self.mav.motors_armed():
self.progress("MOTORS DISARMED OK WITH SWITCH")
return
raise NotAchievedException("Failed to DISARM with switch")
def disarm_wait(self, timeout=10):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not disarm")
self.wait_heartbeat()
if not self.mav.motors_armed():
return
def wait_autodisarm_motors(self):
"""Wait for Autodisarm motors within disarm delay
this feature is only available in copter (DISARM_DELAY) and plane (LAND_DISARMDELAY)."""
self.progress("Wait autodisarming motors")
disarm_delay = self.get_disarm_delay()
tstart = self.get_sim_time()
timeout = disarm_delay * 2
while self.get_sim_time_cached() < tstart + timeout:
self.wait_heartbeat()
if not self.mav.motors_armed():
disarm_time = self.get_sim_time_cached() - tstart
self.progress("MOTORS AUTODISARMED")
self.progress("Autodisarm in %ss, expect less than %ss" % (disarm_time, disarm_delay))
return disarm_time <= disarm_delay
raise AutoTestTimeoutException("Failed to AUTODISARM")
def set_autodisarm_delay(self, delay):
"""Set autodisarm delay"""
raise ErrorException("Auto disarm is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
@staticmethod
def should_fetch_all_for_parameter_change(param_name):
return False # FIXME: if we allow MAVProxy then allow this
if fnmatch.fnmatch(param_name, "*_ENABLE") or fnmatch.fnmatch(param_name, "*_ENABLED"):
return True
if param_name in ["ARSPD_TYPE",
"ARSPD2_TYPE",
"BATT2_MONITOR",
"CAN_DRIVER",
"COMPASS_PMOT_EN",
"OSD_TYPE",
"RSSI_TYPE",
"WENC_TYPE"]:
return True
return False
def send_set_parameter_direct(self, name, value):
self.mav.mav.param_set_send(self.sysid_thismav(),
1,
name.encode('ascii'),
value,
mavutil.mavlink.MAV_PARAM_TYPE_REAL32)
def send_set_parameter_mavproxy(self, name, value):
self.mavproxy.send("param set %s %s\n" % (name, str(value)))
def send_set_parameter(self, name, value, verbose=False):
if verbose:
self.progress("Send set param for (%s) (%f)" % (name, value))
return self.send_set_parameter_direct(name, value)
def set_parameter(self, name, value, **kwargs):
self.set_parameters({name: value}, **kwargs)
def set_parameters(self, parameters, add_to_context=True, epsilon_pct=0.00001, verbose=True, attempts=None):
"""Set parameters from vehicle."""
want = copy.copy(parameters)
self.progress("set_parameters: (%s)" % str(want))
self.drain_mav()
if len(want) == 0:
return
if attempts is None:
# we can easily fill ArduPilot's param-set/param-get queue
# which is quite short. So we retry *a lot*.
attempts = len(want) * 10
param_value_messages = []
def add_param_value(mav, m):
t = m.get_type()
if t != "PARAM_VALUE":
return
param_value_messages.append(m)
self.install_message_hook(add_param_value)
original_values = {}
autopilot_values = {}
for i in range(attempts):
self.drain_mav(quiet=True)
self.drain_all_pexpects()
received = set()
for (name, value) in want.items():
if verbose:
self.progress("%s want=%f autopilot=%s (attempt=%u/%u)" %
(name, value, autopilot_values.get(name, 'None'), i+1, attempts))
if name not in autopilot_values:
if verbose:
self.progress("Requesting (%s)" % (name,))
self.send_get_parameter_direct(name)
continue
delta = abs(autopilot_values[name] - value)
if delta <= epsilon_pct*0.01*abs(value):
# correct value
self.progress("%s is now %f" % (name, autopilot_values[name]))
if add_to_context:
context_param_name_list = [p[0] for p in self.context_get().parameters]
if name.upper() not in context_param_name_list:
self.context_get().parameters.append((name, original_values[name]))
received.add(name)
continue
self.progress("Sending set (%s) to (%f) (old=%f)" % (name, value, original_values[name]))
self.send_set_parameter_direct(name, value)
for name in received:
del want[name]
if len(want):
# problem here is that a reboot can happen after we
# send the request but before we receive the reply:
try:
self.do_timesync_roundtrip(quiet=True)
except AutoTestTimeoutException:
pass
for m in param_value_messages:
if m.param_id in want:
self.progress("Received wanted PARAM_VALUE %s=%f" %
(str(m.param_id), m.param_value))
autopilot_values[m.param_id] = m.param_value
if m.param_id not in original_values:
original_values[m.param_id] = m.param_value
param_value_messages = []
self.remove_message_hook(add_param_value)
if len(want) == 0:
return
raise ValueError("Failed to set parameters (%s)" % want)
def get_parameter(self, *args, **kwargs):
return self.get_parameter_direct(*args, **kwargs)
def send_get_parameter_direct(self, name):
encname = name
if sys.version_info.major >= 3 and not isinstance(encname, bytes):
encname = bytes(encname, 'ascii')
self.mav.mav.param_request_read_send(self.sysid_thismav(),
1,
encname,
-1)
def get_parameter_direct(self, name, attempts=1, timeout=60, verbose=True, timeout_in_wallclock=False):
while attempts > 0:
attempts -= 1
if verbose:
self.progress("Sending param_request_read for (%s)" % name)
# we MUST parse here or collections fail where we need
# them to work!
self.drain_mav(quiet=True)
if timeout_in_wallclock:
tstart = time.time()
else:
tstart = self.get_sim_time()
self.send_get_parameter_direct(name)
while True:
if timeout_in_wallclock:
now = time.time()
else:
now = self.get_sim_time_cached()
if tstart > now:
self.progress("Time wrap detected")
# we're going to have to send another request...
break
delta_time = now - tstart
if delta_time > timeout:
break
m = self.mav.recv_match(type='PARAM_VALUE', blocking=True, timeout=0.1)
if verbose:
self.progress("get_parameter(%s): %s" % (name, str(m), ))
if m is None:
continue
if m.param_id == name:
if delta_time > 5:
self.progress("Long time to get parameter: %fs" % (delta_time,))
return m.param_value
if verbose:
self.progress("(%s) != (%s)" % (m.param_id, name,))
raise NotAchievedException("Failed to retrieve parameter (%s)" % name)
def get_parameter_mavproxy(self, mavproxy, name, attempts=1, timeout=60):
"""Get parameters from vehicle."""
for i in range(0, attempts):
mavproxy.send("param fetch %s\n" % name)
try:
mavproxy.expect("%s = ([-0-9.]*)\r\n" % (name,), timeout=timeout/attempts)
try:
# sometimes race conditions garble the MAVProxy output
ret = float(mavproxy.match.group(1))
except ValueError:
continue
return ret
except pexpect.TIMEOUT:
pass
raise NotAchievedException("Failed to retrieve parameter (%s)" % name)
def get_parameters(self, some_list):
ret = {}
for n in some_list:
ret[n] = self.get_parameter(n)
return ret
def context_get(self):
"""Get Saved parameters."""
return self.contexts[-1]
def context_push(self):
"""Save a copy of the parameters."""
context = Context()
self.contexts.append(context)
# add a message hook so we can collect messages conveniently:
def mh(mav, m):
t = m.get_type()
if t in context.collections:
context.collections[t].append(m)
self.install_message_hook_context(mh)
def context_collect(self, msg_type):
'''start collecting messages of type msg_type into context collection'''
context = self.context_get()
if msg_type in context.collections:
return
context.collections[msg_type] = []
def context_collection(self, msg_type):
'''return messages in collection'''
context = self.context_get()
if msg_type not in context.collections:
raise NotAchievedException("Not collecting (%s)" % str(msg_type))
return context.collections[msg_type]
def context_clear_collection(self, msg_type):
'''clear collection of message type msg_type'''
context = self.context_get()
if msg_type not in context.collections:
raise NotAchievedException("Not collecting (%s)" % str(msg_type))
context.collections[msg_type] = []
def context_stop_collecting(self, msg_type):
'''stop collecting messages of type msg_type in context collection. Returns the collected messages'''
context = self.context_get()
if msg_type not in context.collections:
raise Exception("Not collecting %s" % str(msg_type))
ret = context.collections[msg_type]
del context.collections[msg_type]
return ret
def context_pop(self, process_interaction_allowed=True):
"""Set parameters to origin values in reverse order."""
dead = self.contexts.pop()
# remove hooks first; these hooks can raise exceptions which
# we really don't want...
for hook in dead.message_hooks:
self.remove_message_hook(hook)
for script in dead.installed_scripts:
self.remove_installed_script(script)
for (message_id, interval_us) in dead.overridden_message_rates.items():
self.set_message_interval(message_id, interval_us)
for module in dead.installed_modules:
print("Removing module (%s)" % module)
self.remove_installed_modules(module)
if dead.sitl_commandline_customised and len(self.contexts):
self.contexts[-1].sitl_commandline_customised = True
dead_parameters_dict = {}
for p in dead.parameters:
dead_parameters_dict[p[0]] = p[1]
if process_interaction_allowed:
self.set_parameters(dead_parameters_dict, add_to_context=False)
if getattr(self, "old_binary", None) is not None:
self.stop_SITL()
with open(self.binary, "wb") as f:
f.write(self.old_binary)
f.close()
self.start_SITL(wipe=False)
self.set_streamrate(self.sitl_streamrate())
# the following method is broken under Python2; can't **build_opts
# def context_start_custom_binary(self, extra_defines={}):
# # grab copy of current binary:
# context = self.context_get()
# if getattr(context, "old_binary", None) is not None:
# raise ValueError("Not nestable at the moment")
# with open(self.binary, "rb") as f:
# self.old_binary = f.read()
# f.close()
# build_opts = copy.copy(self.build_opts)
# build_opts["extra_defines"] = extra_defines
# util.build_SITL(
# 'bin/arducopter', # FIXME!
# **build_opts,
# )
# self.stop_SITL()
# self.start_SITL(wipe=False)
# self.set_streamrate(self.sitl_streamrate())
class Context(object):
def __init__(self, testsuite):
self.testsuite = testsuite
def __enter__(self):
self.testsuite.context_push()
def __exit__(self, type, value, traceback):
self.testsuite.context_pop()
return False # re-raise any exception
def sysid_thismav(self):
return 1
def create_MISSION_ITEM_INT(
self,
t,
p1=0,
p2=0,
p3=0,
p4=0,
x=0,
y=0,
z=0,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
autocontinue=1,
current=0,
target_system=1,
target_component=1,
seq=0,
mission_type=mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
):
return self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
frame,
t,
0, # current
0, # autocontinue
p1, # p1
0, # p2
0, # p3
0, # p4
x, # latitude
y, # longitude
z, # altitude
mission_type
)
def run_cmd_int(self,
command,
p1=0,
p2=0,
p3=0,
p4=0,
x=0,
y=0,
z=0,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
timeout=10,
target_sysid=None,
target_compid=None,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
p5=None,
p6=None,
p7=None,
quiet=False,
):
if p5 is not None:
x = p5
if p6 is not None:
y = p6
if p7 is not None:
z = p7
if target_sysid is None:
target_sysid = self.sysid_thismav()
if target_compid is None:
target_compid = 1
self.get_sim_time() # required for timeout in run_cmd_get_ack to work
"""Send a MAVLink command int."""
if not quiet:
try:
command_name = mavutil.mavlink.enums["MAV_CMD"][command].name
except KeyError:
command_name = "UNKNOWNu"
self.progress("Sending COMMAND_INT to (%u,%u) (%s=%u) (p1=%f p2=%f p3=%f p4=%f p5=%u p6=%u p7=%f)" %
(
target_sysid,
target_compid,
command_name,
command,
p1,
p2,
p3,
p4,
x,
y,
z))
self.mav.mav.command_int_send(target_sysid,
target_compid,
frame,
command,
0, # current
0, # autocontinue
p1,
p2,
p3,
p4,
x,
y,
z)
self.run_cmd_get_ack(command, want_result, timeout)
def send_cmd(self,
command,
p1=0,
p2=0,
p3=0,
p4=0,
p5=0,
p6=0,
p7=0,
target_sysid=None,
target_compid=None,
mav=None,
quiet=False,
):
"""Send a MAVLink command long."""
if mav is None:
mav = self.mav
if target_sysid is None:
target_sysid = self.sysid_thismav()
if target_compid is None:
target_compid = 1
if not quiet:
try:
command_name = mavutil.mavlink.enums["MAV_CMD"][command].name
except KeyError:
command_name = "UNKNOWN"
self.progress("Sending COMMAND_LONG to (%u,%u) (%s=%u) (p1=%f p2=%f p3=%f p4=%f p5=%f p6=%f p7=%f)" %
(
target_sysid,
target_compid,
command_name,
command,
p1,
p2,
p3,
p4,
p5,
p6,
p7))
mav.mav.command_long_send(target_sysid,
target_compid,
command,
1, # confirmation
p1,
p2,
p3,
p4,
p5,
p6,
p7)
def run_cmd(self,
command,
p1=0,
p2=0,
p3=0,
p4=0,
p5=0,
p6=0,
p7=0,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
target_sysid=None,
target_compid=None,
timeout=10,
quiet=False,
mav=None):
self.drain_mav(mav=mav)
self.get_sim_time() # required for timeout in run_cmd_get_ack to work
self.send_cmd(
command,
p1,
p2,
p3,
p4,
p5,
p6,
p7,
target_sysid=target_sysid,
target_compid=target_compid,
mav=mav,
quiet=quiet,
)
self.run_cmd_get_ack(command, want_result, timeout, quiet=quiet, mav=mav)
def run_cmd_get_ack(self, command, want_result, timeout, quiet=False, mav=None, ignore_in_progress=None):
# note that the caller should ensure that this cached
# timestamp is reasonably up-to-date!
if mav is None:
mav = self.mav
if ignore_in_progress is None:
ignore_in_progress = want_result != mavutil.mavlink.MAV_RESULT_IN_PROGRESS
tstart = self.get_sim_time_cached()
while True:
if mav != self.mav:
self.drain_mav()
delta_time = self.get_sim_time_cached() - tstart
if delta_time > timeout:
raise AutoTestTimeoutException("Did not get good COMMAND_ACK within %fs" % timeout)
m = mav.recv_match(type='COMMAND_ACK',
blocking=True,
timeout=0.1)
if m is None:
continue
if not quiet:
self.progress("ACK received: %s (%fs)" % (str(m), delta_time))
if m.command == command:
if m.result == mavutil.mavlink.MAV_RESULT_IN_PROGRESS and ignore_in_progress:
continue
if m.result != want_result:
raise ValueError("Expected %s got %s" % (
mavutil.mavlink.enums["MAV_RESULT"][want_result].name,
mavutil.mavlink.enums["MAV_RESULT"][m.result].name))
break
def set_current_waypoint_using_mav_cmd_do_set_mission_current(
self,
seq,
target_sysid=1,
target_compid=1):
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
p1=seq,
timeout=1,
target_sysid=target_sysid,
target_compid=target_compid)
def set_current_waypoint_using_mission_set_current(
self,
seq,
target_sysid=1,
target_compid=1,
check_afterwards=True):
self.mav.mav.mission_set_current_send(target_sysid,
target_compid,
seq)
if check_afterwards:
self.wait_current_waypoint(seq, timeout=10)
def set_current_waypoint(self, seq, target_sysid=1, target_compid=1, check_afterwards=True):
return self.set_current_waypoint_using_mission_set_current(
seq,
target_sysid,
target_compid,
check_afterwards=check_afterwards
)
def verify_parameter_values(self, parameter_stuff, max_delta=0.0):
bad = ""
for param in parameter_stuff:
fetched_value = self.get_parameter(param)
wanted_value = parameter_stuff[param]
if isinstance(wanted_value, tuple):
max_delta = wanted_value[1]
wanted_value = wanted_value[0]
if abs(fetched_value - wanted_value) > max_delta:
bad += "%s=%f (want=%f +/-%f) " % (param, fetched_value, wanted_value, max_delta)
if len(bad):
raise NotAchievedException("Bad parameter values: %s" %
(bad,))
#################################################
# UTILITIES
#################################################
@staticmethod
def longitude_scale(lat):
ret = math.cos(lat * (math.radians(1)))
print("scale=%f" % ret)
return ret
@staticmethod
def get_distance(loc1, loc2):
"""Get ground distance between two locations."""
return AutoTest.get_distance_accurate(loc1, loc2)
# dlat = loc2.lat - loc1.lat
# try:
# dlong = loc2.lng - loc1.lng
# except AttributeError:
# dlong = loc2.lon - loc1.lon
# return math.sqrt((dlat*dlat) + (dlong*dlong)*AutoTest.longitude_scale(loc2.lat)) * 1.113195e5
@staticmethod
def get_distance_accurate(loc1, loc2):
"""Get ground distance between two locations."""
try:
lon1 = loc1.lng
lon2 = loc2.lng
except AttributeError:
lon1 = loc1.lon
lon2 = loc2.lon
return mp_util.gps_distance(loc1.lat, lon1, loc2.lat, lon2)
@staticmethod
def get_latlon_attr(loc, attrs):
'''return any found latitude attribute from loc'''
ret = None
for attr in attrs:
if hasattr(loc, attr):
ret = getattr(loc, attr)
break
if ret is None:
raise ValueError("None of %s in loc(%s)" % (str(attrs), str(loc)))
return ret
@staticmethod
def get_lat_attr(loc):
'''return any found latitude attribute from loc'''
return AutoTest.get_latlon_attr(loc, ["lat", "latitude"])
@staticmethod
def get_lon_attr(loc):
'''return any found latitude attribute from loc'''
return AutoTest.get_latlon_attr(loc, ["lng", "lon", "longitude"])
@staticmethod
def get_distance_int(loc1, loc2):
"""Get ground distance between two locations in the normal "int" form
- lat/lon multiplied by 1e7"""
loc1_lat = AutoTest.get_lat_attr(loc1)
loc2_lat = AutoTest.get_lat_attr(loc2)
loc1_lon = AutoTest.get_lon_attr(loc1)
loc2_lon = AutoTest.get_lon_attr(loc2)
return AutoTest.get_distance_accurate(
mavutil.location(loc1_lat*1e-7, loc1_lon*1e-7),
mavutil.location(loc2_lat*1e-7, loc2_lon*1e-7))
# dlat = loc2_lat - loc1_lat
# dlong = loc2_lon - loc1_lon
#
# dlat /= 10000000.0
# dlong /= 10000000.0
#
# return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
def bearing_to(self, loc):
'''return bearing from here to location'''
here = self.mav.location()
return self.get_bearing(here, loc)
@staticmethod
def get_bearing(loc1, loc2):
"""Get bearing from loc1 to loc2."""
off_x = loc2.lng - loc1.lng
off_y = loc2.lat - loc1.lat
bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
if bearing < 0:
bearing += 360.00
return bearing
def send_cmd_do_set_mode(self, mode):
self.send_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_MODE,
p1=mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
p2=self.get_mode_from_mode_mapping(mode),
)
def assert_mode(self, mode):
self.wait_mode(mode, timeout=0)
def change_mode(self, mode, timeout=60):
'''change vehicle flightmode'''
self.wait_heartbeat()
self.progress("Changing mode to %s" % mode)
self.send_cmd_do_set_mode(mode)
tstart = self.get_sim_time()
while not self.mode_is(mode):
custom_num = self.mav.messages['HEARTBEAT'].custom_mode
self.progress("mav.flightmode=%s Want=%s custom=%u" % (
self.mav.flightmode, mode, custom_num))
if (timeout is not None and
self.get_sim_time_cached() > tstart + timeout):
raise WaitModeTimeout("Did not change mode")
self.send_cmd_do_set_mode(mode)
self.progress("Got mode %s" % mode)
def capable(self, capability):
return self.get_autopilot_capabilities() & capability
def assert_capability(self, capability):
if not self.capable(capability):
name = mavutil.mavlink.enums["MAV_PROTOCOL_CAPABILITY"][capability].name
raise NotAchievedException("AutoPilot does not have capbility %s" % (name,))
def assert_no_capability(self, capability):
if self.capable(capability):
name = mavutil.mavlink.enums["MAV_PROTOCOL_CAPABILITY"][capability].name
raise NotAchievedException("AutoPilot has feature %s (when it shouln't)" % (name,))
def get_autopilot_capabilities(self):
# Cannot use run_cmd otherwise the respond is lost during the wait for ACK
self.mav.mav.command_long_send(self.sysid_thismav(),
1,
mavutil.mavlink.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
0, # confirmation
1, # 1: Request autopilot version
0,
0,
0,
0,
0,
0)
m = self.assert_receive_message('AUTOPILOT_VERSION', timeout=10)
return m.capabilities
def GetCapabilities(self):
'''Get Capabilities'''
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT)
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION)
def get_mode_from_mode_mapping(self, mode):
"""Validate and return the mode number from a string or int."""
if isinstance(mode, int):
return mode
mode_map = self.mav.mode_mapping()
if mode_map is None:
mav_type = self.mav.messages['HEARTBEAT'].type
mav_autopilot = self.mav.messages['HEARTBEAT'].autopilot
raise ErrorException("No mode map for (mav_type=%s mav_autopilot=%s)" % (mav_type, mav_autopilot))
if isinstance(mode, str):
if mode in mode_map:
return mode_map.get(mode)
if mode in mode_map.values():
return mode
self.progress("No mode (%s); available modes '%s'" % (mode, mode_map))
raise ErrorException("Unknown mode '%s'" % mode)
def run_cmd_do_set_mode(self,
mode,
timeout=30,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = self.get_mode_from_mode_mapping(mode)
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_MODE,
p1=base_mode,
p2=custom_mode,
want_result=want_result,
timeout=timeout,
)
def do_set_mode_via_command_long(self, mode, timeout=30):
"""Set mode with a command long message."""
tstart = self.get_sim_time()
want_custom_mode = self.get_mode_from_mode_mapping(mode)
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise AutoTestTimeoutException("Failed to change mode")
self.run_cmd_do_set_mode(mode, timeout=10)
m = self.wait_heartbeat()
self.progress("Got mode=%u want=%u" % (m.custom_mode, want_custom_mode))
if m.custom_mode == want_custom_mode:
return
def mavproxy_do_set_mode_via_command_long(self, mavproxy, mode, timeout=30):
"""Set mode with a command long message with Mavproxy."""
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = self.get_mode_from_mode_mapping(mode)
tstart = self.get_sim_time()
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise AutoTestTimeoutException("Failed to change mode")
mavproxy.send("long DO_SET_MODE %u %u\n" %
(base_mode, custom_mode))
m = self.wait_heartbeat()
if m.custom_mode == custom_mode:
return True
def reach_heading_manual(self, heading, turn_right=True):
"""Manually direct the vehicle to the target heading."""
if self.is_copter() or self.is_sub():
self.set_rc(4, 1580)
self.wait_heading(heading)
self.set_rc(4, 1500)
if self.is_plane():
self.set_rc(1, 1800)
self.wait_heading(heading)
self.set_rc(1, 1500)
if self.is_rover():
steering_pwm = 1700
if not turn_right:
steering_pwm = 1300
self.set_rc(1, steering_pwm)
self.set_rc(3, 1550)
self.wait_heading(heading)
self.set_rc(3, 1500)
self.set_rc(1, 1500)
def assert_vehicle_location_is_at_startup_location(self, dist_max=1):
here = self.mav.location()
start_loc = self.sitl_start_location()
dist = self.get_distance(here, start_loc)
data = "dist=%f max=%f (here: %s start-loc: %s)" % (dist, dist_max, here, start_loc)
if dist > dist_max:
raise NotAchievedException("Far from startup location: %s" % data)
self.progress("Close to startup location: %s" % data)
def assert_simstate_location_is_at_startup_location(self, dist_max=1):
simstate_loc = self.sim_location()
start_loc = self.sitl_start_location()
dist = self.get_distance(simstate_loc, start_loc)
data = "dist=%f max=%f (simstate: %s start-loc: %s)" % (dist, dist_max, simstate_loc, start_loc)
if dist > dist_max:
raise NotAchievedException("simstate far from startup location: %s" % data)
self.progress("Simstate Close to startup location: %s" % data)
def reach_distance_manual(self, distance):
"""Manually direct the vehicle to the target distance from home."""
if self.is_copter():
self.set_rc(2, 1350)
self.wait_distance(distance, accuracy=5, timeout=60)
self.set_rc(2, 1500)
if self.is_plane():
self.progress("NOT IMPLEMENTED")
if self.is_rover():
self.set_rc(3, 1700)
self.wait_distance(distance, accuracy=2)
self.set_rc(3, 1500)
def guided_achieve_heading(self, heading, accuracy=None):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not achieve heading")
self.run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
p1=heading, # target angle
p2=10, # degrees/second
p3=1, # -1 is counter-clockwise, 1 clockwise
p4=0, # 1 for relative, 0 for absolute
)
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("heading=%d want=%d" % (m.heading, int(heading)))
if accuracy is not None:
delta = abs(m.heading - int(heading))
if delta <= accuracy:
return
if m.heading == int(heading):
return
def assert_heading(self, heading, accuracy=1):
'''assert vehicle yaw is to heading (0-360)'''
m = self.assert_receive_message('VFR_HUD')
if self.heading_delta(heading, m.heading) > accuracy:
raise NotAchievedException("Unexpected heading=%f want=%f" %
(m.heading, heading))
def do_set_relay(self, relay_num, on_off, timeout=10):
"""Set relay with a command long message."""
self.progress("Set relay %d to %d" % (relay_num, on_off))
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_RELAY,
p1=relay_num,
p2=on_off,
timeout=timeout,
)
def do_set_relay_mavproxy(self, relay_num, on_off):
"""Set relay with mavproxy."""
self.progress("Set relay %d to %d" % (relay_num, on_off))
self.mavproxy.send('module load relay\n')
self.mavproxy.expect("Loaded module relay")
self.mavproxy.send("relay set %d %d\n" % (relay_num, on_off))
def do_fence_en_or_dis_able(self, value, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
if value:
p1 = 1
else:
p1 = 0
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE,
p1=p1, # param1
want_result=want_result,
)
def do_fence_enable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.do_fence_en_or_dis_able(True, want_result=want_result)
def do_fence_disable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.do_fence_en_or_dis_able(False, want_result=want_result)
#################################################
# WAIT UTILITIES
#################################################
def delay_sim_time(self, seconds_to_wait, reason=None):
"""Wait some second in SITL time."""
tstart = self.get_sim_time()
tnow = tstart
r = "Delaying %f seconds"
if reason is not None:
r += " for %s" % reason
self.progress(r % (seconds_to_wait,))
while tstart + seconds_to_wait > tnow:
tnow = self.get_sim_time(drain_mav=False)
def send_terrain_check_message(self):
here = self.mav.location()
self.mav.mav.terrain_check_send(int(here.lat * 1e7), int(here.lng * 1e7))
def get_terrain_height(self, verbose=False):
self.send_terrain_check_message()
m = self.assert_receive_message('TERRAIN_REPORT', very_verbose=True)
return m.terrain_height
def get_altitude(self, relative=False, timeout=30, altitude_source=None):
'''returns vehicles altitude in metres, possibly relative-to-home'''
if altitude_source is None:
if relative:
altitude_source = "GLOBAL_POSITION_INT.relative_alt"
else:
altitude_source = "GLOBAL_POSITION_INT.alt"
(msg, field) = altitude_source.split('.')
msg = self.poll_message(msg, quiet=True)
divisor = 1000.0 # mm is pretty common in mavlink
if altitude_source == "SIM_STATE.alt":
divisor = 1.0
return getattr(msg, field) / divisor
def assert_altitude(self, alt, accuracy=1, **kwargs):
got_alt = self.get_altitude(**kwargs)
if abs(alt - got_alt) > accuracy:
raise NotAchievedException("Incorrect alt; want=%f got=%f" %
(alt, got_alt))
def assert_rangefinder_distance_between(self, dist_min, dist_max):
m = self.assert_receive_message('RANGEFINDER')
if m.distance < dist_min:
raise NotAchievedException("below min height (%f < %f)" %
(m.distance, dist_min))
if m.distance > dist_max:
raise NotAchievedException("above max height (%f > %f)" %
(m.distance, dist_max))
def assert_distance_sensor_quality(self, quality):
m = self.assert_receive_message('DISTANCE_SENSOR')
if m.signal_quality != quality:
raise NotAchievedException("Unexpected quality; want=%f got=%f" %
(quality, m.signal_quality))
def get_rangefinder_distance(self):
m = self.assert_receive_message('RANGEFINDER', timeout=5)
return m.distance
def wait_rangefinder_distance(self, dist_min, dist_max, timeout=30, **kwargs):
'''wait for RANGEFINDER distance'''
def validator(value2, target2=None):
if dist_min <= value2 <= dist_max:
return True
else:
return False
self.wait_and_maintain(
value_name="RageFinderDistance",
target=dist_min,
current_value_getter=lambda: self.get_rangefinder_distance(),
accuracy=(dist_max - dist_min),
validator=lambda value2, target2: validator(value2, target2),
timeout=timeout,
**kwargs
)
def get_esc_rpm(self, esc):
if esc > 4:
raise ValueError("Only does 1-4")
m = self.assert_receive_message('ESC_TELEMETRY_1_TO_4', timeout=1, verbose=True)
return m.rpm[esc-1]
def find_first_set_bit(self, mask):
'''returns offset of first-set-bit (counting from right) in mask. Returns None if no bits set'''
pos = 0
while mask != 0:
if mask & 0x1:
return pos
mask = mask >> 1
pos += 1
return None
def get_rpm(self, rpm_sensor):
m = self.assert_receive_message('RPM')
if rpm_sensor == 1:
ret = m.rpm1
elif rpm_sensor == 2:
ret = m.rpm2
else:
raise ValueError("Bad sensor id")
if ret < 0.000001:
# yay filtering!
return 0
return ret
def wait_rpm(self, rpm_sensor, rpm_min, rpm_max, **kwargs):
'''wait for RPM to be between rpm_min and rpm_max'''
def validator(value2, target2=None):
return rpm_min <= value2 <= rpm_max
self.wait_and_maintain(
value_name="RPM%u" % rpm_sensor,
target=(rpm_min+rpm_max)/2.0,
current_value_getter=lambda: self.get_rpm(rpm_sensor),
accuracy=rpm_max-rpm_min,
validator=lambda value2, target2: validator(value2, target2),
**kwargs
)
def wait_esc_telem_rpm(self, esc, rpm_min, rpm_max, **kwargs):
'''wait for ESC to be between rpm_min and rpm_max'''
def validator(value2, target2=None):
return rpm_min <= value2 <= rpm_max
self.wait_and_maintain(
value_name="ESC %u RPM" % esc,
target=(rpm_min+rpm_max)/2.0,
current_value_getter=lambda: self.get_esc_rpm(esc),
accuracy=rpm_max-rpm_min,
validator=lambda value2, target2: validator(value2, target2),
**kwargs
)
def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=None, **kwargs):
"""Wait for a given altitude range."""
assert altitude_min <= altitude_max, "Minimum altitude should be less than maximum altitude."
if timeout is None:
timeout = 30
def validator(value2, target2=None):
if altitude_min <= value2 <= altitude_max:
return True
else:
return False
altitude_source = kwargs.get("altitude_source", None)
self.wait_and_maintain(
value_name="Altitude",
target=altitude_min,
current_value_getter=lambda: self.get_altitude(
relative=relative,
timeout=timeout,
altitude_source=altitude_source,
),
accuracy=(altitude_max - altitude_min),
validator=lambda value2, target2: validator(value2, target2),
timeout=timeout,
**kwargs
)
def watch_altitude_maintained(self, altitude_min, altitude_max, minimum_duration=5, relative=True, altitude_source=None):
"""Watch altitude is maintained or not between altitude_min and altitude_max during minimum_duration"""
return self.wait_altitude(
altitude_min=altitude_min,
altitude_max=altitude_max,
relative=relative,
minimum_duration=minimum_duration,
timeout=minimum_duration + 1,
altitude_source=altitude_source,
)
def wait_climbrate(self, speed_min, speed_max, timeout=30, **kwargs):
"""Wait for a given vertical rate."""
assert speed_min <= speed_max, "Minimum speed should be less than maximum speed."
def get_climbrate(timeout2):
msg = self.assert_receive_message('VFR_HUD', timeout=timeout2)
return msg.climb
def validator(value2, target2=None):
if speed_min <= value2 <= speed_max:
return True
else:
return False
self.wait_and_maintain(
value_name="Climbrate",
target=speed_min,
current_value_getter=lambda: get_climbrate(timeout),
accuracy=(speed_max - speed_min),
validator=lambda value2, target2: validator(value2, target2),
timeout=timeout,
**kwargs
)
def groundspeed(self):
m = self.assert_receive_message('VFR_HUD')
return m.groundspeed
def wait_groundspeed(self, speed_min, speed_max, timeout=30, **kwargs):
self.wait_vfr_hud_speed("groundspeed", speed_min, speed_max, timeout=timeout, **kwargs)
def wait_airspeed(self, speed_min, speed_max, timeout=30, **kwargs):
self.wait_vfr_hud_speed("airspeed", speed_min, speed_max, timeout=timeout, **kwargs)
def wait_vfr_hud_speed(self, field, speed_min, speed_max, timeout=30, **kwargs):
"""Wait for a given ground speed range."""
assert speed_min <= speed_max, "Minimum speed should be less than maximum speed."
def get_speed(timeout2):
msg = self.assert_receive_message('VFR_HUD', timeout=timeout2)
return getattr(msg, field)
self.wait_and_maintain_range(
value_name=field,
minimum=speed_min,
maximum=speed_max,
current_value_getter=lambda: get_speed(timeout),
validator=None,
timeout=timeout,
**kwargs
)
def wait_roll(self, roll, accuracy, timeout=30, **kwargs):
"""Wait for a given roll in degrees."""
def get_roll(timeout2):
msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
p = math.degrees(msg.pitch)
r = math.degrees(msg.roll)
self.progress("Roll %d Pitch %d" % (r, p))
return r
def validator(value2, target2):
return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy
self.wait_and_maintain(
value_name="Roll",
target=roll,
current_value_getter=lambda: get_roll(timeout),
validator=lambda value2, target2: validator(value2, target2),
accuracy=accuracy,
timeout=timeout,
**kwargs
)
def wait_pitch(self, pitch, accuracy, timeout=30, **kwargs):
"""Wait for a given pitch in degrees."""
def get_pitch(timeout2):
msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
p = math.degrees(msg.pitch)
r = math.degrees(msg.roll)
self.progress("Pitch %d Roll %d" % (p, r))
return p
def validator(value2, target2):
return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy
self.wait_and_maintain(
value_name="Pitch",
target=pitch,
current_value_getter=lambda: get_pitch(timeout),
validator=lambda value2, target2: validator(value2, target2),
accuracy=accuracy,
timeout=timeout,
**kwargs
)
def wait_and_maintain(self, value_name, target, current_value_getter, validator=None, accuracy=2.0, timeout=30, **kwargs):
if isinstance(target, Vector3):
return self.wait_and_maintain_vector(
value_name,
target,
current_value_getter,
validator,
timeout=30,
**kwargs
)
return self.wait_and_maintain_range(
value_name,
minimum=target - accuracy/2,
maximum=target + accuracy/2,
current_value_getter=current_value_getter,
validator=validator,
timeout=timeout,
print_diagnostics_as_target_not_range=True,
**kwargs
)
def wait_and_maintain_vector(self,
value_name,
target,
current_value_getter,
validator,
timeout=30,
**kwargs):
tstart = self.get_sim_time()
achieving_duration_start = None
sum_of_achieved_values = Vector3()
last_value = Vector3()
last_fail_print = 0
count_of_achieved_values = 0
called_function = kwargs.get("called_function", None)
minimum_duration = kwargs.get("minimum_duration", 0)
if minimum_duration >= timeout:
raise ValueError("minimum_duration >= timeout")
self.progress("Waiting for %s=(%s)" % (value_name, str(target)))
last_print_time = 0
while True: # if we failed to received message with the getter the sim time isn't updated # noqa
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException(
"Failed to attain %s want %s, reached %s" %
(value_name,
str(target),
str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value))) # noqa
last_value = current_value_getter()
if called_function is not None:
called_function(last_value, target)
is_value_valid = validator(last_value, target)
if self.get_sim_time_cached() - last_print_time > 1:
if is_value_valid:
want_or_got = "got"
else:
want_or_got = "want"
achieved_duration_bit = ""
if achieving_duration_start is not None:
so_far = self.get_sim_time_cached() - achieving_duration_start
achieved_duration_bit = " (maintain=%.1f/%.1f)" % (so_far, minimum_duration)
self.progress(
"%s=(%s) (%s (%s))%s" %
(value_name,
str(last_value),
want_or_got,
str(target),
achieved_duration_bit)
)
last_print_time = self.get_sim_time_cached()
if is_value_valid:
sum_of_achieved_values += last_value
count_of_achieved_values += 1.0
if achieving_duration_start is None:
achieving_duration_start = self.get_sim_time_cached()
if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration:
self.progress("Attained %s=%s" % (
value_name,
str(sum_of_achieved_values * (1.0 / count_of_achieved_values))))
return True
else:
achieving_duration_start = None
sum_of_achieved_values.zero()
count_of_achieved_values = 0
if now - last_fail_print > 1:
self.progress("Waiting for (%s), got %s" %
(target, last_value))
last_fail_print = now
def validate_kwargs(self, kwargs, valid={}):
for key in kwargs:
if key not in valid:
raise NotAchievedException("Invalid kwarg %s" % str(key))
def wait_and_maintain_range(self,
value_name,
minimum,
maximum,
current_value_getter,
validator=None,
value_averager=None,
timeout=30,
print_diagnostics_as_target_not_range=False,
**kwargs):
self.validate_kwargs(kwargs, valid=frozenset([
"called_function",
"minimum_duration",
"altitude_source",
]))
if print_diagnostics_as_target_not_range:
target = (minimum + maximum) / 2
accuracy = (maximum - minimum) / 2
tstart = self.get_sim_time()
achieving_duration_start = None
sum_of_achieved_values = 0.0
last_value = 0.0
count_of_achieved_values = 0
called_function = kwargs.get("called_function", None)
minimum_duration = kwargs.get("minimum_duration", 0)
if minimum_duration >= timeout:
raise ValueError("minimum_duration >= timeout")
if print_diagnostics_as_target_not_range:
self.progress("Waiting for %s=%.02f with accuracy %.02f" % (value_name, target, accuracy))
else:
self.progress("Waiting for %s between (%s) and (%s)" % (value_name, str(minimum), str(maximum)))
last_print_time = 0
while self.get_sim_time_cached() < tstart + timeout: # if we failed to received message with the getter the sim time isn't updated # noqa
last_value = current_value_getter()
if called_function is not None:
if print_diagnostics_as_target_not_range:
called_function(last_value, target)
else:
called_function(last_value, minimum, maximum)
if validator is not None:
if print_diagnostics_as_target_not_range:
is_value_valid = validator(last_value, target)
else:
is_value_valid = validator(last_value, minimum, maximum)
else:
is_value_valid = (minimum <= last_value) and (last_value <= maximum)
if self.get_sim_time_cached() - last_print_time > 1:
if is_value_valid:
want_or_got = "got"
else:
want_or_got = "want"
achieved_duration_bit = ""
if achieving_duration_start is not None:
so_far = self.get_sim_time_cached() - achieving_duration_start
achieved_duration_bit = " (maintain=%.1f/%.1f)" % (so_far, minimum_duration)
if print_diagnostics_as_target_not_range:
self.progress(
"%s=%0.2f (%s %f +- %f)%s" %
(value_name,
last_value,
want_or_got,
target,
accuracy,
achieved_duration_bit)
)
else:
if isinstance(last_value, float):
self.progress(
"%s=%0.2f (%s between %s and %s)%s" %
(value_name,
last_value,
want_or_got,
str(minimum),
str(maximum),
achieved_duration_bit)
)
else:
self.progress(
"%s=%s (%s between %s and %s)%s" %
(value_name,
last_value,
want_or_got,
str(minimum),
str(maximum),
achieved_duration_bit)
)
last_print_time = self.get_sim_time_cached()
if is_value_valid:
if value_averager is not None:
average = value_averager.add_value(last_value)
else:
sum_of_achieved_values += last_value
count_of_achieved_values += 1.0
average = sum_of_achieved_values / count_of_achieved_values
if achieving_duration_start is None:
achieving_duration_start = self.get_sim_time_cached()
if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration:
self.progress("Attained %s=%s" % (value_name, average))
return True
else:
achieving_duration_start = None
sum_of_achieved_values = 0.0
count_of_achieved_values = 0
if value_averager is not None:
value_averager.reset()
if print_diagnostics_as_target_not_range:
raise AutoTestTimeoutException(
"Failed to attain %s want %s, reached %s" %
(value_name,
str(target),
str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
else:
raise AutoTestTimeoutException(
"Failed to attain %s between %s and %s, reached %s" %
(value_name,
str(minimum),
str(maximum),
str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
def heading_delta(self, heading1, heading2):
'''return angle between two 0-360 headings'''
return math.fabs((heading1 - heading2 + 180) % 360 - 180)
def get_heading(self, timeout=1):
'''return heading 0-359'''
m = self.assert_receive_message('VFR_HUD', timeout=timeout)
return m.heading
def wait_heading(self, heading, accuracy=5, timeout=30, **kwargs):
"""Wait for a given heading."""
def get_heading_wrapped(timeout2):
return self.get_heading(timeout=timeout2)
def validator(value2, target2):
return self.heading_delta(value2, target2) <= accuracy
self.wait_and_maintain(
value_name="Heading",
target=heading,
current_value_getter=lambda: get_heading_wrapped(timeout),
validator=lambda value2, target2: validator(value2, target2),
accuracy=accuracy,
timeout=timeout,
**kwargs
)
def wait_yaw_speed(self, yaw_speed, accuracy=0.1, timeout=30, **kwargs):
"""Wait for a given yaw speed in radians per second."""
def get_yawspeed(timeout2):
msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
return msg.yawspeed
def validator(value2, target2):
return math.fabs(value2 - target2) <= accuracy
self.wait_and_maintain(
value_name="YawSpeed",
target=yaw_speed,
current_value_getter=lambda: get_yawspeed(timeout),
validator=lambda value2, target2: validator(value2, target2),
accuracy=accuracy,
timeout=timeout,
**kwargs
)
def get_speed_vector(self, timeout=1):
'''return speed vector, NED'''
msg = self.assert_receive_message('LOCAL_POSITION_NED', timeout=timeout)
return Vector3(msg.vx, msg.vy, msg.vz)
"""Wait for a given speed vector."""
def wait_speed_vector(self, speed_vector, accuracy=0.3, timeout=30, **kwargs):
def validator(value2, target2):
for (want, got) in (target2.x, value2.x), (target2.y, value2.y), (target2.z, value2.z):
if want != float("nan") and (math.fabs(got - want) > accuracy):
return False
return True
self.wait_and_maintain(
value_name="SpeedVector",
target=speed_vector,
current_value_getter=lambda: self.get_speed_vector(timeout=timeout),
validator=lambda value2, target2: validator(value2, target2),
accuracy=accuracy,
timeout=timeout,
**kwargs
)
def get_descent_rate(self):
'''get descent rate - a positive number if you are going down'''
return abs(self.get_speed_vector().z)
def wait_descent_rate(self, rate, accuracy=0.1, **kwargs):
'''wait for descent rate rate, a positive number if going down'''
def validator(value, target):
return math.fabs(value - target) <= accuracy
self.wait_and_maintain(
value_name="DescentRate",
target=rate,
current_value_getter=lambda: self.get_descent_rate(),
validator=lambda value, target: validator(value, target),
accuracy=accuracy,
**kwargs
)
def get_body_frame_velocity(self):
gri = self.assert_receive_message('GPS_RAW_INT', timeout=1)
att = self.assert_receive_message('ATTITUDE', timeout=1)
return mavextra.gps_velocity_body(gri, att)
def wait_speed_vector_bf(self, speed_vector, accuracy=0.2, timeout=30, **kwargs):
"""Wait for a given speed vector."""
def get_speed_vector(timeout2):
return self.get_body_frame_velocity()
def validator(value2, target2):
return (math.fabs(value2.x - target2.x) <= accuracy and
math.fabs(value2.y - target2.y) <= accuracy and
math.fabs(value2.z - target2.z) <= accuracy)
self.wait_and_maintain(
value_name="SpeedVectorBF",
target=speed_vector,
current_value_getter=lambda: get_speed_vector(timeout),
validator=lambda value2, target2: validator(value2, target2),
accuracy=accuracy,
timeout=timeout,
**kwargs
)
def wait_distance(self, distance, accuracy=2, timeout=30, **kwargs):
"""Wait for flight of a given distance."""
start = self.mav.location()
def get_distance():
return self.get_distance(start, self.mav.location())
def validator(value2, target2):
return math.fabs(value2 - target2) <= accuracy
self.wait_and_maintain(
value_name="Distance",
target=distance,
current_value_getter=lambda: get_distance(),
validator=lambda value2, target2: validator(value2, target2),
accuracy=accuracy,
timeout=timeout,
**kwargs
)
def wait_distance_to_waypoint(self, wp_num, distance_min, distance_max, **kwargs):
# TODO: use mission_request_partial_list_send
wps = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
m = wps[wp_num]
self.progress("m: %s" % str(m))
loc = mavutil.location(m.x / 1.0e7, m.y / 1.0e7, 0, 0)
self.progress("loc: %s" % str(loc))
self.wait_distance_to_location(loc, distance_min, distance_max, **kwargs)
def wait_distance_to_location(self, location, distance_min, distance_max, timeout=30, **kwargs):
"""Wait for flight of a given distance."""
assert distance_min <= distance_max, "Distance min should be less than distance max."
def get_distance():
return self.get_distance(location, self.mav.location())
def validator(value2, target2=None):
return distance_min <= value2 <= distance_max
self.wait_and_maintain(
value_name="Distance",
target=distance_min,
current_value_getter=lambda: get_distance(),
validator=lambda value2, target2: validator(value2, target2),
accuracy=(distance_max - distance_min), timeout=timeout,
**kwargs
)
def wait_distance_to_home(self, distance_min, distance_max, timeout=10, use_cached_home=True, **kwargs):
"""Wait for distance to home to be within specified bounds."""
assert distance_min <= distance_max, "Distance min should be less than distance max."
def get_distance():
return self.distance_to_home(use_cached_home)
def validator(value2, target2=None):
return distance_min <= value2 <= distance_max
self.wait_and_maintain(
value_name="Distance to home",
target=distance_min,
current_value_getter=lambda: get_distance(),
validator=lambda value2, target2: validator(value2, target2),
accuracy=(distance_max - distance_min), timeout=timeout,
**kwargs
)
def assert_at_home(self, accuracy=1):
if self.distance_to_home() > accuracy:
raise NotAchievedException("Not at home")
def wait_distance_to_nav_target(self,
distance_min,
distance_max,
timeout=10,
use_cached_nav_controller_output=False,
**kwargs):
"""Wait for distance to home to be within specified bounds."""
assert distance_min <= distance_max, "Distance min should be less than distance max."
def get_distance():
return self.distance_to_nav_target(use_cached_nav_controller_output)
def validator(value2, target2=None):
return distance_min <= value2 <= distance_max
self.wait_and_maintain(
value_name="Distance to nav target",
target=distance_min,
current_value_getter=lambda: get_distance(),
validator=lambda value2,
target2: validator(value2, target2),
accuracy=(distance_max - distance_min),
timeout=timeout,
**kwargs
)
def distance_to_local_position(self, local_pos, timeout=30):
(x, y, z_down) = local_pos # alt is *up*
pos = self.assert_receive_message('LOCAL_POSITION_NED', timeout=timeout)
delta_x = pos.x - x
delta_y = pos.y - y
delta_z = pos.z - z_down
return math.sqrt(delta_x*delta_x + delta_y*delta_y + delta_z*delta_z)
def wait_distance_to_local_position(self,
local_position, # (x, y, z_down)
distance_min,
distance_max,
timeout=10,
**kwargs):
"""Wait for distance to home to be within specified bounds."""
assert distance_min <= distance_max, "Distance min should be less than distance max."
def get_distance():
return self.distance_to_local_position(local_position)
def validator(value2, target2=None):
return distance_min <= value2 <= distance_max
(x, y, z_down) = local_position
self.wait_and_maintain(
value_name="Distance to (%f,%f,%f)" % (x, y, z_down),
target=distance_min,
current_value_getter=lambda: get_distance(),
validator=lambda value2,
target2: validator(value2, target2),
accuracy=(distance_max - distance_min),
timeout=timeout,
**kwargs
)
def wait_parameter_value(self, parameter, value, timeout=10):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("%s never got value %f" %
(parameter, value))
v = self.get_parameter(parameter, verbose=False)
self.progress("Got parameter value (%s=%f)" %
(parameter, v))
if v == value:
return
self.delay_sim_time(0.1)
def get_servo_channel_value(self, channel, timeout=2):
channel_field = "servo%u_raw" % channel
tstart = self.get_sim_time()
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise NotAchievedException("Channel value condition not met")
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True,
timeout=remaining)
if m is None:
continue
m_value = getattr(m, channel_field, None)
if m_value is None:
raise ValueError("message (%s) has no field %s" %
(str(m), channel_field))
return m_value
def wait_servo_channel_value(self, channel, value, timeout=2, comparator=operator.eq):
"""wait for channel value comparison (default condition is equality)"""
channel_field = "servo%u_raw" % channel
opstring = ("%s" % comparator)[-3:-1]
tstart = self.get_sim_time()
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise NotAchievedException("Channel value condition not met")
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True,
timeout=remaining)
if m is None:
continue
m_value = getattr(m, channel_field, None)
if m_value is None:
raise ValueError("message (%s) has no field %s" %
(str(m), channel_field))
self.progress("want SERVO_OUTPUT_RAW.%s=%u %s %u" %
(channel_field, m_value, opstring, value))
if comparator(m_value, value):
return m_value
def assert_servo_channel_value(self, channel, value, comparator=operator.eq):
"""assert channel value (default condition is equality)"""
channel_field = "servo%u_raw" % channel
opstring = ("%s" % comparator)[-3:-1]
m = self.assert_receive_message('SERVO_OUTPUT_RAW', timeout=1)
m_value = getattr(m, channel_field, None)
if m_value is None:
raise ValueError("message (%s) has no field %s" %
(str(m), channel_field))
self.progress("assert SERVO_OUTPUT_RAW.%s=%u %s %u" %
(channel_field, m_value, opstring, value))
if comparator(m_value, value):
return m_value
raise NotAchievedException("Wrong value")
def get_rc_channel_value(self, channel, timeout=2):
"""wait for channel to hit value"""
channel_field = "chan%u_raw" % channel
tstart = self.get_sim_time()
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise NotAchievedException("Channel never achieved value")
m = self.mav.recv_match(type='RC_CHANNELS',
blocking=True,
timeout=remaining)
if m is None:
continue
m_value = getattr(m, channel_field)
if m_value is None:
raise ValueError("message (%s) has no field %s" %
(str(m), channel_field))
return m_value
def wait_rc_channel_value(self, channel, value, timeout=2):
channel_field = "chan%u_raw" % channel
tstart = self.get_sim_time()
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise NotAchievedException("Channel never achieved value")
m_value = self.get_rc_channel_value(channel, timeout=timeout)
self.progress("RC_CHANNELS.%s=%u want=%u" %
(channel_field, m_value, value))
if value == m_value:
return
def assert_rc_channel_value(self, channel, value):
channel_field = "chan%u_raw" % channel
m_value = self.get_rc_channel_value(channel, timeout=1)
self.progress("RC_CHANNELS.%s=%u want=%u" %
(channel_field, m_value, value))
if value != m_value:
raise NotAchievedException("Expected %s to be %u got %u" %
(channel, value, m_value))
def wait_location(self,
loc,
accuracy=5.0,
timeout=30,
target_altitude=None,
height_accuracy=-1,
**kwargs):
"""Wait for arrival at a location."""
def get_distance_to_loc():
return self.get_distance(self.mav.location(), loc)
def validator(value2, empty=None):
if value2 <= accuracy:
if target_altitude is not None:
height_delta = math.fabs(self.mav.location().alt - target_altitude)
if height_accuracy != -1 and height_delta > height_accuracy:
return False
return True
else:
return False
debug_text = "Distance to Location (%.4f, %.4f) " % (loc.lat, loc.lng)
if target_altitude is not None:
debug_text += ",at altitude %.1f height_accuracy=%.1f, d" % (target_altitude, height_accuracy)
self.wait_and_maintain(
value_name=debug_text,
target=0,
current_value_getter=lambda: get_distance_to_loc(),
accuracy=accuracy,
validator=lambda value2, target2: validator(value2, None),
timeout=timeout,
**kwargs
)
def assert_current_waypoint(self, wpnum):
seq = self.mav.waypoint_current()
if seq != wpnum:
raise NotAchievedException("Incorrect current wp")
def wait_current_waypoint(self, wpnum, timeout=70):
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > timeout:
raise AutoTestTimeoutException("Did not get wanted current waypoint")
seq = self.mav.waypoint_current()
wp_dist = None
try:
wp_dist = self.mav.messages['NAV_CONTROLLER_OUTPUT'].wp_dist
except (KeyError, AttributeError):
pass
self.progress("Waiting for wp=%u current=%u dist=%sm" % (wpnum, seq, wp_dist))
if seq == wpnum:
break
def wait_waypoint(self,
wpnum_start,
wpnum_end,
allow_skip=True,
max_dist=2,
timeout=400):
"""Wait for waypoint ranges."""
tstart = self.get_sim_time()
# this message arrives after we set the current WP
start_wp = self.mav.waypoint_current()
current_wp = start_wp
mode = self.mav.flightmode
self.progress("wait for waypoint ranges start=%u end=%u"
% (wpnum_start, wpnum_end))
# if start_wp != wpnum_start:
# raise WaitWaypointTimeout("test: Expected start waypoint %u "
# "but got %u" %
# (wpnum_start, start_wp))
last_wp_msg = 0
while self.get_sim_time_cached() < tstart + timeout:
seq = self.mav.waypoint_current()
m = self.assert_receive_message('NAV_CONTROLLER_OUTPUT')
wp_dist = m.wp_dist
m = self.assert_receive_message('VFR_HUD')
# if we changed mode, fail
if self.mav.flightmode != mode:
raise WaitWaypointTimeout('Exited %s mode' % mode)
if self.get_sim_time_cached() - last_wp_msg > 1:
self.progress("WP %u (wp_dist=%u Alt=%.02f), current_wp: %u,"
"wpnum_end: %u" %
(seq, wp_dist, m.alt, current_wp, wpnum_end))
last_wp_msg = self.get_sim_time_cached()
if seq == current_wp+1 or (seq > current_wp+1 and allow_skip):
self.progress("WW: Starting new waypoint %u" % seq)
tstart = self.get_sim_time()
current_wp = seq
# the wp_dist check is a hack until we can sort out
# the right seqnum for end of mission
# if current_wp == wpnum_end or (current_wp == wpnum_end-1 and
# wp_dist < 2):
if current_wp == wpnum_end and wp_dist < max_dist:
self.progress("Reached final waypoint %u" % seq)
return True
if seq >= 255:
self.progress("Reached final waypoint %u" % seq)
return True
if seq > current_wp+1:
raise WaitWaypointTimeout(("Skipped waypoint! Got wp %u expected %u"
% (seq, current_wp+1)))
raise WaitWaypointTimeout("Timed out waiting for waypoint %u of %u" %
(wpnum_end, wpnum_end))
def get_cached_message(self, message_type):
'''returns the most-recently received instance of message_type'''
return self.mav.messages[message_type]
def mode_is(self, mode, cached=False, drain_mav=True):
if not cached:
self.wait_heartbeat(drain_mav=drain_mav)
try:
return self.get_mode_from_mode_mapping(self.mav.flightmode) == self.get_mode_from_mode_mapping(mode)
except Exception:
pass
# assume this is a number....
return self.mav.messages['HEARTBEAT'].custom_mode == mode
def wait_mode(self, mode, timeout=60):
"""Wait for mode to change."""
self.progress("Waiting for mode %s" % mode)
tstart = self.get_sim_time()
while not self.mode_is(mode, drain_mav=False):
custom_num = self.mav.messages['HEARTBEAT'].custom_mode
self.progress("mav.flightmode=%s Want=%s custom=%u" % (
self.mav.flightmode, mode, custom_num))
if (timeout is not None and
self.get_sim_time_cached() > tstart + timeout):
raise WaitModeTimeout("Did not change mode")
self.progress("Got mode %s" % mode)
def assert_mode_is(self, mode):
if not self.mode_is(mode):
raise NotAchievedException("Expected mode %s" % str(mode))
def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30):
self.progress("Waiting for GPS health")
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException("GPS status bits did not become good")
m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1)
if m is None:
continue
if (not (m.onboard_control_sensors_present & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
self.progress("GPS not present")
if now > 20:
# it's had long enough to be detected....
return
continue
if (not (m.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
self.progress("GPS not enabled")
continue
if (not (m.onboard_control_sensors_health & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
self.progress("GPS not healthy")
continue
self.progress("GPS healthy after %f/%f seconds" %
((now - tstart), timeout))
return
def assert_sensor_state(self, sensor, present=True, enabled=True, healthy=True, verbose=False):
return self.sensor_has_state(sensor, present, enabled, healthy, do_assert=True, verbose=verbose)
def sensor_has_state(self, sensor, present=True, enabled=True, healthy=True, do_assert=False, verbose=False):
m = self.assert_receive_message('SYS_STATUS', timeout=5, very_verbose=verbose)
reported_present = m.onboard_control_sensors_present & sensor
reported_enabled = m.onboard_control_sensors_enabled & sensor
reported_healthy = m.onboard_control_sensors_health & sensor
if present:
if not reported_present:
if do_assert:
raise NotAchievedException("Sensor not present")
return False
else:
if reported_present:
if do_assert:
raise NotAchievedException("Sensor present when it shouldn't be")
return False
if enabled:
if not reported_enabled:
if do_assert:
raise NotAchievedException("Sensor not enabled")
return False
else:
if reported_enabled:
if do_assert:
raise NotAchievedException("Sensor enabled when it shouldn't be")
return False
if healthy:
if not reported_healthy:
if do_assert:
raise NotAchievedException("Sensor not healthy")
return False
else:
if reported_healthy:
if do_assert:
raise NotAchievedException("Sensor healthy when it shouldn't be")
return False
return True
def wait_sensor_state(self, sensor, present=True, enabled=True, healthy=True, timeout=5, verbose=False):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Sensor did not achieve state")
if self.sensor_has_state(sensor, present=present, enabled=enabled, healthy=healthy, verbose=verbose):
break
def wait_not_ready_to_arm(self):
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, False)
def wait_prearm_sys_status_healthy(self, timeout=60):
self.do_timesync_roundtrip()
tstart = self.get_sim_time()
while True:
t2 = self.get_sim_time_cached()
if t2 - tstart > timeout:
self.progress("Prearm bit never went true. Attempting arm to elicit reason from autopilot")
try:
self.arm_vehicle()
except Exception:
pass
raise AutoTestTimeoutException("Prearm bit never went true")
if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, True):
break
def assert_fence_enabled(self, timeout=2):
# Check fence is enabled
m = self.assert_receive_message('FENCE_STATUS', timeout=timeout)
self.progress("Got (%s)" % str(m))
def assert_fence_disabled(self, timeout=2):
# Check fence is not enabled
self.assert_not_receiving_message('FENCE_STATUS', timeout=timeout)
def NoArmWithoutMissionItems(self):
'''ensure we can't arm in auto mode without mission items present'''
# load a trivial mission
items = []
items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, 20000),)
items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
self.upload_simple_relhome_mission(items)
self.change_mode('AUTO')
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
self.assert_prearm_failure('Mode requires mission',
other_prearm_failures_fatal=False)
def assert_prearm_failure(self,
expected_statustext,
timeout=5,
ignore_prearm_failures=[],
other_prearm_failures_fatal=True):
seen_statustext = False
seen_command_ack = False
self.drain_mav()
tstart = self.get_sim_time_cached()
arm_last_send = 0
while True:
if seen_command_ack and seen_statustext:
break
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException(
"Did not see failure-to-arm messages (statustext=%s command_ack=%s" %
(seen_statustext, seen_command_ack))
if now - arm_last_send > 1:
arm_last_send = now
self.send_mavlink_run_prearms_command()
m = self.mav.recv_match(blocking=True, timeout=1)
if m is None:
continue
if m.get_type() == "STATUSTEXT":
if expected_statustext in m.text:
self.progress("Got: %s" % str(m))
seen_statustext = True
elif other_prearm_failures_fatal and "PreArm" in m.text and m.text[8:] not in ignore_prearm_failures:
self.progress("Got: %s" % str(m))
raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)
if m.get_type() == "COMMAND_ACK":
print("Got: %s" % str(m))
if m.command == mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS:
if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
raise NotAchievedException("command-ack says we didn't run prearms")
self.progress("Got: %s" % str(m))
seen_command_ack = True
if self.mav.motors_armed():
raise NotAchievedException("Armed when we shouldn't have")
def assert_arm_failure(self, expected_statustext, timeout=5, ignore_prearm_failures=[]):
seen_statustext = False
seen_command_ack = False
self.drain_mav()
tstart = self.get_sim_time_cached()
arm_last_send = 0
while True:
if seen_command_ack and seen_statustext:
break
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException(
"Did not see failure-to-arm messages (statustext=%s command_ack=%s" %
(seen_statustext, seen_command_ack))
if now - arm_last_send > 1:
arm_last_send = now
self.send_mavlink_arm_command()
m = self.mav.recv_match(blocking=True, timeout=1)
if m is None:
continue
if m.get_type() == "STATUSTEXT":
if expected_statustext in m.text:
self.progress("Got: %s" % str(m))
seen_statustext = True
elif "PreArm" in m.text and m.text[8:] not in ignore_prearm_failures:
self.progress("Got: %s" % str(m))
raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)
if m.get_type() == "COMMAND_ACK":
print("Got: %s" % str(m))
if m.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
if m.result != 4:
raise NotAchievedException("command-ack says we didn't fail to arm")
self.progress("Got: %s" % str(m))
seen_command_ack = True
if self.mav.motors_armed():
raise NotAchievedException("Armed when we shouldn't have")
def wait_ready_to_arm(self, timeout=120, require_absolute=True, check_prearm_bit=True):
# wait for EKF checks to pass
self.progress("Waiting for ready to arm")
start = self.get_sim_time()
self.wait_ekf_happy(timeout=timeout, require_absolute=require_absolute)
if require_absolute:
self.wait_gps_sys_status_not_present_or_enabled_and_healthy()
if require_absolute:
self.poll_home_position()
if check_prearm_bit:
self.wait_prearm_sys_status_healthy(timeout=timeout)
armable_time = self.get_sim_time() - start
self.progress("Took %u seconds to become armable" % armable_time)
self.total_waiting_to_arm_time += armable_time
self.waiting_to_arm_count += 1
def wait_heartbeat(self, drain_mav=True, quiet=False, *args, **x):
'''as opposed to mav.wait_heartbeat, raises an exception on timeout.
Also, ignores heartbeats not from our target system'''
if drain_mav:
self.drain_mav(quiet=quiet)
orig_timeout = x.get("timeout", 20)
x["timeout"] = 1
tstart = time.time()
while True:
if time.time() - tstart > orig_timeout and not self.gdb:
if not self.sitl_is_running():
self.progress("SITL is not running")
raise AutoTestTimeoutException("Did not receive heartbeat")
m = self.mav.wait_heartbeat(*args, **x)
if m is None:
continue
if m.get_srcSystem() == self.sysid_thismav():
return m
def wait_ekf_happy(self, timeout=45, require_absolute=True):
"""Wait for EKF to be happy"""
""" if using SITL estimates directly """
if (int(self.get_parameter('AHRS_EKF_TYPE')) == 10):
return True
# all of these must be set for arming to happen:
required_value = (mavutil.mavlink.EKF_ATTITUDE |
mavutil.mavlink.ESTIMATOR_VELOCITY_HORIZ |
mavutil.mavlink.ESTIMATOR_VELOCITY_VERT |
mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL |
mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL)
# none of these bits must be set for arming to happen:
error_bits = (mavutil.mavlink.ESTIMATOR_CONST_POS_MODE |
mavutil.mavlink.ESTIMATOR_ACCEL_ERROR)
if require_absolute:
required_value |= (mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS |
mavutil.mavlink.ESTIMATOR_POS_VERT_ABS |
mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_ABS)
error_bits |= mavutil.mavlink.ESTIMATOR_GPS_GLITCH
self.wait_ekf_flags(required_value, error_bits, timeout=timeout)
def wait_ekf_flags(self, required_value, error_bits, timeout=30):
self.progress("Waiting for EKF value %u" % required_value)
last_print_time = 0
tstart = self.get_sim_time()
m = None
while timeout is None or self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True, timeout=timeout)
if m is None:
continue
current = m.flags
errors = current & error_bits
everything_ok = (errors == 0 and
current & required_value == required_value)
if everything_ok or self.get_sim_time_cached() - last_print_time > 1:
self.progress("Wait EKF.flags: required:%u current:%u errors=%u" %
(required_value, current, errors))
last_print_time = self.get_sim_time_cached()
if everything_ok:
self.progress("EKF Flags OK")
return True
m_str = str(m)
if m is not None:
m_str = self.dump_message_verbose(m)
self.progress("Last EKF_STATUS_REPORT message:")
self.progress(m_str)
raise AutoTestTimeoutException("Failed to get EKF.flags=%u" %
required_value)
def wait_gps_disable(self, position_horizontal=True, position_vertical=False, timeout=30):
"""Disable GPS and wait for EKF to report the end of assistance from GPS."""
self.set_parameter("SIM_GPS_DISABLE", 1)
tstart = self.get_sim_time()
""" if using SITL estimates directly """
if (int(self.get_parameter('AHRS_EKF_TYPE')) == 10):
self.progress("GPS disable skipped")
return
# all of these must NOT be set for arming NOT to happen:
not_required_value = 0
if position_horizontal:
not_required_value |= mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL
if position_vertical:
not_required_value |= mavutil.mavlink.ESTIMATOR_POS_VERT_AGL
self.progress("Waiting for EKF not having bits %u" % not_required_value)
last_print_time = 0
while timeout is None or self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True, timeout=timeout)
if m is None:
continue
current = m.flags
if self.get_sim_time_cached() - last_print_time > 1:
self.progress("Wait EKF.flags: not required:%u current:%u" %
(not_required_value, current))
last_print_time = self.get_sim_time_cached()
if current & not_required_value != not_required_value:
self.progress("GPS disable OK")
return
raise AutoTestTimeoutException("Failed to get EKF.flags=%u disabled" % not_required_value)
def wait_text(self, *args, **kwargs):
'''wait for text to appear from vehicle, return that text'''
statustext = self.wait_statustext(*args, **kwargs)
if statustext is None:
return None
return statustext.text
def statustext_in_collections(self, text, regex=False):
'''searches for text in STATUSTEXT collection, returns message if found'''
c = self.context_get()
if "STATUSTEXT" not in c.collections:
raise NotAchievedException("Asked to check context but it isn't collecting!")
for x in c.collections["STATUSTEXT"]:
self.progress(" statustext=%s vs text=%s" % (x.text, text))
if regex:
if re.match(text, x.text):
return x
elif text.lower() in x.text.lower():
return x
return None
def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False, wallclock_timeout=False):
"""Wait for a specific STATUSTEXT, return that statustext message"""
# Statustexts are often triggered by something we've just
# done, so we have to be careful not to read any traffic that
# isn't checked for being our statustext. That doesn't work
# well with getting the curent simulation time (which requires
# a new SYSTEM_TIME message), so we install a message hook
# which checks all incoming messages.
self.progress("Waiting for text : %s" % text.lower())
if check_context:
statustext = self.statustext_in_collections(text, regex=regex)
if statustext:
self.progress("Found expected text in collection: %s" % text.lower())
return statustext
global statustext_found
global statustext_full
statustext_full = None
statustext_found = False
def mh(mav, m):
global statustext_found
global statustext_full
if m.get_type() != "STATUSTEXT":
return
if regex:
self.re_match = re.match(text, m.text)
if self.re_match:
statustext_found = True
statustext_full = m
if text.lower() in m.text.lower():
self.progress("Received expected text: %s" % m.text.lower())
statustext_found = True
statustext_full = m
self.install_message_hook(mh)
if wallclock_timeout:
tstart = time.time()
else:
tstart = self.get_sim_time()
try:
while not statustext_found:
if wallclock_timeout:
now = time.time()
else:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException("Failed to receive text: %s" %
text.lower())
if the_function is not None:
the_function()
self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=0.1)
finally:
self.remove_message_hook(mh)
return statustext_full
# routines helpful for testing LUA scripting:
def script_example_source_path(self, scriptname):
return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "examples", scriptname)
def script_test_source_path(self, scriptname):
return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "tests", scriptname)
def script_applet_source_path(self, scriptname):
return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "applets", scriptname)
def installed_script_path(self, scriptname):
return os.path.join("scripts", os.path.basename(scriptname))
def install_script(self, source, scriptname, install_name=None):
if install_name is not None:
dest = self.installed_script_path(install_name)
else:
dest = self.installed_script_path(scriptname)
destdir = os.path.dirname(dest)
if not os.path.exists(destdir):
os.mkdir(destdir)
self.progress("Copying (%s) to (%s)" % (source, dest))
shutil.copy(source, dest)
def install_test_modules(self):
source = os.path.join(self.rootdir(), "libraries", "AP_Scripting", "tests", "modules", "test")
dest = os.path.join("scripts", "modules", "test")
self.progress("Copying (%s) to (%s)" % (source, dest))
shutil.copytree(source, dest)
def install_mavlink_module(self):
dest = os.path.join("scripts", "modules", "mavlink")
ardupilotmega_xml = os.path.join(self.rootdir(), "modules", "mavlink",
"message_definitions", "v1.0", "ardupilotmega.xml")
mavgen.mavgen(mavgen.Opts(output=dest, wire_protocol='2.0', language='Lua'), [ardupilotmega_xml])
self.progress("Installed mavlink module")
def install_example_script(self, scriptname):
source = self.script_example_source_path(scriptname)
self.install_script(source, scriptname)
def install_test_script(self, scriptname):
source = self.script_test_source_path(scriptname)
self.install_script(source, scriptname)
def install_applet_script(self, scriptname, install_name=None):
source = self.script_applet_source_path(scriptname)
self.install_script(source, scriptname, install_name=install_name)
def remove_installed_script(self, scriptname):
dest = self.installed_script_path(os.path.basename(scriptname))
try:
os.unlink(dest)
except IOError:
pass
except OSError:
pass
def remove_installed_modules(self, modulename):
dest = os.path.join("scripts", "modules", modulename)
try:
shutil.rmtree(dest)
except IOError:
pass
except OSError:
pass
def get_mavlink_connection_going(self):
# get a mavlink connection going
try:
retries = 20
if self.gdb:
retries = 20000
self.mav = mavutil.mavlink_connection(
self.autotest_connection_string_to_ardupilot(),
retries=retries,
robust_parsing=True,
source_system=250,
source_component=250,
autoreconnect=True,
dialect="all", # if we don't pass this in we end up with the wrong mavlink version...
)
except Exception as msg:
self.progress("Failed to start mavlink connection on %s: %s" %
(self.autotest_connection_string_to_ardupilot(), msg,))
raise
self.mav.message_hooks.append(self.message_hook)
self.mav.mav.set_send_callback(self.send_message_hook, self)
self.mav.idle_hooks.append(self.idle_hook)
# we need to wait for a heartbeat here. If we don't then
# self.mav.target_system will be zero because it hasn't
# "locked on" to a target system yet.
self.wait_heartbeat()
self.set_streamrate(self.sitl_streamrate())
def show_test_timings_key_sorter(self, t):
(k, v) = t
return ((v, k))
def show_test_timings(self):
if len(self.test_timings.keys()) == 0:
return
longest = 0
for desc in self.test_timings.keys():
if len(desc) > longest:
longest = len(desc)
tests_total_time = 0
for desc, test_time in sorted(self.test_timings.items(),
key=self.show_test_timings_key_sorter):
fmt = "%" + str(longest) + "s: %.2fs"
tests_total_time += test_time
self.progress(fmt % (desc, test_time))
self.progress(fmt % ("**--tests_total_time--**", tests_total_time))
self.progress("mavproxy_start was called %u times" %
(self.start_mavproxy_count,))
self.progress("Supplied terrain data to autopilot in %u messages" %
(self.terrain_data_messages_sent,))
def send_statustext(self, text):
if sys.version_info.major >= 3 and not isinstance(text, bytes):
text = bytes(text, "ascii")
elif 'unicode' in str(type(text)):
text = text.encode('ascii')
seq = 0
while len(text):
self.mav.mav.statustext_send(mavutil.mavlink.MAV_SEVERITY_WARNING, text[:50], id=self.statustext_id, chunk_seq=seq)
text = text[50:]
seq += 1
self.statustext_id += 1
if self.statustext_id > 255:
self.statustext_id = 1
def get_stacktrace(self):
return ''.join(traceback.format_stack())
def get_exception_stacktrace(self, e):
if sys.version_info[0] >= 3:
ret = "%s\n" % e
ret += ''.join(traceback.format_exception(type(e),
e,
tb=e.__traceback__))
return ret
# Python2:
return traceback.format_exc(e)
def bin_logs(self):
return glob.glob("logs/*.BIN")
def remove_bin_logs(self):
util.run_cmd('/bin/rm -f logs/*.BIN logs/LASTLOG.TXT')
def remove_ardupilot_terrain_cache(self):
'''removes the terrain files ArduPilot keeps in its onboiard storage'''
util.run_cmd('/bin/rm -f %s' % util.reltopdir("terrain/*.DAT"))
def check_logs(self, name):
'''called to move relevant log files from our working directory to the
buildlogs directory'''
to_dir = self.logs_dir
# move telemetry log files
for log in glob.glob("autotest-*.tlog"):
bname = os.path.basename(log)
newname = os.path.join(to_dir, "%s-%s-%s" % (self.log_name(), name, bname))
print("Renaming %s to %s" % (log, newname))
shutil.move(log, newname)
# move binary log files
for log in sorted(self.bin_logs()):
bname = os.path.basename(log)
newname = os.path.join(to_dir, "%s-%s-%s" % (self.log_name(), name, bname))
print("Renaming %s to %s" % (log, newname))
shutil.move(log, newname)
# move core files
save_binaries = False
corefiles = []
corefiles.extend(glob.glob("core*"))
corefiles.extend(glob.glob("ap-*.core"))
for log in sorted(corefiles):
bname = os.path.basename(log)
newname = os.path.join(to_dir, "%s-%s-%s" % (bname, self.log_name(), name))
print("Renaming %s to %s" % (log, newname))
shutil.move(log, newname)
save_binaries = True
if save_binaries:
util.run_cmd('/bin/cp build/sitl/bin/* %s' % to_dir,
directory=util.reltopdir('.'))
def run_one_test(self, test, interact=False, suppress_stdout=False):
'''new-style run-one-test used by run_tests'''
for i in range(0, test.attempts-1):
result = self.run_one_test_attempt(test, interact=interact, attempt=i+2, suppress_stdout=suppress_stdout)
if result.passed:
return result
self.progress("Run attempt failed. Retrying")
return self.run_one_test_attempt(test, interact=interact, attempt=1, suppress_stdout=suppress_stdout)
def print_exception_caught(self, e, send_statustext=True):
self.progress("Exception caught: %s" %
self.get_exception_stacktrace(e))
path = None
try:
path = self.current_onboard_log_filepath()
except IndexError:
pass
self.progress("Most recent logfile: %s" % (path, ), send_statustext=send_statustext)
def progress_file_content(self, filepath):
with open(filepath) as f:
for line in f:
self.progress(line.rstrip())
def dump_process_status(self, result):
'''used to show where the SITL process is upto. Often caused when
we've lost contact'''
if self.sitl.isalive():
self.progress("pexpect says it is alive")
for tool in "dumpstack.sh", "dumpcore.sh":
tool_filepath = os.path.join(self.rootdir(), 'Tools', 'scripts', tool)
if util.run_cmd([tool_filepath, str(self.sitl.pid)]) != 0:
reason = "Failed %s" % (tool,)
self.progress(reason)
result.reason = reason
result.passed = False
else:
self.progress("pexpect says it is dead")
# try dumping the process status file for more information:
status_filepath = "/proc/%u/status" % self.sitl.pid
self.progress("Checking for status filepath (%s)" % status_filepath)
if os.path.exists(status_filepath):
self.progress_file_content(status_filepath)
else:
self.progress("... does not exist")
def run_one_test_attempt(self, test, interact=False, attempt=1, suppress_stdout=False):
'''called by run_one_test to actually run the test in a retry loop'''
name = test.name
desc = test.description
test_function = test.function
test_kwargs = test.kwargs
if attempt != 1:
self.progress("RETRYING %s" % name)
test_output_filename = self.buildlogs_path("%s-%s-retry-%u.txt" %
(self.log_name(), name, attempt-1))
else:
test_output_filename = self.buildlogs_path("%s-%s.txt" %
(self.log_name(), name))
tee = TeeBoth(test_output_filename, 'w', self.mavproxy_logfile, suppress_stdout=suppress_stdout)
start_message_hooks = self.mav.message_hooks
prettyname = "%s (%s)" % (name, desc)
self.start_test(prettyname)
self.set_current_test_name(name)
old_contexts_length = len(self.contexts)
self.context_push()
start_time = time.time()
orig_speedup = None
ex = None
try:
self.check_rc_defaults()
self.change_mode(self.default_mode())
# ArduPilot can still move the current waypoint from 0,
# even if we are not in AUTO mode, so cehck_afterwards=False:
self.set_current_waypoint(0, check_afterwards=False)
self.drain_mav()
self.drain_all_pexpects()
if test.speedup is not None:
self.progress("Overriding speedup to %u" % test.speedup)
orig_speedup = self.get_parameter("SIM_SPEEDUP")
self.set_parameter("SIM_SPEEDUP", test.speedup)
test_function(**test_kwargs)
except Exception as e:
self.print_exception_caught(e)
ex = e
# reset the message hooks; we've failed-via-exception and
# can't expect the hooks to have been cleaned up
for h in self.mav.message_hooks:
if h not in start_message_hooks:
self.mav.message_hooks.remove(h)
self.test_timings[desc] = time.time() - start_time
reset_needed = self.contexts[-1].sitl_commandline_customised
if orig_speedup is not None:
self.set_parameter("SIM_SPEEDUP", orig_speedup)
passed = True
if ex is not None:
passed = False
result = Result(test)
ardupilot_alive = False
try:
self.wait_heartbeat()
ardupilot_alive = True
except Exception:
# process is dead
self.progress("No heartbeat after test", send_statustext=False)
self.dump_process_status(result)
passed = False
reset_needed = True
try:
self.context_pop(process_interaction_allowed=ardupilot_alive)
except Exception as e:
self.print_exception_caught(e, send_statustext=False)
passed = False
# if we haven't already reset ArduPilot because it's dead,
# then ensure the vehicle was disarmed at the end of the test.
# If it wasn't then the test is considered failed:
if ardupilot_alive and self.armed() and not self.is_tracker():
if ex is None:
ex = ArmedAtEndOfTestException("Still armed at end of test")
self.progress("Armed at end of test; force-rebooting SITL")
try:
self.disarm_vehicle(force=True)
except AutoTestTimeoutException:
reset_needed = True
self.forced_post_test_sitl_reboots += 1
if reset_needed:
self.progress("Force-resetting SITL")
self.reset_SITL_commandline()
else:
self.progress("Force-rebooting SITL")
self.reboot_sitl() # that'll learn it
passed = False
elif ardupilot_alive and not passed: # implicit reboot after a failed test:
self.progress("Test failed but ArduPilot process alive; rebooting")
self.reboot_sitl() # that'll learn it
if self._mavproxy is not None:
self.progress("Stopping auto-started mavproxy")
if self.use_map:
self.mavproxy.send("module unload map\n")
self.mavproxy.expect("Unloaded module map")
self.expect_list_remove(self._mavproxy)
util.pexpect_close(self._mavproxy)
self._mavproxy = None
corefiles = []
corefiles.extend(glob.glob("core*"))
corefiles.extend(glob.glob("ap-*.core"))
if corefiles:
self.progress('Corefiles detected: %s' % str(corefiles))
passed = False
if len(self.contexts) != old_contexts_length:
self.progress("context count mismatch (want=%u got=%u); popping extras" %
(old_contexts_length, len(self.contexts)))
passed = False
# pop off old contexts to clean up message hooks etc
while len(self.contexts) > old_contexts_length:
try:
self.context_pop(process_interaction_allowed=ardupilot_alive)
except Exception as e:
self.print_exception_caught(e, send_statustext=False)
self.progress("Done popping extra contexts")
# make sure we don't leave around stray listeners:
if len(self.mav.message_hooks) != len(start_message_hooks):
self.progress("Stray message listeners: %s vs start %s" %
(str(self.mav.message_hooks), str(start_message_hooks)))
passed = False
if passed:
# self.remove_bin_logs() # can't do this as one of the binlogs is probably open for writing by the SITL process. If we force a rotate before running tests then we can do this. # noqa
pass
else:
if self.logs_dir is not None:
# stash the binary logs and corefiles away for later analysis
self.check_logs(name)
if passed:
self.progress('PASSED: "%s"' % prettyname)
else:
self.progress('FAILED: "%s": %s (see %s)' %
(prettyname, repr(ex), test_output_filename))
result.exception = ex
result.debug_filename = test_output_filename
if interact:
self.progress("Starting MAVProxy interaction as directed")
self.mavproxy.interact()
if self.reset_after_every_test:
reset_needed = True
if reset_needed:
self.reset_SITL_commandline()
if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
self.set_current_waypoint(0, check_afterwards=False)
tee.close()
result.passed = passed
return result
def defaults_filepath(self):
return None
def start_mavproxy(self, sitl_rcin_port=None):
self.start_mavproxy_count += 1
if self.mavproxy is not None:
return self.mavproxy
self.progress("Starting MAVProxy")
# determine a good pexpect timeout for reading MAVProxy's
# output; some regmes may require longer timeouts.
pexpect_timeout = 60
if self.valgrind or self.callgrind:
pexpect_timeout *= 10
if sitl_rcin_port is None:
sitl_rcin_port = self.sitl_rcin_port()
mavproxy = util.start_MAVProxy_SITL(
self.vehicleinfo_key(),
master='tcp:127.0.0.1:%u' % self.adjust_ardupilot_port(5762),
logfile=self.mavproxy_logfile,
options=self.mavproxy_options(),
pexpect_timeout=pexpect_timeout,
sitl_rcin_port=sitl_rcin_port,
)
mavproxy.expect(r'Telemetry log: (\S+)\r\n')
self.logfile = mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.expect_list_add(mavproxy)
util.expect_setup_callback(mavproxy, self.expect_callback)
self._mavproxy = mavproxy # so we can clean up after tests....
return mavproxy
def stop_mavproxy(self, mavproxy):
if self.mavproxy is not None:
return
self.progress("Stopping MAVProxy")
self.expect_list_remove(mavproxy)
util.pexpect_close(mavproxy)
self._mavproxy = None
def start_SITL(self, binary=None, sitl_home=None, **sitl_args):
if sitl_home is None:
sitl_home = self.sitl_home()
start_sitl_args = {
"breakpoints": self.breakpoints,
"disable_breakpoints": self.disable_breakpoints,
"gdb": self.gdb,
"gdb_no_tui": self.gdb_no_tui,
"gdbserver": self.gdbserver,
"lldb": self.lldb,
"home": sitl_home,
"speedup": self.speedup,
"valgrind": self.valgrind,
"callgrind": self.callgrind,
"wipe": True,
}
start_sitl_args.update(**sitl_args)
if ("defaults_filepath" not in start_sitl_args or
start_sitl_args["defaults_filepath"] is None):
start_sitl_args["defaults_filepath"] = self.defaults_filepath()
if "model" not in start_sitl_args or start_sitl_args["model"] is None:
start_sitl_args["model"] = self.frame
self.progress("Starting SITL", send_statustext=False)
if binary is None:
binary = self.binary
self.sitl = util.start_SITL(binary, **start_sitl_args)
self.expect_list_add(self.sitl)
self.sup_prog = []
count = 0
for sup_binary in self.sup_binaries:
self.progress("Starting Supplementary Program ", sup_binary)
start_sitl_args["customisations"] = [sup_binary['customisation']]
start_sitl_args["supplementary"] = True
start_sitl_args["stdout_prefix"] = "%s-%u" % (os.path.basename(sup_binary['binary']), count)
start_sitl_args["defaults_filepath"] = sup_binary['param_file']
sup_prog_link = util.start_SITL(sup_binary['binary'], **start_sitl_args)
self.sup_prog.append(sup_prog_link)
self.expect_list_add(sup_prog_link)
count += 1
# mavlink will have disconnected here. Explicitly reconnect,
# or the first packet we send will be lost:
if self.mav is not None:
self.mav.reconnect()
def get_supplementary_programs(self):
return self.sup_prog
def stop_sup_program(self, instance=None):
self.progress("Stopping supplementary program")
if instance is None:
# close all sup programs
for prog in self.sup_prog:
self.expect_list_remove(prog)
self.sup_prog.remove(prog)
util.pexpect_close(prog)
else:
# close only the instance passed
prog = self.sup_prog[instance]
self.expect_list_remove(prog)
self.sup_prog[instance] = None
util.pexpect_close(prog)
def start_sup_program(self, instance=None, args=None):
self.progress("Starting supplementary program")
start_sitl_args = {
"breakpoints": self.breakpoints,
"disable_breakpoints": self.disable_breakpoints,
"gdb": self.gdb,
"gdb_no_tui": self.gdb_no_tui,
"gdbserver": self.gdbserver,
"lldb": self.lldb,
"home": self.sitl_home(),
"speedup": self.speedup,
"valgrind": self.valgrind,
"callgrind": self.callgrind,
"wipe": True,
}
for i in range(len(self.sup_binaries)):
if instance is not None and instance != i:
continue
sup_binary = self.sup_binaries[i]
start_sitl_args["customisations"] = [sup_binary['customisation']]
if args is not None:
start_sitl_args["customisations"] = [sup_binary['customisation'], args]
start_sitl_args["supplementary"] = True
start_sitl_args["defaults_filepath"] = sup_binary['param_file']
sup_prog_link = util.start_SITL(sup_binary['binary'], **start_sitl_args)
time.sleep(1)
self.sup_prog[i] = sup_prog_link # add to list
self.expect_list_add(sup_prog_link) # add to expect list
def sitl_is_running(self):
if self.sitl is None:
return False
return self.sitl.isalive()
def autostart_mavproxy(self):
return self.use_map
def init(self):
"""Initilialize autotest feature."""
self.mavproxy_logfile = self.open_mavproxy_logfile()
if self.frame is None:
self.frame = self.default_frame()
if self.frame is None:
raise ValueError("frame must not be None")
self.progress("Starting simulator")
self.start_SITL()
os.environ['MAVLINK20'] = '1'
self.progress("Starting MAVLink connection")
self.get_mavlink_connection_going()
if self.autostart_mavproxy():
self.mavproxy = self.start_mavproxy()
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.expect_list_extend(self.sup_prog)
# need to wait for a heartbeat to arrive as then mavutil will
# select the correct set of messages for us to receive in
# self.mav.messages. You can actually receive messages with
# recv_match and those will not be in self.mav.messages until
# you do this!
self.wait_heartbeat()
self.progress("Sim time: %f" % (self.get_sim_time(),))
self.apply_default_parameters()
if not self.sitl_is_running():
# we run this just to make sure exceptions are likely to
# work OK.
raise NotAchievedException("SITL is not running")
self.progress("SITL is running")
self.progress("Ready to start testing!")
def upload_using_mission_protocol(self, mission_type, items):
'''mavlink2 required'''
target_system = 1
target_component = 1
self.do_timesync_roundtrip()
tstart = self.get_sim_time()
self.mav.mav.mission_count_send(target_system,
target_component,
len(items),
mission_type)
remaining_to_send = set(range(0, len(items)))
sent = set()
timeout = (10 + len(items)/10.0)
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("timeout uploading %s" % str(mission_type))
if len(remaining_to_send) == 0:
self.progress("All sent")
break
m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK'],
blocking=True,
timeout=1)
if m is None:
continue
if m.get_type() == 'MISSION_ACK':
if (m.target_system == 255 and
m.target_component == 0 and
m.type == 1 and
m.mission_type == 0):
# this is just MAVProxy trying to screw us up
continue
else:
raise NotAchievedException("Received unexpected mission ack %s" % str(m))
self.progress("Handling request for item %u/%u" % (m.seq, len(items)-1))
self.progress("Item (%s)" % str(items[m.seq]))
if m.seq in sent:
self.progress("received duplicate request for item %u" % m.seq)
continue
if m.seq not in remaining_to_send:
raise NotAchievedException("received request for unknown item %u" % m.seq)
if m.mission_type != mission_type:
raise NotAchievedException("received request for item from wrong mission type")
if items[m.seq].mission_type != mission_type:
raise NotAchievedException("supplied item not of correct mission type")
if items[m.seq].target_system != target_system:
raise NotAchievedException("supplied item not of correct target system")
if items[m.seq].target_component != target_component:
raise NotAchievedException("supplied item not of correct target component")
if items[m.seq].seq != m.seq:
raise NotAchievedException("supplied item has incorrect sequence number (%u vs %u)" %
(items[m.seq].seq, m.seq))
items[m.seq].pack(self.mav.mav)
self.mav.mav.send(items[m.seq])
remaining_to_send.discard(m.seq)
sent.add(m.seq)
timeout += 10 # we received a good request for item; be generous with our timeouts
m = self.assert_receive_message('MISSION_ACK', timeout=1)
if m.mission_type != mission_type:
raise NotAchievedException("Mission ack not of expected mission type")
if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
raise NotAchievedException("Mission upload failed (%s)" %
(mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name),)
self.progress("Upload of all %u items succeeded" % len(items))
def download_using_mission_protocol(self, mission_type, verbose=False, timeout=10):
'''mavlink2 required'''
target_system = 1
target_component = 1
self.progress("Sending mission_request_list")
tstart = self.get_sim_time()
self.mav.mav.mission_request_list_send(target_system,
target_component,
mission_type)
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not get MISSION_COUNT packet")
m = self.mav.recv_match(blocking=True, timeout=0.1)
if m is None:
raise NotAchievedException("Did not get MISSION_COUNT response")
if verbose:
self.progress(str(m))
if m.get_type() == 'MISSION_ACK':
if m.target_system == 255 and m.target_component == 0:
# this was for MAVProxy
continue
self.progress("Mission ACK: %s" % str(m))
raise NotAchievedException("Received MISSION_ACK while waiting for MISSION_COUNT")
if m.get_type() != 'MISSION_COUNT':
continue
if m.target_component != self.mav.source_system:
continue
if m.mission_type != mission_type:
raise NotAchievedException("Mission count response of incorrect type")
break
items = []
tstart = self.get_sim_time_cached()
remaining_to_receive = set(range(0, m.count))
next_to_request = 0
timeout = m.count
timeout *= self.speedup / 10.0
timeout += 10
while True:
delta_t = self.get_sim_time_cached() - tstart
if delta_t > timeout:
raise NotAchievedException(
"timeout downloading type=%s after %s seconds of %s allowed" %
(mavutil.mavlink.enums["MAV_MISSION_TYPE"][mission_type].name,
delta_t, timeout))
if len(remaining_to_receive) == 0:
self.progress("All received")
return items
self.progress("Requesting item %u (remaining=%u)" %
(next_to_request, len(remaining_to_receive)))
self.mav.mav.mission_request_int_send(target_system,
target_component,
next_to_request,
mission_type)
m = self.mav.recv_match(type='MISSION_ITEM_INT',
blocking=True,
timeout=5,
condition='MISSION_ITEM_INT.mission_type==%u' % mission_type)
if m is None:
raise NotAchievedException("Did not receive MISSION_ITEM_INT")
if m.target_system != self.mav.source_system:
raise NotAchievedException("Wrong target system (want=%u got=%u)" %
(self.mav.source_system, m.target_system))
if m.target_component != self.mav.source_component:
raise NotAchievedException("Wrong target component")
self.progress("Got (%s)" % str(m))
if m.mission_type != mission_type:
raise NotAchievedException("Received waypoint of wrong type")
if m.seq != next_to_request:
raise NotAchievedException("Received waypoint is out of sequence")
self.progress("Item %u OK" % m.seq)
timeout += 10 # we received an item; be generous with our timeouts
items.append(m)
next_to_request += 1
remaining_to_receive.discard(m.seq)
def dump_message_verbose(self, m):
'''return verbose dump of m. Wraps the pymavlink routine which
inconveniently takes a filehandle'''
f = StringIO.StringIO()
mavutil.dump_message_verbose(f, m)
return f.getvalue()
def poll_home_position(self, quiet=True, timeout=30):
old = self.mav.messages.get("HOME_POSITION", None)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Failed to poll home position")
if not quiet:
self.progress("Sending MAV_CMD_GET_HOME_POSITION")
try:
self.run_cmd(
mavutil.mavlink.MAV_CMD_GET_HOME_POSITION,
quiet=quiet,
)
except ValueError:
continue
m = self.mav.messages.get("HOME_POSITION", None)
if m is None:
continue
if old is None:
break
if m._timestamp != old._timestamp:
break
self.progress("Polled home position (%s)" % str(m))
return m
def position_target_loc(self):
'''returns target location based on POSITION_TARGET_GLOBAL_INT'''
m = self.mav.messages.get("POSITION_TARGET_GLOBAL_INT", None)
return mavutil.location(m.lat_int*1e-7, m.lon_int*1e-7, m.alt)
def current_waypoint(self):
m = self.assert_receive_message('MISSION_CURRENT')
return m.seq
def distance_to_nav_target(self, use_cached_nav_controller_output=False):
'''returns distance to waypoint navigation target in metres'''
m = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
if m is None or not use_cached_nav_controller_output:
m = self.assert_receive_message('NAV_CONTROLLER_OUTPUT', timeout=10)
return m.wp_dist
def distance_to_home(self, use_cached_home=False):
m = self.mav.messages.get("HOME_POSITION", None)
if use_cached_home is False or m is None:
m = self.poll_home_position(quiet=True)
here = self.assert_receive_message('GLOBAL_POSITION_INT')
return self.get_distance_int(m, here)
def home_position_as_mav_location(self):
m = self.poll_home_position()
return mavutil.location(m.latitude*1.0e-7, m.longitude*1.0e-7, m.altitude*1.0e-3, 0)
def offset_location_ne(self, location, metres_north, metres_east):
'''return a new location offset from passed-in location'''
(target_lat, target_lng) = mavextra.gps_offset(location.lat,
location.lng,
metres_east,
metres_north)
return mavutil.location(target_lat,
target_lng,
location.alt,
location.heading)
def monitor_groundspeed(self, want, tolerance=0.5, timeout=5):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
break
m = self.assert_receive_message('VFR_HUD', timeout=timeout)
if m.groundspeed > want+tolerance:
raise NotAchievedException("Too fast (%f > %f)" %
(m.groundspeed, want))
if m.groundspeed < want-tolerance:
raise NotAchievedException("Too slow (%f < %f)" %
(m.groundspeed, want))
self.progress("GroundSpeed OK (got=%f) (want=%f)" %
(m.groundspeed, want))
def SetHome(self):
'''Setting and fetching of home'''
if self.is_tracker():
# tracker starts armed...
self.disarm_vehicle(force=True)
self.reboot_sitl()
# HOME_POSITION is used as a surrogate for origin until we
# start emitting GPS_GLOBAL_ORIGIN
self.wait_ekf_happy()
orig_home = self.poll_home_position()
if orig_home is None:
raise AutoTestTimeoutException()
self.progress("Original home: %s" % str(orig_home))
# original home should be close to SITL home...
start_loc = self.sitl_start_location()
self.progress("SITL start loc: %s" % str(start_loc))
delta = abs(orig_home.latitude * 1.0e-7 - start_loc.lat)
if delta > 0.000006:
raise ValueError("homes differ in lat got=%f vs want=%f delta=%f" %
(orig_home.latitude * 1.0e-7, start_loc.lat, delta))
delta = abs(orig_home.longitude * 1.0e-7 - start_loc.lng)
if delta > 0.000006:
raise ValueError("homes differ in lon got=%f vs want=%f delta=%f" %
(orig_home.longitude * 1.0e-7, start_loc.lng, delta))
if self.is_rover():
self.progress("### Rover skipping altitude check unti position fixes in")
else:
home_alt_m = orig_home.altitude * 1.0e-3
if abs(home_alt_m - start_loc.alt) > 2: # metres
raise ValueError("homes differ in alt got=%fm want=%fm" %
(home_alt_m, start_loc.alt))
new_x = orig_home.latitude + 1000
new_y = orig_home.longitude + 2000
new_z = orig_home.altitude + 300000 # 300 metres
print("new home: %s %s %s" % (str(new_x), str(new_y), str(new_z)))
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_SET_HOME,
p5=new_x,
p6=new_y,
p7=new_z/1000.0, # mm => m
)
home = self.poll_home_position()
self.progress("home: %s" % str(home))
got_home_latitude = home.latitude
got_home_longitude = home.longitude
got_home_altitude = home.altitude
if (got_home_latitude != new_x or
got_home_longitude != new_y or
abs(got_home_altitude - new_z) > 100): # float-conversion issues
self.reboot_sitl()
raise NotAchievedException(
"Home mismatch got=(%f, %f, %f) set=(%f, %f, %f)" %
(got_home_latitude, got_home_longitude, got_home_altitude,
new_x, new_y, new_z))
self.progress("monitoring home to ensure it doesn't drift at all")
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < 10:
home = self.poll_home_position(quiet=True)
self.progress("home: %s" % str(home))
if (home.latitude != got_home_latitude or
home.longitude != got_home_longitude or
home.altitude != got_home_altitude): # float-conversion issues
self.reboot_sitl()
raise NotAchievedException("home is drifting")
self.progress("Waiting for EKF to start")
self.wait_ready_to_arm()
self.progress("now use lat=0, lon=0 to reset home to current location")
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_SET_HOME,
p5=0, # lat
p6=0, # lon
p7=new_z/1000.0, # mm => m
)
home = self.poll_home_position()
self.progress("home: %s" % str(home))
if self.distance_to_home(use_cached_home=True) > 1:
raise NotAchievedException("Setting home to current location did not work")
self.progress("Setting home elsewhere again")
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_SET_HOME,
p5=new_x,
p6=new_y,
p7=new_z/1000.0, # mm => m
)
if self.distance_to_home() < 10:
raise NotAchievedException("Setting home to location did not work")
self.progress("use param1=1 to reset home to current location")
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_SET_HOME,
p1=1, # use current location
p5=37, # lat
p6=21, # lon
p7=new_z/1000.0, # mm => m
)
home = self.poll_home_position()
self.progress("home: %s" % str(home))
if self.distance_to_home() > 1:
raise NotAchievedException("Setting home to current location did not work")
if self.is_tracker():
# tracker starts armed...
self.disarm_vehicle(force=True)
self.reboot_sitl()
def zero_mag_offset_parameters(self, compass_count=3):
self.progress("Zeroing Mag OFS parameters")
self.get_sim_time()
self.run_cmd(
mavutil.mavlink.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS,
p1=2, # param1 (compass0)
)
self.run_cmd(
mavutil.mavlink.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS,
p1=5, # param1 (compass1)
)
self.run_cmd(
mavutil.mavlink.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS,
p1=6, # param1 (compass2)
)
self.progress("zeroed mag parameters")
params = [
[("SIM_MAG1_OFS1_X", "COMPASS_OFS_X", 0),
("SIM_MAG1_OFS1_Y", "COMPASS_OFS_Y", 0),
("SIM_MAG1_OFS1_Z", "COMPASS_OFS_Z", 0), ],
]
for count in range(2, compass_count + 1):
params += [
[("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, 0),
("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, 0),
("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, 0), ],
]
self.check_zero_mag_parameters(params)
def forty_two_mag_dia_odi_parameters(self, compass_count=3):
self.progress("Forty twoing Mag DIA and ODI parameters")
self.get_sim_time()
params = [
[("SIM_MAG1_DIA_X", "COMPASS_DIA_X", 42.0),
("SIM_MAG1_DIA_Y", "COMPASS_DIA_Y", 42.0),
("SIM_MAG1_DIA_Z", "COMPASS_DIA_Z", 42.0),
("SIM_MAG1_ODI_X", "COMPASS_ODI_X", 42.0),
("SIM_MAG1_ODI_Y", "COMPASS_ODI_Y", 42.0),
("SIM_MAG1_ODI_Z", "COMPASS_ODI_Z", 42.0), ],
]
for count in range(2, compass_count + 1):
params += [
[("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, 42.0),
("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, 42.0),
("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, 42.0),
("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, 42.0),
("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, 42.0),
("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, 42.0), ],
]
self.wait_heartbeat()
to_set = {}
for param_set in params:
for param in param_set:
(_, _out, value) = param
to_set[_out] = value
self.set_parameters(to_set)
self.check_zero_mag_parameters(params)
def check_mag_parameters(self, parameter_stuff, compass_number):
self.progress("Checking that Mag parameter")
for idx in range(0, compass_number, 1):
for param in parameter_stuff[idx]:
(_in, _out, value) = param
got_value = self.get_parameter(_out)
if abs(got_value - value) > abs(value) * 0.15:
raise NotAchievedException("%s/%s not within 15%%; got %f want=%f" % (_in, _out, got_value, value))
def check_zero_mag_parameters(self, parameter_stuff):
self.progress("Checking that Mag OFS are zero")
for param_set in parameter_stuff:
for param in param_set:
(_in, _out, _) = param
got_value = self.get_parameter(_out)
max = 0.15
if "DIA" in _out or "ODI" in _out:
max += 42.0
if abs(got_value) > max:
raise NotAchievedException(
"%s/%s not within 15%%; got %f want=%f" %
(_in, _out, got_value, 0.0 if max > 1 else 42.0))
def check_zeros_mag_orient(self, compass_count=3):
self.progress("zeroed mag parameters")
self.verify_parameter_values({"COMPASS_ORIENT": 0})
for count in range(2, compass_count + 1):
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0})
# this autotest appears to interfere with FixedYawCalibration, no idea why.
def SITLCompassCalibration(self, compass_count=3, timeout=1000):
'''Test Fixed Yaw Calibration"'''
timeout /= 8
timeout *= self.speedup
def reset_pos_and_start_magcal(mavproxy, tmask):
mavproxy.send("sitl_stop\n")
mavproxy.send("sitl_attitude 0 0 0\n")
self.get_sim_time()
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
p1=tmask, # p1: mag_mask
p2=0, # retry
p3=0, # autosave
p4=0, # delay
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
timeout=20,
)
mavproxy.send("sitl_magcal\n")
def do_prep_mag_cal_test(mavproxy, params):
self.progress("Preparing the vehicle for magcal")
MAG_OFS = 100
MAG_DIA = 1.0
MAG_ODI = 0.004
params += [
[("SIM_MAG1_OFS_X", "COMPASS_OFS_X", MAG_OFS),
("SIM_MAG1_OFS_Y", "COMPASS_OFS_Y", MAG_OFS + 100),
("SIM_MAG1_OFS_Z", "COMPASS_OFS_Z", MAG_OFS + 200),
("SIM_MAG1_DIA_X", "COMPASS_DIA_X", MAG_DIA),
("SIM_MAG1_DIA_Y", "COMPASS_DIA_Y", MAG_DIA + 0.1),
("SIM_MAG1_DIA_Z", "COMPASS_DIA_Z", MAG_DIA + 0.2),
("SIM_MAG1_ODI_X", "COMPASS_ODI_X", MAG_ODI),
("SIM_MAG1_ODI_Y", "COMPASS_ODI_Y", MAG_ODI + 0.001),
("SIM_MAG1_ODI_Z", "COMPASS_ODI_Z", MAG_ODI + 0.001), ],
]
for count in range(2, compass_count + 1):
params += [
[("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)),
("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)),
("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)),
("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)),
("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)),
("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)),
("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)),
("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)),
("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ],
]
self.progress("Setting calibration mode")
self.wait_heartbeat()
self.customise_SITL_commandline(["-M", "calibration"])
self.mavproxy_load_module(mavproxy, "sitl_calibration")
self.mavproxy_load_module(mavproxy, "calibration")
self.mavproxy_load_module(mavproxy, "relay")
self.wait_statustext("is using GPS", timeout=60)
mavproxy.send("accelcalsimple\n")
mavproxy.expect("Calibrated")
# disable it to not interfert with calibration acceptation
self.mavproxy_unload_module(mavproxy, "calibration")
if self.is_copter():
# set frame class to pass arming check on copter
self.set_parameter("FRAME_CLASS", 1)
self.progress("Setting SITL Magnetometer model value")
self.set_parameter("COMPASS_AUTO_ROT", 0)
# MAG_ORIENT = 4
# self.set_parameter("SIM_MAG1_ORIENT", MAG_ORIENT)
# for count in range(2, compass_count + 1):
# self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41))
# # set compass external to check that orientation is found and auto set
# self.set_parameter("COMPASS_EXTERN%d" % count, 1)
to_set = {}
for param_set in params:
for param in param_set:
(_in, _out, value) = param
to_set[_in] = value
to_set[_out] = value
self.set_parameters(to_set)
self.start_subtest("Zeroing Mag OFS parameters with Mavlink")
self.zero_mag_offset_parameters()
self.progress("=========================================")
# Change the default value to unexpected 42
self.forty_two_mag_dia_odi_parameters()
self.progress("Zeroing Mags orientations")
self.set_parameter("COMPASS_ORIENT", 0)
for count in range(2, compass_count + 1):
self.set_parameter("COMPASS_ORIENT%d" % count, 0)
# Only care about compass prearm
self.set_parameter("ARMING_CHECK", 4)
#################################################
def do_test_mag_cal(mavproxy, params, compass_tnumber):
self.start_subtest("Try magcal and make it stop around 30%")
self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
reset_pos_and_start_magcal(mavproxy, target_mask)
tstart = self.get_sim_time()
reached_pct = [0] * compass_tnumber
tstop = None
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS")
m = self.mav.recv_match(type='MAG_CAL_PROGRESS', blocking=True, timeout=5)
if m is None:
if tstop is not None:
# wait 3 second to unsure that the calibration is well stopped
if self.get_sim_time_cached() - tstop > 10:
if reached_pct[0] > 33:
raise NotAchievedException("Mag calibration didn't stop")
else:
break
else:
continue
else:
continue
if m is not None:
self.progress("Mag CAL progress: %s" % str(m))
cid = m.compass_id
new_pct = int(m.completion_pct)
if new_pct != reached_pct[cid]:
if new_pct < reached_pct[cid]:
raise NotAchievedException("Mag calibration restart when it shouldn't")
reached_pct[cid] = new_pct
self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
if cid == 0 and 13 <= reached_pct[0] <= 15:
self.progress("Request again to start calibration, it shouldn't restart from 0")
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
p1=target_mask,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
timeout=20,
)
if reached_pct[0] > 30:
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_CANCEL_MAG_CAL,
p1=target_mask,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
)
if tstop is None:
tstop = self.get_sim_time_cached()
if tstop is not None:
# wait 3 second to unsure that the calibration is well stopped
if self.get_sim_time_cached() - tstop > 3:
raise NotAchievedException("Mag calibration didn't stop")
self.check_zero_mag_parameters(params)
self.check_zeros_mag_orient()
#################################################
self.start_subtest("Try magcal and make it failed")
self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
old_cal_fit = self.get_parameter("COMPASS_CAL_FIT")
self.set_parameter("COMPASS_CAL_FIT", 0.001, add_to_context=False)
reset_pos_and_start_magcal(mavproxy, target_mask)
tstart = self.get_sim_time()
reached_pct = [0] * compass_tnumber
report_get = [0] * compass_tnumber
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS")
m = self.assert_receive_message(["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], timeout=10)
if m.get_type() == "MAG_CAL_REPORT":
if report_get[m.compass_id] == 0:
self.progress("Report: %s" % str(m))
if m.cal_status == mavutil.mavlink.MAG_CAL_FAILED:
report_get[m.compass_id] = 1
else:
raise NotAchievedException("Mag calibration didn't failed")
if all(ele >= 1 for ele in report_get):
self.progress("All Mag report failure")
break
if m is not None and m.get_type() == "MAG_CAL_PROGRESS":
self.progress("Mag CAL progress: %s" % str(m))
cid = m.compass_id
new_pct = int(m.completion_pct)
if new_pct != reached_pct[cid]:
reached_pct[cid] = new_pct
self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
if cid == 0 and 49 <= reached_pct[0] <= 50:
self.progress("Try arming during calibration, should failed")
self.try_arm(False, "Compass calibration running")
self.check_zero_mag_parameters(params)
self.check_zeros_mag_orient()
self.set_parameter("COMPASS_CAL_FIT", old_cal_fit, add_to_context=False)
#################################################
self.start_subtest("Try magcal and wait success")
self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
reset_pos_and_start_magcal(mavproxy, target_mask)
progress_count = [0] * compass_tnumber
reached_pct = [0] * compass_tnumber
report_get = [0] * compass_tnumber
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS")
m = self.assert_receive_message(["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], timeout=5)
if m.get_type() == "MAG_CAL_REPORT":
if report_get[m.compass_id] == 0:
self.progress("Report: %s" % self.dump_message_verbose(m))
param_names = ["SIM_MAG1_ORIENT"]
for i in range(2, compass_tnumber+1):
param_names.append("SIM_MAG%u_ORIENT" % i)
for param_name in param_names:
self.progress("%s=%f" % (param_name, self.get_parameter(param_name)))
if m.cal_status == mavutil.mavlink.MAG_CAL_SUCCESS:
threshold = 95
if reached_pct[m.compass_id] < threshold:
raise NotAchievedException(
"Mag calibration report SUCCESS without >=%f%% completion (got %f%%)" %
(threshold, reached_pct[m.compass_id]))
report_get[m.compass_id] = 1
else:
raise NotAchievedException(
"Mag calibration didn't SUCCEED (cal_status=%u) (progress_count=%s)" %
(m.cal_status, progress_count[m.compass_id],))
if all(ele >= 1 for ele in report_get):
self.progress("All Mag report SUCCESS")
break
if m is not None and m.get_type() == "MAG_CAL_PROGRESS":
cid = m.compass_id
new_pct = int(m.completion_pct)
progress_count[cid] += 1
if new_pct != reached_pct[cid]:
reached_pct[cid] = new_pct
self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
mavproxy.send("sitl_stop\n")
mavproxy.send("sitl_attitude 0 0 0\n")
self.progress("Checking that value aren't changed without acceptation")
self.check_zero_mag_parameters(params)
self.check_zeros_mag_orient()
self.progress("Send acceptation and check value")
self.wait_heartbeat()
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_ACCEPT_MAG_CAL,
p1=target_mask, # p1: mag_mask
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
timeout=20,
)
self.check_mag_parameters(params, compass_tnumber)
self.verify_parameter_values({"COMPASS_ORIENT": self.get_parameter("SIM_MAG1_ORIENT")})
for count in range(2, compass_tnumber + 1):
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)})
self.try_arm(False, "Compass calibrated requires reboot")
# test buzzer/notify ?
self.progress("Rebooting and making sure we could arm with these values")
self.drain_mav()
self.reboot_sitl()
if False: # FIXME! This fails with compasses inconsistent!
self.wait_ready_to_arm(timeout=60)
self.progress("Setting manually the parameter for other sensor to avoid compass consistency error")
for idx in range(compass_tnumber, compass_count, 1):
for param in params[idx]:
(_in, _out, value) = param
self.set_parameter(_out, value)
for count in range(compass_tnumber + 1, compass_count + 1):
self.set_parameter("COMPASS_ORIENT%d" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count))
self.arm_vehicle()
self.progress("Test calibration rejection when armed")
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
p1=target_mask, # p1: mag_mask
p2=0, # retry
p3=0, # autosave
p4=0, # delay
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
timeout=20,
)
self.disarm_vehicle()
self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module(mavproxy, "sitl_calibration")
ex = None
mavproxy = self.start_mavproxy()
try:
self.set_parameter("AHRS_EKF_TYPE", 10)
self.set_parameter("SIM_GND_BEHAV", 0)
curr_params = []
target_mask = 0
# we test all bitmask plus 0 for all
for run in range(-1, compass_count, 1):
ntest_compass = compass_count
if run < 0:
# use bitmask 0 for all compass
target_mask = 0
else:
target_mask |= (1 << run)
ntest_compass = run + 1
do_prep_mag_cal_test(mavproxy, curr_params)
do_test_mag_cal(mavproxy, curr_params, ntest_compass)
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module(mavproxy, "sitl_calibration")
if ex is not None:
raise ex
self.stop_mavproxy(mavproxy)
# need to reboot SITL after moving away from EKF type 10; we
# can end up with home set but origin not and that will lead
# to bad things.
self.reboot_sitl()
def test_mag_reordering_assert_mag_transform(self, values, transforms):
'''transforms ought to be read as, "take all the parameter values from
the first compass parameters and shove them into the second indicating
compass parameters'''
# create a set of mappings from one parameter name to another
# e.g. COMPASS_OFS_X => COMPASS_OFS2_X if the transform is
# [(1,2)]. [(1,2),(2,1)] should swap the compass values
parameter_mappings = {}
for key in values.keys():
parameter_mappings[key] = key
for (old_compass_num, new_compass_num) in transforms:
old_key_compass_bit = str(old_compass_num)
if old_key_compass_bit == "1":
old_key_compass_bit = ""
new_key_compass_bit = str(new_compass_num)
if new_key_compass_bit == "1":
new_key_compass_bit = ""
# vectors first:
for key_vector_bit in ["OFS", "DIA", "ODI", "MOT"]:
for axis in "X", "Y", "Z":
old_key = "COMPASS_%s%s_%s" % (key_vector_bit,
old_key_compass_bit,
axis)
new_key = "COMPASS_%s%s_%s" % (key_vector_bit,
new_key_compass_bit,
axis)
parameter_mappings[old_key] = new_key
# then non-vectorey bits:
for key_bit in "SCALE", "ORIENT":
old_key = "COMPASS_%s%s" % (key_bit, old_key_compass_bit)
new_key = "COMPASS_%s%s" % (key_bit, new_key_compass_bit)
parameter_mappings[old_key] = new_key
# then a sore thumb:
if old_key_compass_bit == "":
old_key = "COMPASS_EXTERNAL"
else:
old_key = "COMPASS_EXTERN%s" % old_key_compass_bit
if new_key_compass_bit == "":
new_key = "COMPASS_EXTERNAL"
else:
new_key = "COMPASS_EXTERN%s" % new_key_compass_bit
parameter_mappings[old_key] = new_key
for key in values.keys():
newkey = parameter_mappings[key]
current_value = self.get_parameter(newkey)
expected_value = values[key]
if abs(current_value - expected_value) > 0.001:
raise NotAchievedException("%s has wrong value; want=%f got=%f transforms=%s (old parameter name=%s)" %
(newkey, expected_value, current_value, str(transforms), key))
def CompassReordering(self):
'''Test Compass reordering when priorities are changed'''
self.context_push()
ex = None
try:
originals = {
"COMPASS_OFS_X": 1.1,
"COMPASS_OFS_Y": 1.2,
"COMPASS_OFS_Z": 1.3,
"COMPASS_DIA_X": 1.4,
"COMPASS_DIA_Y": 1.5,
"COMPASS_DIA_Z": 1.6,
"COMPASS_ODI_X": 1.7,
"COMPASS_ODI_Y": 1.8,
"COMPASS_ODI_Z": 1.9,
"COMPASS_MOT_X": 1.91,
"COMPASS_MOT_Y": 1.92,
"COMPASS_MOT_Z": 1.93,
"COMPASS_SCALE": 1.94,
"COMPASS_ORIENT": 1,
"COMPASS_EXTERNAL": 2,
"COMPASS_OFS2_X": 2.1,
"COMPASS_OFS2_Y": 2.2,
"COMPASS_OFS2_Z": 2.3,
"COMPASS_DIA2_X": 2.4,
"COMPASS_DIA2_Y": 2.5,
"COMPASS_DIA2_Z": 2.6,
"COMPASS_ODI2_X": 2.7,
"COMPASS_ODI2_Y": 2.8,
"COMPASS_ODI2_Z": 2.9,
"COMPASS_MOT2_X": 2.91,
"COMPASS_MOT2_Y": 2.92,
"COMPASS_MOT2_Z": 2.93,
"COMPASS_SCALE2": 2.94,
"COMPASS_ORIENT2": 3,
"COMPASS_EXTERN2": 4,
"COMPASS_OFS3_X": 3.1,
"COMPASS_OFS3_Y": 3.2,
"COMPASS_OFS3_Z": 3.3,
"COMPASS_DIA3_X": 3.4,
"COMPASS_DIA3_Y": 3.5,
"COMPASS_DIA3_Z": 3.6,
"COMPASS_ODI3_X": 3.7,
"COMPASS_ODI3_Y": 3.8,
"COMPASS_ODI3_Z": 3.9,
"COMPASS_MOT3_X": 3.91,
"COMPASS_MOT3_Y": 3.92,
"COMPASS_MOT3_Z": 3.93,
"COMPASS_SCALE3": 3.94,
"COMPASS_ORIENT3": 5,
"COMPASS_EXTERN3": 6,
}
# quick sanity check to ensure all values are unique:
if len(originals.values()) != len(set(originals.values())):
raise NotAchievedException("Values are not all unique!")
self.progress("Setting parameters")
self.set_parameters(originals)
self.reboot_sitl()
# no transforms means our originals should be our finals:
self.test_mag_reordering_assert_mag_transform(originals, [])
self.start_subtest("Pushing 1st mag to 3rd")
ey = None
self.context_push()
try:
# now try reprioritising compass 1 to be higher than compass 0:
prio1_id = self.get_parameter("COMPASS_PRIO1_ID")
prio2_id = self.get_parameter("COMPASS_PRIO2_ID")
prio3_id = self.get_parameter("COMPASS_PRIO3_ID")
self.set_parameter("COMPASS_PRIO1_ID", prio2_id)
self.set_parameter("COMPASS_PRIO2_ID", prio3_id)
self.set_parameter("COMPASS_PRIO3_ID", prio1_id)
self.reboot_sitl()
self.test_mag_reordering_assert_mag_transform(originals, [(2, 1),
(3, 2),
(1, 3)])
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ey = e
self.context_pop()
self.reboot_sitl()
if ey is not None:
raise ey
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
# something about SITLCompassCalibration appears to fail
# this one, so we put it first:
def FixedYawCalibration(self):
'''Test Fixed Yaw Calibration'''
self.context_push()
ex = None
try:
MAG_OFS_X = 100
MAG_OFS_Y = 200
MAG_OFS_Z = 300
wanted = {
"COMPASS_OFS_X": (MAG_OFS_X, 3.0),
"COMPASS_OFS_Y": (MAG_OFS_Y, 3.0),
"COMPASS_OFS_Z": (MAG_OFS_Z, 3.0),
"COMPASS_DIA_X": 1,
"COMPASS_DIA_Y": 1,
"COMPASS_DIA_Z": 1,
"COMPASS_ODI_X": 0,
"COMPASS_ODI_Y": 0,
"COMPASS_ODI_Z": 0,
"COMPASS_OFS2_X": (MAG_OFS_X, 3.0),
"COMPASS_OFS2_Y": (MAG_OFS_Y, 3.0),
"COMPASS_OFS2_Z": (MAG_OFS_Z, 3.0),
"COMPASS_DIA2_X": 1,
"COMPASS_DIA2_Y": 1,
"COMPASS_DIA2_Z": 1,
"COMPASS_ODI2_X": 0,
"COMPASS_ODI2_Y": 0,
"COMPASS_ODI2_Z": 0,
"COMPASS_OFS3_X": (MAG_OFS_X, 3.0),
"COMPASS_OFS3_Y": (MAG_OFS_Y, 3.0),
"COMPASS_OFS3_Z": (MAG_OFS_Z, 3.0),
"COMPASS_DIA3_X": 1,
"COMPASS_DIA3_Y": 1,
"COMPASS_DIA3_Z": 1,
"COMPASS_ODI3_X": 0,
"COMPASS_ODI3_Y": 0,
"COMPASS_ODI3_Z": 0,
}
self.set_parameters({
"SIM_MAG1_OFS_X": MAG_OFS_X,
"SIM_MAG1_OFS_Y": MAG_OFS_Y,
"SIM_MAG1_OFS_Z": MAG_OFS_Z,
"SIM_MAG2_OFS_X": MAG_OFS_X,
"SIM_MAG2_OFS_Y": MAG_OFS_Y,
"SIM_MAG2_OFS_Z": MAG_OFS_Z,
"SIM_MAG3_OFS_X": MAG_OFS_X,
"SIM_MAG3_OFS_Y": MAG_OFS_Y,
"SIM_MAG3_OFS_Z": MAG_OFS_Z,
})
# set to some sensible-ish initial values. If your initial
# offsets are way, way off you can get some very odd effects.
for param in wanted:
value = 0.0
if "DIA" in param:
value = 1.001
elif "ODI" in param:
value = 0.001
self.set_parameter(param, value)
self.zero_mag_offset_parameters()
# wait until we definitely know where we are:
self.poll_home_position(timeout=120)
ss = self.assert_receive_message('SIMSTATE', timeout=1, verbose=True)
self.run_cmd(
mavutil.mavlink.MAV_CMD_FIXED_MAG_CAL_YAW,
p1=math.degrees(ss.yaw),
)
self.verify_parameter_values(wanted)
# run same command but as command_int:
self.zero_mag_offset_parameters()
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_FIXED_MAG_CAL_YAW,
p1=math.degrees(ss.yaw),
)
self.verify_parameter_values(wanted)
self.progress("Rebooting and making sure we could arm with these values")
self.reboot_sitl()
self.wait_ready_to_arm(timeout=60)
except Exception as e:
ex = e
self.context_pop()
if ex is not None:
raise ex
def DataFlashOverMAVLink(self):
'''Test DataFlash over MAVLink'''
self.context_push()
ex = None
mavproxy = self.start_mavproxy()
try:
self.set_parameter("LOG_BACKEND_TYPE", 2)
self.reboot_sitl()
self.wait_ready_to_arm(check_prearm_bit=False)
mavproxy.send('arm throttle\n')
mavproxy.expect('PreArm: Logging failed')
self.mavproxy_load_module(mavproxy, 'dataflash_logger')
mavproxy.send("dataflash_logger set verbose 1\n")
mavproxy.expect('logging started')
mavproxy.send("dataflash_logger set verbose 0\n")
self.delay_sim_time(1)
self.do_timesync_roundtrip() # drain COMMAND_ACK from that failed arm
self.arm_vehicle()
tstart = self.get_sim_time()
last_status = 0
while True:
now = self.get_sim_time()
if now - tstart > 60:
break
if now - last_status > 5:
last_status = now
mavproxy.send('dataflash_logger status\n')
# seen on autotest: Active Rate(3s):97.790kB/s Block:164 Missing:0 Fixed:0 Abandoned:0
mavproxy.expect(r"Active Rate\([0-9]+s\):([0-9]+[.][0-9]+)")
rate = float(mavproxy.match.group(1))
self.progress("Rate: %f" % rate)
desired_rate = 50
if self.valgrind or self.callgrind:
desired_rate /= 10
if rate < desired_rate:
raise NotAchievedException("Exceptionally low transfer rate (%u < %u)" % (rate, desired_rate))
self.disarm_vehicle()
except Exception as e:
self.print_exception_caught(e)
self.disarm_vehicle()
ex = e
self.context_pop()
self.mavproxy_unload_module(mavproxy, 'dataflash_logger')
# the following things won't work - but they shouldn't die either:
self.mavproxy_load_module(mavproxy, 'log')
self.progress("Try log list")
mavproxy.send("log list\n")
mavproxy.expect("No logs")
self.progress("Try log erase")
mavproxy.send("log erase\n")
# no response to this...
self.progress("Try log download")
mavproxy.send("log download 1\n")
# no response to this...
self.mavproxy_unload_module(mavproxy, 'log')
self.stop_mavproxy(mavproxy)
self.reboot_sitl()
if ex is not None:
raise ex
def DataFlash(self):
"""Test DataFlash SITL backend"""
self.context_push()
ex = None
mavproxy = self.start_mavproxy()
try:
self.set_parameter("LOG_BACKEND_TYPE", 4)
self.set_parameter("LOG_FILE_DSRMROT", 1)
self.set_parameter("LOG_BLK_RATEMAX", 1)
self.reboot_sitl()
# First log created here, but we are in chip erase so ignored
mavproxy.send("module load log\n")
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
self.wait_ready_to_arm()
if self.is_copter() or self.is_plane():
self.set_autodisarm_delay(0)
self.arm_vehicle()
self.delay_sim_time(5)
self.disarm_vehicle()
# First log created here
self.delay_sim_time(2)
self.arm_vehicle()
self.delay_sim_time(5)
self.disarm_vehicle()
# Second log created here
self.delay_sim_time(2)
mavproxy.send("log list\n")
mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
log_num = int(mavproxy.match.group(1))
numlogs = int(mavproxy.match.group(2))
lastlog = int(mavproxy.match.group(3))
size = int(mavproxy.match.group(4))
if numlogs != 2 or log_num != 1 or size <= 0:
raise NotAchievedException("Unexpected log information %d %d %d" % (log_num, numlogs, lastlog))
self.progress("Log size: %d" % size)
self.reboot_sitl()
# This starts a new log with a time of 0, wait for arm so that we can insert the correct time
self.wait_ready_to_arm()
# Third log created here
mavproxy.send("log list\n")
mavproxy.expect("Log 1 numLogs 3 lastLog 3 size")
# Download second and third logs
mavproxy.send("log download 2 logs/dataflash-log-002.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
mavproxy.send("log download 3 logs/dataflash-log-003.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
# Erase the logs
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
except Exception as e:
self.print_exception_caught(e)
ex = e
mavproxy.send("module unload log\n")
self.stop_mavproxy(mavproxy)
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def validate_log_file(self, logname, header_errors=0):
"""Validate the contents of a log file"""
# read the downloaded log - it must parse without error
class Capturing(list):
def __enter__(self):
self._stderr = sys.stderr
sys.stderr = self._stringio = StringIO.StringIO()
return self
def __exit__(self, *args):
self.extend(self._stringio.getvalue().splitlines())
del self._stringio # free up some memory
sys.stderr = self._stderr
with Capturing() as df_output:
try:
mlog = mavutil.mavlink_connection(logname)
while True:
m = mlog.recv_match()
if m is None:
break
except Exception as e:
raise NotAchievedException("Error reading log file %s: %s" % (logname, str(e)))
herrors = 0
for msg in df_output:
if msg.startswith("bad header") or msg.startswith("unknown msg type"):
herrors = herrors + 1
if herrors > header_errors:
raise NotAchievedException("Error parsing log file %s, %d header errors" % (logname, herrors))
def DataFlashErase(self):
"""Test that erasing the dataflash chip and creating a new log is error free"""
mavproxy = self.start_mavproxy()
ex = None
self.context_push()
try:
self.set_parameter("LOG_BACKEND_TYPE", 4)
self.reboot_sitl()
mavproxy.send("module load log\n")
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
self.set_parameter("LOG_DISARMED", 1)
self.delay_sim_time(3)
self.set_parameter("LOG_DISARMED", 0)
mavproxy.send("log download 1 logs/dataflash-log-erase.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
# read the downloaded log - it must parse without error
self.validate_log_file("logs/dataflash-log-erase.BIN")
self.start_subtest("Test file wrapping results in a valid file")
# roughly 4mb
self.set_parameter("LOG_FILE_DSRMROT", 1)
self.set_parameter("LOG_BITMASK", 131071)
self.wait_ready_to_arm()
if self.is_copter() or self.is_plane():
self.set_autodisarm_delay(0)
self.arm_vehicle()
self.delay_sim_time(30)
self.disarm_vehicle()
# roughly 4mb
self.arm_vehicle()
self.delay_sim_time(30)
self.disarm_vehicle()
# roughly 9mb, should wrap around
self.arm_vehicle()
self.delay_sim_time(50)
self.disarm_vehicle()
# make sure we have finished logging
self.delay_sim_time(15)
mavproxy.send("log list\n")
try:
mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
except pexpect.TIMEOUT as e:
if self.sitl_is_running():
self.progress("SITL is running")
else:
self.progress("SITL is NOT running")
raise NotAchievedException("Received %s" % str(e))
if int(mavproxy.match.group(2)) != 3:
raise NotAchievedException("Expected 3 logs got %s" % (mavproxy.match.group(2)))
mavproxy.send("log download 1 logs/dataflash-log-erase2.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
self.validate_log_file("logs/dataflash-log-erase2.BIN", 1)
mavproxy.send("log download latest logs/dataflash-log-erase3.BIN\n")
mavproxy.expect("Finished downloading", timeout=120)
self.validate_log_file("logs/dataflash-log-erase3.BIN", 1)
# clean up
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
# clean up
mavproxy.send("log erase\n")
mavproxy.expect("Chip erase complete")
except Exception as e:
self.print_exception_caught(e)
ex = e
mavproxy.send("module unload log\n")
self.context_pop()
self.reboot_sitl()
self.stop_mavproxy(mavproxy)
if ex is not None:
raise ex
def ArmFeatures(self):
'''Arm features'''
# TEST ARMING/DISARM
self.delay_sim_time(12) # wait for gyros/accels to be happy
if self.get_parameter("ARMING_CHECK") != 1.0 and not self.is_sub():
raise ValueError("Arming check should be 1")
if not self.is_sub() and not self.is_tracker():
self.set_parameter("ARMING_RUDDER", 2) # allow arm and disarm with rudder on first tests
if self.is_copter():
interlock_channel = 8 # Plane got flighmode_ch on channel 8
if not self.is_heli(): # heli don't need interlock option
interlock_channel = 9
self.set_parameter("RC%u_OPTION" % interlock_channel, 32)
self.set_rc(interlock_channel, 1000)
self.zero_throttle()
# Disable auto disarm for next tests
# Rover and Sub don't have auto disarm
if self.is_copter() or self.is_plane():
self.set_autodisarm_delay(0)
self.start_subtest("Test normal arm and disarm features")
self.wait_ready_to_arm()
self.progress("default arm_vehicle() call")
if not self.arm_vehicle():
raise NotAchievedException("Failed to ARM")
self.progress("default disarm_vehicle() call")
self.disarm_vehicle()
self.start_subtest("Arm/disarm vehicle with COMMAND_INT")
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
)
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=0, # DISARM
)
self.progress("arm with mavproxy")
mavproxy = self.start_mavproxy()
if not self.mavproxy_arm_vehicle(mavproxy):
raise NotAchievedException("Failed to ARM")
self.progress("disarm with mavproxy")
self.mavproxy_disarm_vehicle(mavproxy)
self.stop_mavproxy(mavproxy)
if not self.is_sub():
self.start_subtest("Test arm with rc input")
self.arm_motors_with_rc_input()
self.progress("disarm with rc input")
if self.is_balancebot():
self.progress("balancebot can't disarm with RC input")
self.disarm_vehicle()
else:
self.disarm_motors_with_rc_input()
self.start_subtest("Test arm and disarm with switch")
arming_switch = 7
self.set_parameter("RC%d_OPTION" % arming_switch, 153)
self.set_rc(arming_switch, 1000)
# delay so a transition is seen by the RC switch code:
self.delay_sim_time(0.5)
self.arm_motors_with_switch(arming_switch)
self.disarm_motors_with_switch(arming_switch)
self.set_rc(arming_switch, 1000)
if self.is_copter():
self.start_subtest("Test arming failure with throttle too high")
self.set_rc(3, 1800)
try:
if self.arm_vehicle():
raise NotAchievedException("Armed when throttle too high")
except ValueError:
pass
try:
self.arm_motors_with_rc_input()
except NotAchievedException:
pass
if self.armed():
raise NotAchievedException(
"Armed via RC when throttle too high")
try:
self.arm_motors_with_switch(arming_switch)
except NotAchievedException:
pass
if self.armed():
raise NotAchievedException("Armed via RC when switch too high")
self.zero_throttle()
self.set_rc(arming_switch, 1000)
# Sub doesn't have 'stick commands'
self.start_subtest("Test arming failure with ARMING_RUDDER=0")
self.set_parameter("ARMING_RUDDER", 0)
try:
self.arm_motors_with_rc_input()
except NotAchievedException:
pass
if self.armed():
raise NotAchievedException(
"Armed with rudder when ARMING_RUDDER=0")
self.start_subtest("Test disarming failure with ARMING_RUDDER=0")
self.arm_vehicle()
try:
self.disarm_motors_with_rc_input(watch_for_disabled=True)
except NotAchievedException:
pass
if not self.armed():
raise NotAchievedException(
"Disarmed with rudder when ARMING_RUDDER=0")
self.disarm_vehicle()
self.wait_heartbeat()
self.start_subtest("Test disarming failure with ARMING_RUDDER=1")
self.set_parameter("ARMING_RUDDER", 1)
self.arm_vehicle()
try:
self.disarm_motors_with_rc_input()
except NotAchievedException:
pass
if not self.armed():
raise NotAchievedException(
"Disarmed with rudder with ARMING_RUDDER=1")
self.disarm_vehicle()
self.wait_heartbeat()
self.set_parameter("ARMING_RUDDER", 2)
if self.is_copter():
self.start_subtest("Test arming failure with interlock enabled")
self.set_rc(interlock_channel, 2000)
try:
self.arm_motors_with_rc_input()
except NotAchievedException:
pass
if self.armed():
raise NotAchievedException(
"Armed with RC input when interlock enabled")
try:
self.arm_motors_with_switch(arming_switch)
except NotAchievedException:
pass
if self.armed():
raise NotAchievedException("Armed with switch when interlock enabled")
self.disarm_vehicle()
self.wait_heartbeat()
self.set_rc(arming_switch, 1000)
self.set_rc(interlock_channel, 1000)
if self.is_heli():
self.start_subtest("Test motor interlock enable can't be set while disarmed")
self.set_rc(interlock_channel, 2000)
channel_field = "servo%u_raw" % interlock_channel
interlock_value = self.get_parameter("SERVO%u_MIN" % interlock_channel)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 20:
self.set_rc(interlock_channel, 1000)
break # success!
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True,
timeout=2)
if m is None:
continue
m_value = getattr(m, channel_field, None)
if m_value is None:
self.set_rc(interlock_channel, 1000)
raise ValueError("Message has no %s field" %
channel_field)
self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" %
(channel_field, m_value, interlock_value))
if m_value != interlock_value:
self.set_rc(interlock_channel, 1000)
raise NotAchievedException("Motor interlock was changed while disarmed")
self.set_rc(interlock_channel, 1000)
self.start_subtest("Test all mode arming")
self.wait_ready_to_arm()
if self.arming_test_mission() is not None:
self.load_mission(self.arming_test_mission())
for mode in self.mav.mode_mapping():
self.drain_mav()
self.start_subtest("Mode : %s" % mode)
if mode == "FOLLOW":
self.set_parameter("FOLL_ENABLE", 1)
if mode in self.get_normal_armable_modes_list():
self.progress("Armable mode : %s" % mode)
self.change_mode(mode)
self.arm_vehicle()
self.disarm_vehicle()
self.progress("PASS arm mode : %s" % mode)
if mode in self.get_not_armable_mode_list():
if mode in self.get_not_disarmed_settable_modes_list():
self.progress("Not settable mode : %s" % mode)
try:
self.change_mode(mode, timeout=15)
except AutoTestTimeoutException:
self.progress("PASS not able to set mode : %s disarmed" % mode)
except ValueError:
self.progress("PASS not able to set mode : %s disarmed" % mode)
else:
self.progress("Not armable mode : %s" % mode)
self.change_mode(mode)
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
)
self.progress("PASS not able to arm in mode : %s" % mode)
if mode in self.get_position_armable_modes_list():
self.progress("Armable mode needing Position : %s" % mode)
self.wait_ekf_happy()
self.change_mode(mode)
self.arm_vehicle()
self.wait_heartbeat()
self.disarm_vehicle()
self.progress("PASS arm mode : %s" % mode)
self.progress("Not armable mode without Position : %s" % mode)
self.wait_gps_disable()
self.change_mode(mode)
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
)
self.set_parameter("SIM_GPS_DISABLE", 0)
self.wait_ekf_happy() # EKF may stay unhappy for a while
self.progress("PASS not able to arm without Position in mode : %s" % mode)
if mode in self.get_no_position_not_settable_modes_list():
self.progress("Setting mode need Position : %s" % mode)
self.wait_ekf_happy()
self.wait_gps_disable()
try:
self.change_mode(mode, timeout=15)
except AutoTestTimeoutException:
self.set_parameter("SIM_GPS_DISABLE", 0)
self.progress("PASS not able to set mode without Position : %s" % mode)
except ValueError:
self.set_parameter("SIM_GPS_DISABLE", 0)
self.progress("PASS not able to set mode without Position : %s" % mode)
if mode == "FOLLOW":
self.set_parameter("FOLL_ENABLE", 0)
self.change_mode(self.default_mode())
if self.armed():
self.disarm_vehicle()
# we should find at least one Armed event and one disarmed
# event, and at least one ARM message for arm and disarm
wants = set([
("Armed EV message", "EV", lambda e : e.Id == 10),
("Disarmed EV message", "EV", lambda e : e.Id == 11),
("Armed ARM message", "ARM", lambda a : a.ArmState == 1),
("Disarmed ARM message", "ARM", lambda a : a.ArmState == 0),
])
dfreader = self.dfreader_for_current_onboard_log()
types = set()
for (name, msgtype, l) in wants:
types.add(msgtype)
while True:
m = dfreader.recv_match(type=types)
if m is None:
break
wantscopy = copy.copy(wants)
for want in wantscopy:
(name, msgtype, l) = want
if m.get_type() != msgtype:
continue
if l(m):
self.progress("Found %s" % name)
wants.discard(want)
if len(wants) == 0:
break
if len(wants):
msg = ", ".join([x[0] for x in wants])
raise NotAchievedException("Did not find (%s)" % msg)
self.progress("ALL PASS")
# TODO : Test arming magic;
def get_message_rate(self, victim_message, timeout=10, mav=None):
if mav is None:
mav = self.mav
tstart = self.get_sim_time()
count = 0
while self.get_sim_time_cached() < tstart + timeout:
m = mav.recv_match(
type=victim_message,
blocking=True,
timeout=0.1
)
if m is not None:
count += 1
if mav != self.mav:
self.drain_mav(self.mav)
time_delta = self.get_sim_time_cached() - tstart
self.progress("%s count after %f seconds: %u" %
(victim_message, time_delta, count))
return count/time_delta
def rate_to_interval_us(self, rate):
return 1/float(rate)*1000000.0
def set_message_rate_hz(self, id, rate_hz, mav=None):
'''set a message rate in Hz; 0 for original, -1 to disable'''
if isinstance(id, str):
id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % id)
if rate_hz == 0 or rate_hz == -1:
set_interval = rate_hz
else:
set_interval = self.rate_to_interval_us(rate_hz)
self.run_cmd(
mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
p1=id,
p2=set_interval,
mav=mav,
)
def send_get_message_interval(self, victim_message, mav=None):
if mav is None:
mav = self.mav
if isinstance(victim_message, str):
victim_message = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % victim_message)
mav.mav.command_long_send(
1,
1,
mavutil.mavlink.MAV_CMD_GET_MESSAGE_INTERVAL,
1, # confirmation
float(victim_message),
0,
0,
0,
0,
0,
0)
def get_message_interval(self, victim_message, mav=None):
'''returns message interval in microseconds'''
self.send_get_message_interval(victim_message, mav=mav)
m = self.assert_receive_message('MESSAGE_INTERVAL', timeout=1, mav=mav)
if m.message_id != victim_message:
raise NotAchievedException("Unexpected ID in MESSAGE_INTERVAL")
return m.interval_us
def set_message_interval(self, victim_message, interval_us, mav=None):
'''sets message interval in microseconds'''
if isinstance(victim_message, str):
victim_message = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % victim_message)
self.run_cmd(
mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
p1=victim_message,
p2=interval_us,
mav=mav,
)
def test_rate(self,
desc,
in_rate,
expected_rate
, mav=None,
victim_message="VFR_HUD",
ndigits=0,
message_rate_sample_period=10):
if mav is None:
mav = self.mav
self.progress("###### %s" % desc)
self.progress("Setting rate to %f" % round(in_rate, ndigits=ndigits))
self.set_message_rate_hz(victim_message, in_rate, mav=mav)
new_measured_rate = self.get_message_rate(victim_message, timeout=message_rate_sample_period, mav=mav)
self.progress(
"Measured rate: %f (want %f)" %
(round(new_measured_rate, ndigits=ndigits),
round(expected_rate, ndigits=ndigits))
)
notachieved_ex = None
if round(new_measured_rate, ndigits=ndigits) != round(expected_rate, ndigits=ndigits):
notachieved_ex = NotAchievedException(
"Rate not achieved (got %f want %f)" %
(round(new_measured_rate, ndigits),
round(expected_rate, ndigits)))
# make sure get_message_interval works:
self.send_get_message_interval(victim_message, mav=mav)
m = self.assert_receive_message('MESSAGE_INTERVAL', timeout=30, mav=mav)
if in_rate == 0:
want = self.rate_to_interval_us(expected_rate)
elif in_rate == -1:
want = in_rate
else:
want = self.rate_to_interval_us(in_rate)
if m.interval_us != want:
raise NotAchievedException("Did not read same interval back from autopilot: want=%d got=%d)" %
(want, m.interval_us))
m = self.assert_receive_message('COMMAND_ACK', mav=mav)
if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
raise NotAchievedException("Expected ACCEPTED for reading message interval")
if notachieved_ex is not None:
raise notachieved_ex
def SET_MESSAGE_INTERVAL(self):
'''Test MAV_CMD_SET_MESSAGE_INTERVAL'''
self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger
self.reboot_sitl() # needed for CAM1_TYPE to take effect
self.start_subtest('Basic tests')
self.test_set_message_interval_basic()
self.start_subtest('Many-message tests')
self.test_set_message_interval_many()
def test_set_message_interval_many(self):
messages = [
'CAMERA_FEEDBACK',
'RAW_IMU',
'ATTITUDE',
]
ex = None
try:
rate = 5
for message in messages:
self.set_message_rate_hz(message, rate)
for message in messages:
self.assert_message_rate_hz(message, rate)
except Exception as e:
self.print_exception_caught(e)
ex = e
# reset message rates to default:
for message in messages:
self.set_message_rate_hz(message, -1)
if ex is not None:
raise ex
def assert_message_rate_hz(self, message, want_rate, sample_period=20, ndigits=0, mav=None):
if mav is None:
mav = self.mav
self.drain_mav(mav)
rate = round(self.get_message_rate(message, sample_period, mav=mav), ndigits=ndigits)
self.progress("%s: Want=%f got=%f" % (message, round(want_rate, ndigits=ndigits), round(rate, ndigits=ndigits)))
if rate != want_rate:
raise NotAchievedException("Did not get expected rate (want=%f got=%f)" % (want_rate, rate))
def test_set_message_interval_basic(self):
ex = None
try:
rate = round(self.get_message_rate("VFR_HUD", 20))
self.progress("Initial rate: %u" % rate)
self.test_rate("Test set to %u" % (rate/2,), rate/2, rate/2, victim_message="VFR_HUD")
# this assumes the streamrates have not been played with:
self.test_rate("Resetting original rate using 0-value", 0, rate)
self.test_rate("Disabling using -1-value", -1, 0)
self.test_rate("Resetting original rate", 0, rate)
self.progress("try getting a message which is not ordinarily streamed out")
rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20))
if rate != 0:
raise PreconditionFailedException("Already getting CAMERA_FEEDBACK")
self.progress("try various message rates")
for want_rate in range(5, 14):
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
want_rate)
self.assert_message_rate_hz('CAMERA_FEEDBACK', want_rate)
self.progress("try at the main loop rate")
# have to reset the speedup as MAVProxy can't keep up otherwise
old_speedup = self.get_parameter("SIM_SPEEDUP")
self.set_parameter("SIM_SPEEDUP", 1.0)
# ArduPilot currently limits message rate to 80% of main loop rate:
want_rate = self.get_parameter("SCHED_LOOP_RATE") * 0.8
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
want_rate)
rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20))
self.set_parameter("SIM_SPEEDUP", old_speedup)
self.progress("Want=%f got=%f" % (want_rate, rate))
if abs(rate - want_rate) > 2:
raise NotAchievedException("Did not get expected rate")
self.drain_mav()
non_existant_id = 145
self.send_get_message_interval(non_existant_id)
m = self.assert_receive_message('MESSAGE_INTERVAL')
if m.interval_us != 0:
raise NotAchievedException("Supposed to get 0 back for unsupported stream")
m = self.assert_receive_message('COMMAND_ACK')
if m.result != mavutil.mavlink.MAV_RESULT_FAILED:
raise NotAchievedException("Getting rate of unsupported message is a failure")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.progress("Resetting CAMERA_FEEDBACK rate to default rate")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, 0)
self.assert_message_rate_hz('CAMERA_FEEDBACK', 0)
if ex is not None:
raise ex
def send_poll_message(self, message_id, target_sysid=None, target_compid=None, quiet=False, mav=None):
if mav is None:
mav = self.mav
if isinstance(message_id, str):
message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
self.send_cmd(
mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
p1=message_id,
target_sysid=target_sysid,
target_compid=target_compid,
quiet=quiet,
mav=mav,
)
def poll_message(self, message_id, timeout=10, quiet=False, mav=None):
if mav is None:
mav = self.mav
if isinstance(message_id, str):
message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
tstart = self.get_sim_time() # required for timeout in run_cmd_get_ack to work
self.send_poll_message(message_id, quiet=quiet, mav=mav)
self.run_cmd_get_ack(
mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
mavutil.mavlink.MAV_RESULT_ACCEPTED,
timeout,
quiet=quiet,
mav=mav,
)
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not receive polled message")
m = mav.recv_match(blocking=True,
timeout=0.1)
if self.mav != mav:
self.drain_mav()
if m is None:
continue
if m.id != message_id:
continue
return m
def get_messages_frame(self, msg_names):
'''try to get a "frame" of named messages - a set of messages as close
in time as possible'''
msgs = {}
def get_msgs(mav, m):
t = m.get_type()
if t in msg_names:
msgs[t] = m
self.do_timesync_roundtrip()
self.install_message_hook(get_msgs)
for msg_name in msg_names:
self.send_poll_message(msg_name)
while True:
self.mav.recv_match(blocking=True)
if len(msgs.keys()) == len(msg_names):
break
self.remove_message_hook(get_msgs)
return msgs
def REQUEST_MESSAGE(self, timeout=60):
'''Test MAV_CMD_REQUEST_MESSAGE'''
self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger
self.reboot_sitl() # needed for CAM1_TYPE to take effect
rate = round(self.get_message_rate("CAMERA_FEEDBACK", 10))
if rate != 0:
raise PreconditionFailedException("Receiving camera feedback")
self.poll_message("CAMERA_FEEDBACK")
def clear_mission(self, mission_type, target_system=1, target_component=1):
'''clear mision_type from autopilot. Note that this does NOT actually
send a MISSION_CLEAR_ALL message
'''
if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_ALL:
# recurse
if not self.is_tracker() and not self.is_blimp():
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
if not self.is_blimp():
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
if not self.is_sub() and not self.is_tracker() and not self.is_blimp():
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.last_wp_load = time.time()
return
self.mav.mav.mission_count_send(target_system,
target_component,
0,
mission_type)
self.assert_received_message_field_values('MISSION_ACK', {
"target_system": self.mav.mav.srcSystem,
"target_component": self.mav.mav.srcComponent,
"type": mavutil.mavlink.MAV_MISSION_ACCEPTED,
})
if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
self.last_wp_load = time.time()
def clear_fence_using_mavproxy(self, mavproxy, timeout=10):
mavproxy.send("fence clear\n")
tstart = self.get_sim_time_cached()
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException("FENCE_TOTAL did not go to zero")
if self.get_parameter("FENCE_TOTAL") == 0:
break
def clear_fence(self):
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
# Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247 # noqa
def ConfigErrorLoop(self):
'''test the sensor config error loop works and that parameter sets are persistent'''
parameter_name = "SERVO8_MIN"
old_parameter_value = self.get_parameter(parameter_name)
old_sim_baro_count = self.get_parameter("SIM_BARO_COUNT")
new_parameter_value = old_parameter_value + 5
ex = None
try:
self.set_parameter("STAT_BOOTCNT", 0)
self.set_parameter("SIM_BARO_COUNT", -1)
if self.is_tracker():
# starts armed...
self.progress("Disarming tracker")
self.disarm_vehicle(force=True)
self.reboot_sitl(required_bootcount=1)
self.progress("Waiting for 'Config error'")
# SYSTEM_TIME not sent in config error loop:
self.wait_statustext("Config error", wallclock_timeout=True)
self.progress("Setting %s to %f" % (parameter_name, new_parameter_value))
self.set_parameter(parameter_name, new_parameter_value)
except Exception as e:
ex = e
self.progress("Resetting SIM_BARO_COUNT")
self.set_parameter("SIM_BARO_COUNT", old_sim_baro_count)
if self.is_tracker():
# starts armed...
self.progress("Disarming tracker")
self.disarm_vehicle(force=True)
self.progress("Calling reboot-sitl ")
self.reboot_sitl(required_bootcount=2)
if ex is not None:
raise ex
if self.get_parameter(parameter_name) != new_parameter_value:
raise NotAchievedException("Parameter value did not stick")
def InitialMode(self):
'''Test initial mode switching'''
if self.is_copter():
init_mode = (9, "LAND")
if self.is_rover():
init_mode = (4, "HOLD")
if self.is_plane():
init_mode = (13, "TAKEOFF")
if self.is_tracker():
init_mode = (1, "STOP")
if self.is_sub():
return # NOT Supported yet
self.context_push()
self.set_parameter("SIM_RC_FAIL", 1)
self.progress("Setting INITIAL_MODE to %s" % init_mode[1])
self.set_parameter("INITIAL_MODE", init_mode[0])
self.reboot_sitl()
self.wait_mode(init_mode[1])
self.progress("Testing back mode switch")
self.set_parameter("SIM_RC_FAIL", 0)
self.wait_for_mode_switch_poll()
self.context_pop()
self.reboot_sitl()
def Gripper(self):
'''Test gripper'''
self.GripperType(1) # servo
self.GripperType(2) # EPM
def GripperType(self, gripper_type):
'''test specific gripper type'''
self.context_push()
self.set_parameters({
"GRIP_ENABLE": 1,
"GRIP_GRAB": 2000,
"GRIP_RELEASE": 1000,
"GRIP_TYPE": gripper_type,
"SIM_GRPS_ENABLE": 1,
"SIM_GRPS_PIN": 8,
"SERVO8_FUNCTION": 28,
"SERVO8_MIN": 1000,
"SERVO8_MAX": 2000,
"SERVO9_MIN": 1000,
"SERVO9_MAX": 2000,
"RC9_OPTION": 19,
})
self.set_rc(9, 1500)
self.reboot_sitl()
self.progress("Waiting for ready to arm")
self.wait_ready_to_arm()
self.progress("Test gripper with RC9_OPTION")
self.progress("Releasing load")
# non strict string matching because of catching text issue....
self.context_collect('STATUSTEXT')
self.set_rc(9, 1000)
self.wait_text("Gripper load releas", check_context=True)
self.progress("Grabbing load")
self.set_rc(9, 2000)
self.wait_text("Gripper load grabb", check_context=True)
self.context_clear_collection('STATUSTEXT')
self.progress("Releasing load")
self.set_rc(9, 1000)
self.wait_text("Gripper load releas", check_context=True)
self.progress("Grabbing load")
self.set_rc(9, 2000)
self.wait_text("Gripper load grabb", check_context=True)
self.progress("Test gripper with Mavlink cmd")
self.progress("Releasing load")
self.wait_text("Gripper load releas",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_RELEASE,
0,
0,
0,
0,
0,
))
self.progress("Grabbing load")
self.wait_text("Gripper load grabb",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_GRAB,
0,
0,
0,
0,
0,
))
self.progress("Releasing load")
self.wait_text("Gripper load releas",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_RELEASE,
0,
0,
0,
0,
0,
))
self.progress("Grabbing load")
self.wait_text("Gripper load grabb",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_GRAB,
0,
0,
0,
0,
0,
))
self.context_pop()
self.reboot_sitl()
def TestLocalHomePosition(self):
"""Test local home position is sent in HOME_POSITION message"""
self.context_push()
self.wait_ready_to_arm()
# set home to a new location
self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_SET_HOME,
0,
0,
0,
0,
0,
-35.357466,
149.142589,
630)
# check home after home set
m = self.assert_receive_message("HOME_POSITION", timeout=5)
if abs(m.x) < 10 or abs(m.y) < 10 or abs(m.z) < 10:
raise NotAchievedException("Failed to get local home position: (got=%u, %u, %u)", m.x, m.y, m.z)
else:
self.progress("Received local home position successfully: (got=%f, %f, %f)" %
(m.x, m.y, m.z))
self.context_pop()
self.reboot_sitl()
def install_terrain_handlers_context(self):
'''install a message handler into the current context which will
listen for an fulfill terrain requests from ArduPilot. Will
die if the data is not available - but
self.terrain_in_offline_mode can be set to true in the
constructor to change this behaviour
'''
def check_terrain_requests(mav, m):
if m.get_type() != 'TERRAIN_REQUEST':
return
self.progress("Processing TERRAIN_REQUEST (%s)" %
self.dump_message_verbose(m))
# swiped from mav_terrain.py
for bit in range(56):
if m.mask & (1 << bit) == 0:
continue
lat = m.lat * 1.0e-7
lon = m.lon * 1.0e-7
bit_spacing = m.grid_spacing * 4
(lat, lon) = mp_util.gps_offset(lat, lon,
east=bit_spacing * (bit % 8),
north=bit_spacing * (bit // 8))
data = []
for i in range(4*4):
y = i % 4
x = i // 4
(lat2, lon2) = mp_util.gps_offset(lat, lon,
east=m.grid_spacing * y,
north=m.grid_spacing * x)
# if we are in online mode then we'll try to fetch
# from the internet into the cache dir:
for i in range(120):
alt = self.elevationmodel.GetElevation(lat2, lon2)
if alt is not None:
break
if self.terrain_in_offline_mode:
break
self.progress("No elevation data for (%f %f); retry" %
(lat2, lon2))
time.sleep(1)
if alt is None:
# no data - we can't send the packet
raise ValueError("No elevation data for (%f %f)" % (lat2, lon2))
data.append(int(alt))
self.terrain_data_messages_sent += 1
self.mav.mav.terrain_data_send(m.lat,
m.lon,
m.grid_spacing,
bit,
data)
self.install_message_hook_context(check_terrain_requests)
def install_messageprinter_handlers_context(self, messages):
'''monitor incoming messages, print them out'''
def check_messages(mav, m):
if m.get_type() not in messages:
return
self.progress(self.dump_message_verbose(m))
self.install_message_hook_context(check_messages)
def SetpointGlobalPos(self, timeout=100):
"""Test set position message in guided mode."""
# Disable heading and yaw test on rover type
if self.is_rover():
test_alt = False
test_heading = False
test_yaw_rate = False
else:
test_alt = True
test_heading = True
test_yaw_rate = True
self.install_terrain_handlers_context()
self.set_parameter("FS_GCS_ENABLE", 0)
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
if self.is_copter() or self.is_heli():
self.user_takeoff(alt_min=50)
targetpos = self.mav.location()
wp_accuracy = None
if self.is_copter() or self.is_heli():
wp_accuracy = self.get_parameter("WPNAV_RADIUS", attempts=2)
wp_accuracy = wp_accuracy * 0.01 # cm to m
if self.is_plane() or self.is_rover():
wp_accuracy = self.get_parameter("WP_RADIUS", attempts=2)
if wp_accuracy is None:
raise ValueError()
def to_alt_frame(alt, mav_frame):
if mav_frame in ["MAV_FRAME_GLOBAL_RELATIVE_ALT",
"MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",
"MAV_FRAME_GLOBAL_TERRAIN_ALT",
"MAV_FRAME_GLOBAL_TERRAIN_ALT_INT"]:
home = self.home_position_as_mav_location()
return alt - home.alt
else:
return alt
def send_target_position(lat, lng, alt, mav_frame):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
int(lat * 1.0e7), # lat
int(lng * 1.0e7), # lon
alt, # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
for frame in MAV_FRAMES_TO_TEST:
frame_name = mavutil.mavlink.enums["MAV_FRAME"][frame].name
self.start_subtest("Testing Set Position in %s" % frame_name)
self.start_subtest("Changing Latitude")
targetpos.lat += 0.0001
if test_alt:
targetpos.alt += 5
send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame)
self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout,
target_altitude=(targetpos.alt if test_alt else None),
height_accuracy=2, minimum_duration=2)
self.start_subtest("Changing Longitude")
targetpos.lng += 0.0001
if test_alt:
targetpos.alt -= 5
send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame)
self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout,
target_altitude=(targetpos.alt if test_alt else None),
height_accuracy=2, minimum_duration=2)
self.start_subtest("Revert Latitude")
targetpos.lat -= 0.0001
if test_alt:
targetpos.alt += 5
send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame)
self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout,
target_altitude=(targetpos.alt if test_alt else None),
height_accuracy=2, minimum_duration=2)
self.start_subtest("Revert Longitude")
targetpos.lng -= 0.0001
if test_alt:
targetpos.alt -= 5
send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame)
self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout,
target_altitude=(targetpos.alt if test_alt else None),
height_accuracy=2, minimum_duration=2)
if test_heading:
self.start_subtest("Testing Yaw targetting in %s" % frame_name)
self.progress("Changing Latitude and Heading")
targetpos.lat += 0.0001
if test_alt:
targetpos.alt += 5
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
frame,
MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
int(targetpos.lat * 1.0e7), # lat
int(targetpos.lng * 1.0e7), # lon
to_alt_frame(targetpos.alt, frame_name), # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
math.radians(42), # yaw
0, # yawrate
)
self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout,
target_altitude=(targetpos.alt if test_alt else None),
height_accuracy=2, minimum_duration=2)
self.wait_heading(42, minimum_duration=5, timeout=timeout)
self.start_subtest("Revert Latitude and Heading")
targetpos.lat -= 0.0001
if test_alt:
targetpos.alt -= 5
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
frame,
MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
int(targetpos.lat * 1.0e7), # lat
int(targetpos.lng * 1.0e7), # lon
to_alt_frame(targetpos.alt, frame_name), # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
math.radians(0), # yaw
0, # yawrate
)
self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout,
target_altitude=(targetpos.alt if test_alt else None),
height_accuracy=2, minimum_duration=2)
self.wait_heading(0, minimum_duration=5, timeout=timeout)
if test_yaw_rate:
self.start_subtest("Testing Yaw Rate targetting in %s" % frame_name)
def send_yaw_rate(rate, target=None):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
frame,
MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE,
int(targetpos.lat * 1.0e7), # lat
int(targetpos.lng * 1.0e7), # lon
to_alt_frame(targetpos.alt, frame_name), # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
rate, # yawrate in rad/s
)
self.start_subtest("Changing Latitude and Yaw rate")
target_rate = 1.0 # in rad/s
targetpos.lat += 0.0001
if test_alt:
targetpos.alt += 5
self.wait_yaw_speed(target_rate, timeout=timeout,
called_function=lambda plop, empty: send_yaw_rate(
target_rate, None), minimum_duration=5)
self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout,
target_altitude=(targetpos.alt if test_alt else None),
height_accuracy=2)
self.start_subtest("Revert Latitude and invert Yaw rate")
target_rate = -1.0
targetpos.lat -= 0.0001
if test_alt:
targetpos.alt -= 5
self.wait_yaw_speed(target_rate, timeout=timeout,
called_function=lambda plop, empty: send_yaw_rate(
target_rate, None), minimum_duration=5)
self.wait_location(targetpos, accuracy=wp_accuracy, timeout=timeout,
target_altitude=(targetpos.alt if test_alt else None),
height_accuracy=2)
self.start_subtest("Changing Yaw rate to zero")
target_rate = 0.0
self.wait_yaw_speed(target_rate, timeout=timeout,
called_function=lambda plop, empty: send_yaw_rate(
target_rate, None), minimum_duration=5)
self.progress("Getting back to home and disarm")
self.do_RTL(distance_min=0, distance_max=wp_accuracy)
self.disarm_vehicle()
def SetpointBadVel(self, timeout=30):
'''try feeding in a very, very bad velocity and make sure it is ignored'''
self.takeoff(mode='GUIDED')
# following values from a real log:
target_speed = Vector3(-3.6019095525029597e+30,
1.7796490496925177e-41,
3.0557017120313744e-26)
self.progress("Feeding in bad global data, hoping we don't move")
def send_speed_vector_global_int(vector , mav_frame):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
0,
0,
0,
vector.x, # vx
vector.y, # vy
vector.z, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
self.wait_speed_vector(
Vector3(0, 0, 0),
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector_global_int(target_speed, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT), # noqa
minimum_duration=10
)
self.progress("Feeding in bad local data, hoping we don't move")
def send_speed_vector_local_ned(vector , mav_frame):
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
0,
0,
0,
vector.x, # vx
vector.y, # vy
vector.z, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
self.wait_speed_vector(
Vector3(0, 0, 0),
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector_local_ned(target_speed, mavutil.mavlink.MAV_FRAME_LOCAL_NED), # noqa
minimum_duration=10
)
self.do_RTL()
def SetpointGlobalVel(self, timeout=30):
"""Test set position message in guided mode."""
# Disable heading and yaw rate test on rover type
if self.is_rover():
test_vz = False
test_heading = False
test_yaw_rate = False
else:
test_vz = True
test_heading = True
test_yaw_rate = True
self.install_terrain_handlers_context()
self.set_parameter("FS_GCS_ENABLE", 0)
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
if self.is_copter() or self.is_heli():
self.user_takeoff(alt_min=50)
target_speed = Vector3(1.0, 0.0, 0.0)
wp_accuracy = None
if self.is_copter() or self.is_heli():
wp_accuracy = self.get_parameter("WPNAV_RADIUS", attempts=2)
wp_accuracy = wp_accuracy * 0.01 # cm to m
if self.is_plane() or self.is_rover():
wp_accuracy = self.get_parameter("WP_RADIUS", attempts=2)
if wp_accuracy is None:
raise ValueError()
def send_speed_vector(vector, mav_frame):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
0,
0,
0,
vector.x, # vx
vector.y, # vy
vector.z, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
for frame in MAV_FRAMES_TO_TEST:
frame_name = mavutil.mavlink.enums["MAV_FRAME"][frame].name
self.start_subtest("Testing Set Velocity in %s" % frame_name)
self.progress("Changing Vx speed")
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
minimum_duration=2
)
self.start_subtest("Add Vy speed")
target_speed.y = 1.0
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
minimum_duration=2)
self.start_subtest("Add Vz speed")
if test_vz:
target_speed.z = 1.0
else:
target_speed.z = 0.0
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
minimum_duration=2
)
self.start_subtest("Invert Vz speed")
if test_vz:
target_speed.z = -1.0
else:
target_speed.z = 0.0
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2
)
self.start_subtest("Invert Vx speed")
target_speed.x = -1.0
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
minimum_duration=2
)
self.start_subtest("Invert Vy speed")
target_speed.y = -1.0
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
minimum_duration=2
)
self.start_subtest("Set Speed to zero")
target_speed.x = 0.0
target_speed.y = 0.0
target_speed.z = 0.0
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
minimum_duration=2
)
if test_heading:
self.start_subtest("Testing Yaw targetting in %s" % frame_name)
def send_yaw_target(yaw, mav_frame):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
0,
0,
0,
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
math.radians(yaw), # yaw
0, # yawrate
)
target_speed.x = 1.0
target_speed.y = 1.0
if test_vz:
target_speed.z = -1.0
else:
target_speed.z = 0.0
def send_yaw_target_vel(yaw, vector, mav_frame):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
0,
0,
0,
vector.x, # vx
vector.y, # vy
vector.z, # vz
0, # afx
0, # afy
0, # afz
math.radians(yaw), # yaw
0, # yawrate
)
self.start_subtest("Target a fixed Heading")
target_yaw = 42.0
self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout,
called_function=lambda plop, empty: send_yaw_target(target_yaw, frame))
self.start_subtest("Set target Heading")
target_yaw = 0.0
self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout,
called_function=lambda plop, empty: send_yaw_target(target_yaw, frame))
self.start_subtest("Add Vx, Vy, Vz speed and target a fixed Heading")
target_yaw = 42.0
self.wait_heading(
target_yaw,
minimum_duration=5,
timeout=timeout,
called_function=lambda p, e: send_yaw_target_vel(target_yaw,
target_speed,
frame)
)
self.wait_speed_vector(
target_speed,
called_function=lambda p, e: send_yaw_target_vel(target_yaw,
target_speed,
frame)
)
self.start_subtest("Stop Vx, Vy, Vz speed and target zero Heading")
target_yaw = 0.0
target_speed.x = 0.0
target_speed.y = 0.0
target_speed.z = 0.0
self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout,
called_function=lambda plop, empty: send_yaw_target_vel(target_yaw, target_speed, frame))
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda p, ee: send_yaw_target_vel(target_yaw,
target_speed,
frame),
minimum_duration=2
)
if test_yaw_rate:
self.start_subtest("Testing Yaw Rate targetting in %s" % frame_name)
def send_yaw_rate(rate, mav_frame):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE,
0,
0,
0,
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
rate, # yawrate in rad/s
)
target_speed.x = 1.0
target_speed.y = 1.0
if test_vz:
target_speed.z = -1.0
else:
target_speed.z = 0.0
def send_yaw_rate_vel(rate, vector, mav_frame):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE,
0,
0,
0,
vector.x, # vx
vector.y, # vy
vector.z, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
rate, # yawrate in rad/s
)
self.start_subtest("Set Yaw rate")
target_rate = 1.0
self.wait_yaw_speed(target_rate, timeout=timeout,
called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2)
self.start_subtest("Invert Yaw rate")
target_rate = -1.0
self.wait_yaw_speed(target_rate, timeout=timeout,
called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2)
self.start_subtest("Stop Yaw rate")
target_rate = 0.0
self.wait_yaw_speed(target_rate, timeout=timeout,
called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2)
self.start_subtest("Set Yaw Rate and Vx, Vy, Vz speed")
target_rate = 1.0
self.wait_yaw_speed(
target_rate,
called_function=lambda p, e: send_yaw_rate_vel(target_rate,
target_speed,
frame),
minimum_duration=2
)
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda p, e: send_yaw_rate_vel(target_rate,
target_speed,
frame),
minimum_duration=2
)
target_rate = -1.0
target_speed.x = -1.0
target_speed.y = -1.0
if test_vz:
target_speed.z = 1.0
else:
target_speed.z = 0.0
self.start_subtest("Invert Vx, Vy, Vz speed")
self.wait_yaw_speed(
target_rate,
timeout=timeout,
called_function=lambda p, e: send_yaw_rate_vel(target_rate,
target_speed,
frame),
minimum_duration=2
)
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda p, e: send_yaw_rate_vel(target_rate,
target_speed,
frame),
minimum_duration=2
)
target_rate = 0.0
target_speed.x = 0.0
target_speed.y = 0.0
target_speed.z = 0.0
self.start_subtest("Stop Yaw rate and all speed")
self.wait_yaw_speed(
target_rate,
timeout=timeout,
called_function=lambda p, e: send_yaw_rate_vel(target_rate,
target_speed,
frame),
minimum_duration=2
)
self.wait_speed_vector(
target_speed,
timeout=timeout,
called_function=lambda p, e: send_yaw_rate_vel(target_rate,
target_speed,
frame),
minimum_duration=2
)
self.progress("Getting back to home and disarm")
self.do_RTL(distance_min=0, distance_max=wp_accuracy)
self.disarm_vehicle()
def is_blimp(self):
return False
def is_copter(self):
return False
def is_sub(self):
return False
def is_plane(self):
return False
def is_rover(self):
return False
def is_balancebot(self):
return False
def is_heli(self):
return False
def is_tracker(self):
return False
def initial_mode(self):
'''return mode vehicle should start in with no RC inputs set'''
return None
def initial_mode_switch_mode(self):
'''return mode vehicle should start in with default RC inputs set'''
return None
def upload_fences_from_locations(self,
vertex_type,
list_of_list_of_locs,
target_system=1,
target_component=1):
seq = 0
items = []
for locs in list_of_list_of_locs:
if isinstance(locs, dict):
# circular fence
if vertex_type == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION
else:
v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION
item = self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL,
v,
0, # current
0, # autocontinue
locs["radius"], # p1
0, # p2
0, # p3
0, # p4
int(locs["loc"].lat * 1e7), # latitude
int(locs["loc"].lng * 1e7), # longitude
33.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
seq += 1
items.append(item)
continue
count = len(locs)
for loc in locs:
item = self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL,
vertex_type,
0, # current
0, # autocontinue
count, # p1
0, # p2
0, # p3
0, # p4
int(loc.lat * 1e7), # latitude
int(loc.lng * 1e7), # longitude
33.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
seq += 1
items.append(item)
self.check_fence_upload_download(items)
def wait_for_initial_mode(self):
'''wait until we get a heartbeat with an expected initial mode (the
one specified in the vehicle constructor)'''
want = self.initial_mode()
if want is None:
return
self.progress("Waiting for initial mode %s" % want)
self.wait_mode(want)
def wait_for_mode_switch_poll(self):
'''look for a transition from boot-up-mode (e.g. the flightmode
specificied in Copter's constructor) to the one specified by the mode
switch value'''
want = self.initial_mode_switch_mode()
if want is None:
return
self.progress("Waiting for mode-switch mode %s" % want)
self.wait_mode(want)
def start_subtest(self, description):
self.progress("-")
self.progress("---------- %s ----------" % description)
self.progress("-")
def start_subsubtest(self, description):
self.progress(".")
self.progress(".......... %s .........." % description)
self.progress(".")
def end_subtest(self, description):
'''TODO: sanity checks?'''
pass
def end_subsubtest(self, description):
'''TODO: sanity checks?'''
pass
def last_onboard_log(self):
'''return number of last onboard log'''
mavproxy = self.start_mavproxy()
mavproxy.send("module load log\n")
loaded_module = False
mavproxy.expect(["Loaded module log", "module log already loaded"])
if mavproxy.match.group(0) == "Loaded module log":
loaded_module = True
mavproxy.send("log list\n")
mavproxy.expect(["lastLog ([0-9]+)", "No logs"])
if mavproxy.match.group(0) == "No logs":
num_log = None
else:
num_log = int(mavproxy.match.group(1))
if loaded_module:
mavproxy.send("module unload log\n")
mavproxy.expect("Unloaded module log")
self.stop_mavproxy(mavproxy)
return num_log
def current_onboard_log_filepath(self):
'''return filepath to currently open dataflash log. We assume that's
the latest log...'''
logs = self.log_list()
latest = logs[-1]
return latest
def dfreader_for_path(self, path):
return DFReader.DFReader_binary(path,
zero_time_base=True)
def dfreader_for_current_onboard_log(self):
return self.dfreader_for_path(self.current_onboard_log_filepath())
def current_onboard_log_contains_message(self, messagetype):
self.progress("Checking (%s) for (%s)" %
(self.current_onboard_log_filepath(), messagetype))
dfreader = self.dfreader_for_current_onboard_log()
m = dfreader.recv_match(type=messagetype)
print("m=%s" % str(m))
return m is not None
def assert_current_onboard_log_contains_message(self, messagetype):
if not self.current_onboard_log_contains_message(messagetype):
raise NotAchievedException("Current onboard log does not contain message %s" % messagetype)
def run_tests(self, tests):
"""Autotest vehicle in SITL."""
if self.run_tests_called:
raise ValueError("run_tests called twice")
self.run_tests_called = True
result_list = []
try:
self.init()
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.wait_heartbeat()
self.wait_for_initial_mode()
self.progress("Setting up RC parameters")
self.set_rc_default()
self.wait_for_mode_switch_poll()
if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
for test in tests:
self.drain_mav_unparsed()
result_list.append(self.run_one_test(test))
except pexpect.TIMEOUT:
self.progress("Failed with timeout")
result = Result(test)
result.passed = False
result.reason = "Failed with timeout"
result_list.append(result)
if self.logs_dir:
if glob.glob("core*") or glob.glob("ap-*.core"):
self.check_logs("FRAMEWORK")
if self.rc_thread is not None:
self.progress("Joining RC thread")
self.rc_thread_should_quit = True
self.rc_thread.join()
self.rc_thread = None
self.close()
return result_list
def dictdiff(self, dict1, dict2):
fred = copy.copy(dict1)
for key in dict2.keys():
try:
del fred[key]
except KeyError:
pass
return fred
# download parameters tries to cope with its download being
# interrupted or broken by simply retrying the download a few
# times.
def download_parameters(self, target_system, target_component):
# try a simple fetch-all:
last_parameter_received = 0
attempt_count = 0
start_done = False
# make flake8 happy:
count = 0
expected_count = 0
seen_ids = {}
self.progress("Downloading parameters")
while True:
now = self.get_sim_time_cached()
if not start_done or now - last_parameter_received > 10:
start_done = True
if attempt_count > 3:
raise AutoTestTimeoutException("Failed to download parameters (have %s/%s) (seen_ids-count=%u)" %
(str(count), str(expected_count), len(seen_ids.keys())))
elif attempt_count != 0:
self.progress("Download failed; retrying")
self.delay_sim_time(1)
self.drain_mav()
self.mav.mav.param_request_list_send(target_system, target_component)
attempt_count += 1
count = 0
expected_count = None
seen_ids = {}
id_seq = {}
m = self.mav.recv_match(type='PARAM_VALUE', blocking=True, timeout=10)
if m is None:
raise AutoTestTimeoutException("tardy PARAM_VALUE (have %s/%s)" % (
str(count), str(expected_count)))
if m.param_index == 65535:
self.progress("volunteered parameter: %s" % str(m))
continue
if False:
self.progress(" received (%4u/%4u %s=%f" %
(m.param_index, m.param_count, m.param_id, m.param_value))
if m.param_index >= m.param_count:
raise ValueError("parameter index (%u) gte parameter count (%u)" %
(m.param_index, m.param_count))
if expected_count is None:
expected_count = m.param_count
else:
if m.param_count != expected_count:
raise ValueError("expected count changed")
if m.param_id not in seen_ids:
count += 1
seen_ids[m.param_id] = m.param_value
last_parameter_received = now
if count == expected_count:
break
self.progress("Downloaded %u parameters OK (attempt=%u)" %
(count, attempt_count))
return (seen_ids, id_seq)
def test_parameters_download(self):
self.start_subtest("parameter download")
target_system = self.sysid_thismav()
target_component = 1
self.progress("First Download:")
(parameters, seq_id) = self.download_parameters(target_system, target_component)
self.reboot_sitl()
self.progress("Second download:")
(parameters2, seq2_id) = self.download_parameters(target_system, target_component)
delta = self.dictdiff(parameters, parameters2)
if len(delta) != 0:
raise ValueError("Got %u fewer parameters when downloading second time (before=%u vs after=%u) (delta=%s)" %
(len(delta), len(parameters), len(parameters2), str(delta.keys())))
delta = self.dictdiff(parameters2, parameters)
if len(delta) != 0:
raise ValueError("Got %u extra parameters when downloading second time (before=%u vs after=%u) (delta=%s)" %
(len(delta), len(parameters), len(parameters2), str(delta.keys())))
self.end_subsubtest("parameter download")
def test_enable_parameter(self):
self.start_subtest("enable parameters")
target_system = 1
target_component = 1
parameters = self.download_parameters(target_system, target_component)
enable_parameter = self.sample_enable_parameter()
if enable_parameter is None:
self.progress("Skipping enable parameter check as no enable parameter supplied")
return
self.set_parameter(enable_parameter, 1)
parameters2 = self.download_parameters(target_system, target_component)
if len(parameters) == len(parameters2):
raise NotAchievedException("Enable parameter did not increase no of parameters downloaded")
self.end_subsubtest("enable download")
def test_parameters_mis_total(self):
self.start_subsubtest("parameter mis_total")
if self.is_tracker():
# uses CMD_TOTAL not MIS_TOTAL, and it's in a scalr not a
# group and it's generally all bad.
return
self.start_subtest("Ensure GCS is not able to set MIS_TOTAL")
old_mt = self.get_parameter("MIS_TOTAL", attempts=20) # retries to avoid seeming race condition with MAVProxy
ex = None
try:
self.set_parameter("MIS_TOTAL", 17, attempts=1)
except ValueError as e:
ex = e
if ex is None:
raise NotAchievedException("Set parameter when I shouldn't have")
if old_mt != self.get_parameter("MIS_TOTAL"):
raise NotAchievedException("Total has changed")
self.start_subtest("Ensure GCS is able to set other MIS_ parameters")
self.set_parameter("MIS_OPTIONS", 1)
if self.get_parameter("MIS_OPTIONS") != 1:
raise NotAchievedException("Failed to set MIS_OPTIONS")
mavproxy = self.start_mavproxy()
from_mavproxy = self.get_parameter_mavproxy(mavproxy, "MIS_OPTIONS")
if from_mavproxy != 1:
raise NotAchievedException("MAVProxy failed to get parameter")
self.stop_mavproxy(mavproxy)
def test_parameter_documentation(self):
'''ensure parameter documentation is valid'''
self.start_subsubtest("Check all parameters are documented")
self.test_parameter_documentation_get_all_parameters()
def Parameters(self):
'''general small tests for parameter system'''
if self.is_balancebot():
# same binary and parameters as Rover
return
self.test_parameter_documentation()
self.test_parameters_mis_total()
self.test_parameters_download()
def disabled_tests(self):
return {}
def test_parameter_checks_poscontrol(self, param_prefix):
self.wait_ready_to_arm()
self.context_push()
self.set_parameter("%s_POSXY_P" % param_prefix, -1)
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
timeout=4,
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
)
self.context_pop()
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
timeout=4,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
)
self.disarm_vehicle()
def assert_not_receiving_message(self, message, timeout=1, mav=None):
self.progress("making sure we're not getting %s messages" % message)
if mav is None:
mav = self.mav
m = mav.recv_match(type=message, blocking=True, timeout=timeout)
if m is not None:
raise PreconditionFailedException("Receiving %s messags" % message)
def PIDTuning(self):
'''Test PID Tuning'''
self.assert_not_receiving_message('PID_TUNING', timeout=5)
self.set_parameter("GCS_PID_MASK", 1)
self.progress("making sure we are now getting PID_TUNING messages")
self.assert_receive_message('PID_TUNING', timeout=5)
def sample_mission_filename(self):
return "flaps.txt"
def AdvancedFailsafe(self):
'''Test Advanced Failsafe'''
ex = None
try:
self.drain_mav()
if self.is_plane(): # other vehicles can always terminate
self.assert_no_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
self.set_parameters({
"AFS_ENABLE": 1,
"SYSID_MYGCS": self.mav.source_system,
})
self.drain_mav()
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
self.set_parameter("AFS_TERM_ACTION", 42)
self.load_sample_mission()
self.context_collect("STATUSTEXT")
self.change_mode("AUTO") # must go to auto for AFS to latch on
self.wait_statustext("AFS State: AFS_AUTO", check_context=True)
if self.is_plane():
self.change_mode("MANUAL")
elif self.is_copter():
self.change_mode("STABILIZE")
self.start_subtest("RC Failure")
self.context_push()
self.context_collect("STATUSTEXT")
self.set_parameters({
"AFS_RC_FAIL_TIME": 1,
"SIM_RC_FAIL": 1,
})
self.wait_statustext("Terminating due to RC failure", check_context=True)
self.context_pop()
self.set_parameter("AFS_TERMINATE", 0)
if not self.is_plane():
# plane requires a polygon fence...
self.start_subtest("Altitude Limit breach")
self.set_parameters({
"AFS_AMSL_LIMIT": 100,
"AFS_QNH_PRESSURE": 1015.2,
})
self.do_fence_enable()
self.wait_statustext("Terminating due to fence breach", check_context=True)
self.set_parameter("AFS_AMSL_LIMIT", 0)
self.set_parameter("AFS_TERMINATE", 0)
self.do_fence_disable()
self.start_subtest("GPS Failure")
self.context_push()
self.context_collect("STATUSTEXT")
self.set_parameters({
"AFS_MAX_GPS_LOSS": 1,
"SIM_GPS_DISABLE": 1,
})
self.wait_statustext("AFS State: GPS_LOSS", check_context=True)
self.context_pop()
self.set_parameter("AFS_TERMINATE", 0)
self.start_subtest("GCS Request")
self.context_push()
self.context_collect("STATUSTEXT")
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION,
p1=1, # terminate
)
self.wait_statustext("Terminating due to GCS request", check_context=True)
self.context_pop()
self.set_parameter("AFS_TERMINATE", 0)
except Exception as e:
ex = e
try:
self.do_fence_disable()
except ValueError:
# may not actually be enabled....
pass
if ex is not None:
raise ex
def drain_mav_seconds(self, seconds):
tstart = self.get_sim_time_cached()
while self.get_sim_time_cached() - tstart < seconds:
self.drain_mav()
self.delay_sim_time(0.5)
def wait_gps_fix_type_gte(self, fix_type, timeout=30, message_type="GPS_RAW_INT", verbose=False):
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException("Did not get good GPS lock")
m = self.mav.recv_match(type=message_type, blocking=True, timeout=0.1)
if verbose:
self.progress("Received: %s" % str(m))
if m is None:
continue
if m.fix_type >= fix_type:
break
def NMEAOutput(self):
'''Test AHRS NMEA Output can be read by out NMEA GPS'''
self.set_parameter("SERIAL5_PROTOCOL", 20) # serial5 is NMEA output
self.set_parameter("GPS_TYPE2", 5) # GPS2 is NMEA
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartE=tcp:%u" % port, # GPS2 is NMEA....
"--uartF=tcpclient:127.0.0.1:%u" % port, # serial5 spews to localhost port
])
self.do_timesync_roundtrip()
self.wait_gps_fix_type_gte(3)
gps1 = self.mav.recv_match(type="GPS_RAW_INT", blocking=True, timeout=10)
self.progress("gps1=(%s)" % str(gps1))
if gps1 is None:
raise NotAchievedException("Did not receive GPS_RAW_INT")
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > 20:
raise NotAchievedException("NMEA output not updating?!")
gps2 = self.mav.recv_match(type="GPS2_RAW", blocking=True, timeout=1)
self.progress("gps2=%s" % str(gps2))
if gps2 is None:
continue
if gps2.time_usec != 0:
break
max_distance = 1
distance = self.get_distance_int(gps1, gps2)
if distance > max_distance:
raise NotAchievedException("NMEA output inaccurate (dist=%f want<%f)" %
(distance, max_distance))
def mavproxy_load_module(self, mavproxy, module):
mavproxy.send("module load %s\n" % module)
mavproxy.expect("Loaded module %s" % module)
def mavproxy_unload_module(self, mavproxy, module):
mavproxy.send("module unload %s\n" % module)
mavproxy.expect("Unloaded module %s" % module)
def AccelCal(self):
'''Accelerometer Calibration testing'''
ex = None
mavproxy = self.start_mavproxy()
try:
# setup with pre-existing accel offsets, to show that existing offsets don't
# adversely affect a new cal
pre_aofs = [Vector3(2.8, 1.2, 1.7),
Vector3(0.2, -0.9, 2.9)]
pre_ascale = [Vector3(0.95, 1.2, 0.98),
Vector3(1.1, 1.0, 0.93)]
aofs = [Vector3(0.7, -0.3, 1.8),
Vector3(-2.1, 1.9, 2.3)]
ascale = [Vector3(0.98, 1.12, 1.05),
Vector3(1.11, 0.98, 0.96)]
atrim = Vector3(0.05, -0.03, 0)
pre_atrim = Vector3(-0.02, 0.04, 0)
param_map = [("INS_ACCOFFS", "SIM_ACC1_BIAS", pre_aofs[0], aofs[0]),
("INS_ACC2OFFS", "SIM_ACC2_BIAS", pre_aofs[1], aofs[1]),
("INS_ACCSCAL", "SIM_ACC1_SCAL", pre_ascale[0], ascale[0]),
("INS_ACC2SCAL", "SIM_ACC2_SCAL", pre_ascale[1], ascale[1]),
("AHRS_TRIM", "SIM_ACC_TRIM", pre_atrim, atrim)]
axes = ['X', 'Y', 'Z']
# form the pre-calibration params
initial_params = {}
for (ins_prefix, sim_prefix, pre_value, post_value) in param_map:
for axis in axes:
initial_params[ins_prefix + "_" + axis] = getattr(pre_value, axis.lower())
initial_params[sim_prefix + "_" + axis] = getattr(post_value, axis.lower())
self.set_parameters(initial_params)
self.customise_SITL_commandline(["-M", "calibration"])
self.mavproxy_load_module(mavproxy, "sitl_calibration")
self.mavproxy_load_module(mavproxy, "calibration")
self.mavproxy_load_module(mavproxy, "relay")
mavproxy.send("sitl_accelcal\n")
mavproxy.send("accelcal\n")
mavproxy.expect("Calibrated")
for wanted in [
"level",
"on its LEFT side",
"on its RIGHT side",
"nose DOWN",
"nose UP",
"on its BACK",
]:
timeout = 2
mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout)
mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout)
mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout)
mavproxy.send("\n")
mavproxy.expect(".*Calibration successful", timeout=timeout)
self.drain_mav()
self.progress("Checking results")
accuracy_pct = 0.5
for (ins_prefix, sim_prefix, pre_value, post_value) in param_map:
for axis in axes:
pname = ins_prefix+"_"+axis
v = self.get_parameter(pname)
expected_v = getattr(post_value, axis.lower())
if v == expected_v:
continue
error_pct = 100.0 * abs(v - expected_v) / abs(expected_v)
if error_pct > accuracy_pct:
raise NotAchievedException(
"Incorrect value %.6f for %s should be %.6f error %.2f%%" %
(v, pname, expected_v, error_pct))
else:
self.progress("Correct value %.4f for %s error %.2f%%" % (v, pname, error_pct))
except Exception as e:
self.print_exception_caught(e)
ex = e
self.mavproxy_unload_module(mavproxy, "relay")
self.mavproxy_unload_module(mavproxy, "calibration")
self.mavproxy_unload_module(mavproxy, "sitl_calibration")
self.stop_mavproxy(mavproxy)
if ex is not None:
raise ex
def ahrstrim_preflight_cal(self):
# setup with non-zero accel offsets
self.set_parameters({
"INS_ACCOFFS_X": 0.7,
"INS_ACCOFFS_Y": -0.3,
"INS_ACCOFFS_Z": 1.8,
"INS_ACC2OFFS_X": -2.1,
"INS_ACC2OFFS_Y": 1.9,
"INS_ACC2OFFS_Z": 2.3,
"SIM_ACC1_BIAS_X": 0.7,
"SIM_ACC1_BIAS_Y": -0.3,
"SIM_ACC1_BIAS_Z": 1.8,
"SIM_ACC2_BIAS_X": -2.1,
"SIM_ACC2_BIAS_Y": 1.9,
"SIM_ACC2_BIAS_Z": 2.3,
"AHRS_TRIM_X": 0.05,
"AHRS_TRIM_Y": -0.03,
"SIM_ACC_TRIM_X": -0.04,
"SIM_ACC_TRIM_Y": 0.05,
})
expected_parms = {
"AHRS_TRIM_X": -0.04,
"AHRS_TRIM_Y": 0.05,
}
self.progress("Starting ahrstrim")
self.drain_mav()
self.mav.mav.command_long_send(self.sysid_thismav(), 1,
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
0, 0, 0, 0, 2, 0, 0)
self.wait_statustext('Trim OK')
self.drain_mav()
self.progress("Checking results")
accuracy_pct = 0.2
for (pname, expected_v) in expected_parms.items():
v = self.get_parameter(pname)
if v == expected_v:
continue
error_pct = 100.0 * abs(v - expected_v) / abs(expected_v)
if error_pct > accuracy_pct:
raise NotAchievedException(
"Incorrect value %.6f for %s should be %.6f error %.2f%%" %
(v, pname, expected_v, error_pct))
self.progress("Correct value %.4f for %s error %.2f%%" %
(v, pname, error_pct))
def user_takeoff(self, alt_min=30, timeout=30, max_err=5):
'''takeoff using mavlink takeoff command'''
self.run_cmd(
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
p7=alt_min, # param7
)
self.wait_altitude(alt_min - 1,
(alt_min + max_err),
relative=True,
timeout=timeout)
def ahrstrim_attitude_correctness(self):
self.wait_ready_to_arm()
HOME = self.sitl_start_location()
for heading in 0, 90:
self.customise_SITL_commandline([
"--home", "%s,%s,%s,%s" % (HOME.lat, HOME.lng, HOME.alt, heading)
])
for ahrs_type in [0, 2, 3]:
self.start_subsubtest("Testing AHRS_TYPE=%u" % ahrs_type)
self.context_push()
self.set_parameter("AHRS_EKF_TYPE", ahrs_type)
self.reboot_sitl()
self.wait_prearm_sys_status_healthy()
for (r, p) in [(0, 0), (9, 0), (2, -6), (10, 10)]:
self.set_parameters({
'AHRS_TRIM_X': math.radians(r),
'AHRS_TRIM_Y': math.radians(p),
"SIM_ACC_TRIM_X": math.radians(r),
"SIM_ACC_TRIM_Y": math.radians(p),
})
self.wait_attitude(desroll=0, despitch=0, timeout=120, tolerance=1.5)
if ahrs_type != 0: # we don't get secondary msgs while DCM is primary
self.wait_attitude(desroll=0, despitch=0, message_type='AHRS2', tolerance=1, timeout=120)
self.wait_attitude_quaternion(desroll=0, despitch=0, tolerance=1, timeout=120)
self.context_pop()
self.reboot_sitl()
def AHRSTrim(self):
'''AHRS trim testing'''
self.start_subtest("Attitude Correctness")
self.ahrstrim_attitude_correctness()
self.delay_sim_time(5)
self.start_subtest("Preflight Calibration")
self.ahrstrim_preflight_cal()
def Button(self):
'''Test Buttons'''
self.set_parameter("SIM_PIN_MASK", 0)
self.set_parameter("BTN_ENABLE", 1)
self.drain_mav()
self.do_heartbeats(force=True)
btn = 4
pin = 3
self.set_parameter("BTN_PIN%u" % btn, pin, verbose=True)
m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
self.progress("### m: %s" % str(m))
if m is not None:
# should not get a button-changed event here. The pins
# are simulated pull-down
raise NotAchievedException("Received BUTTON_CHANGE event")
mask = 1 << pin
self.set_parameter("SIM_PIN_MASK", mask)
m = self.assert_receive_message('BUTTON_CHANGE', timeout=1, verbose=True)
if not (m.state & mask):
raise NotAchievedException("Bit not set in mask (got=%u want=%u)" % (m.state, mask))
m2 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=10)
if m2 is None:
raise NotAchievedException("Did not get repeat message")
self.progress("### m2: %s" % str(m2))
# wait for messages to stop coming:
self.drain_mav_seconds(15)
new_mask = 0
self.send_set_parameter("SIM_PIN_MASK", new_mask, verbose=True)
m3 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
if m3 is None:
raise NotAchievedException("Did not get 'off' message")
self.progress("### m3: %s" % str(m3))
if m.last_change_ms == m3.last_change_ms:
raise NotAchievedException("last_change_ms same as first message")
if m3.state != new_mask:
raise NotAchievedException("Unexpected mask (want=%u got=%u)" %
(new_mask, m3.state))
self.progress("correct BUTTON_CHANGE event received")
if self.is_tracker():
# tracker starts armed, which is annoying
self.progress("Skipping arm/disarm tests for tracker")
return
self.context_push()
self.wait_ready_to_arm()
self.set_parameter("BTN_FUNC%u" % btn, 153) # ARM/DISARM
self.set_parameter("SIM_PIN_MASK", mask)
self.wait_armed()
self.set_parameter("SIM_PIN_MASK", 0)
self.wait_disarmed()
self.context_pop()
if self.is_rover():
self.context_push()
# arming should be inhibited while e-STOP is in use:
# set the function:
self.set_parameter("BTN_FUNC%u" % btn, 31)
# invert the sense of the pin, so eStop is asserted when pin is low:
self.set_parameter("BTN_OPTIONS%u" % btn, 1 << 1)
self.reboot_sitl()
# assert the pin:
self.set_parameter("SIM_PIN_MASK", mask)
self.wait_ready_to_arm()
self.arm_vehicle()
self.disarm_vehicle()
# de-assert the pin:
self.set_parameter("SIM_PIN_MASK", 0)
self.delay_sim_time(1) # 5Hz update rate on Button library
self.context_collect("STATUSTEXT")
# try to arm the vehicle:
self.run_cmd(
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
p1=1, # ARM
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
)
self.assert_prearm_failure("Motors Emergency Stopped",
other_prearm_failures_fatal=False)
self.reboot_sitl()
self.assert_prearm_failure(
"Motors Emergency Stopped",
other_prearm_failures_fatal=False)
self.context_pop()
self.reboot_sitl()
if self.is_rover():
self.start_subtest("Testing using buttons for changing modes")
self.context_push()
if not self.mode_is('MANUAL'):
raise NotAchievedException("Bad mode")
self.set_parameter("BTN_FUNC%u" % btn, 53) # steering mode
# press button:
self.set_parameter("SIM_PIN_MASK", mask)
self.wait_mode('STEERING')
# release button:
self.set_parameter("SIM_PIN_MASK", 0)
self.wait_mode('MANUAL')
self.context_pop()
def compare_number_percent(self, num1, num2, percent):
if num1 == 0 and num2 == 0:
return True
if abs(num1 - num2) / max(abs(num1), abs(num2)) <= percent * 0.01:
return True
return False
def bit_extract(self, number, offset, length):
mask = 0
for i in range(offset, offset+length):
mask |= 1 << i
return (number & mask) >> offset
def tf_encode_gps_latitude(self, lat):
value = 0
if lat < 0:
value = ((abs(lat)//100)*6) | 0x40000000
else:
value = ((abs(lat)//100)*6)
return value
def tf_validate_gps(self, value): # shared by proto 4 and proto 10
self.progress("validating gps (0x%02x)" % value)
lat = value
gpi = self.mav.recv_match(
type='GLOBAL_POSITION_INT',
blocking=True,
timeout=1
)
if gpi is None:
raise NotAchievedException("Did not get GLOBAL_POSITION_INT message")
gpi_lat = self.tf_encode_gps_latitude(gpi.lat)
self.progress("GLOBAL_POSITION_INT lat==%f frsky==%f" % (gpi_lat, lat))
if gpi_lat == lat:
return True
return False
def tfp_prep_number(self, number, digits, power):
res = 0
abs_number = abs(number)
if digits == 2 and power == 1: # number encoded on 8 bits: 7 bits for digits + 1 for 10^power
if abs_number < 100:
res = abs_number << 1
elif abs_number < 1270:
res = (round(abs_number * 0.1) << 1) | 0x1
else: # transmit max possible value (0x7F x 10^1 = 1270)
res = 0xFF
if number < 0: # if number is negative, add sign bit in front
res |= 0x1 << 8
elif digits == 2 and power == 2: # number encoded on 9 bits: 7 bits for digits + 2 for 10^power
if abs_number < 100:
res = abs_number << 2
elif abs_number < 1000:
res = (round(abs_number * 0.1) << 2) | 0x1
elif abs_number < 10000:
res = (round(abs_number * 0.01) << 2) | 0x2
elif abs_number < 127000:
res = (round(abs_number * 0.001) << 2) | 0x3
else: # transmit max possible value (0x7F x 10^3 = 127000)
res = 0x1FF
if number < 0: # if number is negative, add sign bit in front
res |= 0x1 << 9
elif digits == 3 and power == 1: # number encoded on 11 bits: 10 bits for digits + 1 for 10^power
if abs_number < 1000:
res = abs_number << 1
elif abs_number < 10240:
res = (round(abs_number * 0.1) << 1) | 0x1
else: # transmit max possible value (0x3FF x 10^1 = 10240)
res = 0x7FF
if number < 0: # if number is negative, add sign bit in front
res |= 0x1 << 11
elif digits == 3 and power == 2: # number encoded on 12 bits: 10 bits for digits + 2 for 10^power
if abs_number < 1000:
res = abs_number << 2
elif abs_number < 10000:
res = (round(abs_number * 0.1) << 2) | 0x1
elif abs_number < 100000:
res = (round(abs_number * 0.01) << 2) | 0x2
elif abs_number < 1024000:
res = (round(abs_number * 0.001) << 2) | 0x3
else: # transmit max possible value (0x3FF x 10^3 = 127000)
res = 0xFFF
if number < 0: # if number is negative, add sign bit in front
res |= 0x1 << 12
return res
def tfp_validate_ap_status(self, value): # 0x5001
self.progress("validating ap_status(0x%02x)" % value)
flight_mode = self.bit_extract(value, 0, 5) - 1 # first mode is 1 not 0 :-)
# simple_mode = self.bit_extract(value, 5, 2)
# is_flying = not self.bit_extract(value, 7, 1)
# status_armed = self.bit_extract(value, 8, 1)
# batt_failsafe = self.bit_extract(value, 9, 1)
# ekf_failsafe = self.bit_extract(value, 10, 2)
# imu_temp = self.bit_extract(value, 26, 6) + 19 # IMU temperature: 0 means temp =< 19, 63 means temp => 82
heartbeat = self.wait_heartbeat()
mav_flight_mode = heartbeat.custom_mode
self.progress(" mode=%u heartbeat=%u" % (flight_mode, mav_flight_mode))
if mav_flight_mode == flight_mode:
self.progress("flight mode match")
return True
# FIXME: need to check other values as well
return False
def tfp_validate_attitude(self, value):
self.progress("validating attitude(0x%02x)" % value)
roll = (min(self.bit_extract(value, 0, 11), 1800) - 900) * 0.2 # roll [0,1800] ==> [-180,180]
pitch = (min(self.bit_extract(value, 11, 10), 900) - 450) * 0.2 # pitch [0,900] ==> [-90,90]
# rng_cm = self.bit_extract(value, 22, 10) * (10 ^ self.bit_extract(value, 21, 1)) # cm
atti = self.mav.recv_match(
type='ATTITUDE',
blocking=True,
timeout=1
)
if atti is None:
raise NotAchievedException("Did not get ATTITUDE message")
atti_roll = round(atti.roll)
self.progress("ATTITUDE roll==%f frsky==%f" % (atti_roll, roll))
if abs(atti_roll - roll) >= 5:
return False
atti_pitch = round(atti.pitch)
self.progress("ATTITUDE pitch==%f frsky==%f" % (atti_pitch, pitch))
if abs(atti_pitch - pitch) >= 5:
return False
# FIXME: need to check other values as well
return True
def tfp_validate_home_status(self, value):
self.progress("validating home status(0x%02x)" % value)
# home_dist_m = self.bit_extract(value,2,10) * (10^self.bit_extract(value,0,2))
home_alt_dm = self.bit_extract(value, 14, 10) * (10 ^ self.bit_extract(value, 12, 2)) * 0.1 * (self.bit_extract(value, 24, 1) == 1 and -1 or 1) # noqa
# home_angle_d = self.bit_extract(value, 25, 7) * 3
gpi = self.mav.recv_match(
type='GLOBAL_POSITION_INT',
blocking=True,
timeout=1
)
if gpi is None:
raise NotAchievedException("Did not get GLOBAL_POSITION_INT message")
gpi_relative_alt_dm = gpi.relative_alt/100.0
self.progress("GLOBAL_POSITION_INT rel_alt==%fm frsky_home_alt==%fm" % (gpi_relative_alt_dm, home_alt_dm))
if abs(gpi_relative_alt_dm - home_alt_dm) < 10:
return True
# FIXME: need to check other values as well
return False
def tfp_validate_gps_status(self, value):
self.progress("validating gps status(0x%02x)" % value)
# num_sats = self.bit_extract(value, 0, 4)
gps_status = self.bit_extract(value, 4, 2) + self.bit_extract(value, 14, 2)
# gps_hdop = self.bit_extract(value, 7, 7) * (10 ^ self.bit_extract(value, 6, 1)) # dm
# gps_alt = self.bit_extract(value, 24, 7) * (10 ^ self.bit_extract(value, 22, 2)) * (self.bit_extract(value, 31, 1) == 1 and -1 or 1) # dm # noqa
gri = self.mav.recv_match(
type='GPS_RAW_INT',
blocking=True,
timeout=1
)
if gri is None:
raise NotAchievedException("Did not get GPS_RAW_INT message")
gri_status = gri.fix_type
self.progress("GPS_RAW_INT fix_type==%f frsky==%f" % (gri_status, gps_status))
if gps_status == gri_status:
return True
# FIXME: need to check other values as well
return False
def tfp_validate_vel_and_yaw(self, value): # 0x5005
self.progress("validating vel_and_yaw(0x%02x)" % value)
z_vel_dm_per_second = self.bit_extract(value, 1, 7) * (10 ^ self.bit_extract(value, 0, 1)) * (self.bit_extract(value, 8, 1) == 1 and -1 or 1) # noqa
xy_vel = self.bit_extract(value, 10, 7) * (10 ^ self.bit_extract(value, 9, 1))
yaw = self.bit_extract(value, 17, 11) * 0.2
gpi = self.mav.recv_match(
type='GLOBAL_POSITION_INT',
blocking=True,
timeout=1
)
if gpi is None:
return
self.progress(" yaw=%u gpi=%u" % (yaw, gpi.hdg*0.01))
self.progress(" xy_vel=%u" % xy_vel)
self.progress(" z_vel_dm_per_second=%u" % z_vel_dm_per_second)
if self.compare_number_percent(gpi.hdg*0.01, yaw, 10):
self.progress("Yaw match")
return True
# FIXME: need to be under way to check the velocities, really....
return False
def tfp_validate_battery1(self, value):
self.progress("validating battery1 (0x%02x)" % value)
voltage = self.bit_extract(value, 0, 9) # dV
# current = self.bit_extract(value, 10, 7) * (10 ^ self.bit_extract(value, 9, 1))
# mah = self.bit_extract(value, 17, 15)
voltage = value * 0.1
batt = self.mav.recv_match(
type='BATTERY_STATUS',
blocking=True,
timeout=5,
condition="BATTERY_STATUS.id==0"
)
if batt is None:
raise NotAchievedException("Did not get BATTERY_STATUS message")
battery_status_value = batt.voltages[0]*0.001
self.progress("BATTERY_STATUS voltage==%f frsky==%f" % (battery_status_value, voltage))
if abs(battery_status_value - voltage) > 0.1:
return False
# FIXME: need to check other values as well
return True
def tfp_validate_params(self, value):
param_id = self.bit_extract(value, 24, 4)
param_value = self.bit_extract(value, 0, 24)
self.progress("received param (0x%02x) (id=%u value=%u)" %
(value, param_id, param_value))
frame_type = param_value
hb = self.mav.messages['HEARTBEAT']
hb_type = hb.type
self.progress("validate_params: HEARTBEAT type==%f frsky==%f param_id=%u" % (hb_type, frame_type, param_id))
if param_id != 1:
return False
if hb_type == frame_type:
return True
# FIXME: need to check other values as well
return False
def tfp_validate_rpm(self, value):
self.progress("validating rpm (0x%02x)" % value)
tf_rpm = self.bit_extract(value, 0, 16)
rpm = self.mav.recv_match(
type='RPM',
blocking=True,
timeout=5
)
if rpm is None:
raise NotAchievedException("Did not get RPM message")
rpm_value = round(rpm.rpm1 * 0.1)
self.progress("RPM rpm==%f frsky==%f" % (rpm_value, tf_rpm))
if rpm_value != tf_rpm:
return False
return True
def tfp_validate_terrain(self, value):
self.progress("validating terrain(0x%02x)" % value)
alt_above_terrain_dm = self.bit_extract(value, 2, 10) * (10 ^ self.bit_extract(value, 0, 2)) * 0.1 * (self.bit_extract(value, 12, 1) == 1 and -1 or 1) # noqa
terrain = self.mav.recv_match(
type='TERRAIN_REPORT',
blocking=True,
timeout=1
)
if terrain is None:
raise NotAchievedException("Did not get TERRAIN_REPORT message")
altitude_terrain_dm = round(terrain.current_height*10)
self.progress("TERRAIN_REPORT terrain_alt==%fdm frsky_terrain_alt==%fdm" % (altitude_terrain_dm, alt_above_terrain_dm))
if abs(altitude_terrain_dm - alt_above_terrain_dm) < 1:
return True
return False
def tfp_validate_wind(self, value):
self.progress("validating wind(0x%02x)" % value)
speed_m = self.bit_extract(value, 8, 7) * (10 ^ self.bit_extract(value, 7, 1)) * 0.1 # speed in m/s
wind = self.mav.recv_match(
type='WIND',
blocking=True,
timeout=1
)
if wind is None:
raise NotAchievedException("Did not get WIND message")
self.progress("WIND mav==%f frsky==%f" % (speed_m, wind.speed))
if abs(speed_m - wind.speed) < 0.5:
return True
return False
def test_frsky_passthrough_do_wants(self, frsky, wants):
tstart = self.get_sim_time_cached()
while len(wants):
self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()]))
wants_copy = copy.copy(wants)
self.drain_mav()
t2 = self.get_sim_time_cached()
if t2 - tstart > 300:
self.progress("Failed to get frsky passthrough data")
self.progress("Counts of sensor_id polls sent:")
frsky.dump_sensor_id_poll_counts_as_progress_messages()
self.progress("Counts of dataids received:")
frsky.dump_dataid_counts_as_progress_messages()
raise AutoTestTimeoutException("Failed to get frsky passthrough data")
frsky.update()
for want in wants_copy:
data = frsky.get_data(want)
if data is None:
continue
self.progress("Checking 0x%x" % (want,))
if wants[want](data):
self.progress(" Fulfilled")
del wants[want]
def FRSkyPassThroughStatustext(self):
'''test FRSKy protocol's telem-passthrough functionality'''
# we disable terrain here as RCTelemetry can queue a lot of
# statustexts if terrain tiles aren't available which can
# happen on the autotest server.
self.set_parameters({
"SERIAL5_PROTOCOL": 10, # serial5 is FRSky passthrough
"RPM1_TYPE": 10, # enable RPM output
"TERRAIN_ENABLE": 0,
})
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkyPassThrough(("127.0.0.1", port),
get_time=self.get_sim_time_cached)
# waiting until we are ready to arm should ensure our wanted
# statustext doesn't get blatted out of the ArduPilot queue by
# random messages.
self.wait_ready_to_arm()
# test we get statustext strings. This relies on ArduPilot
# emitting statustext strings when we fetch parameters. (or,
# now, an updating-barometer statustext)
tstart = self.get_sim_time()
old_data = None
text = ""
self.context_collect('STATUSTEXT')
command = mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION
self.send_cmd(
command,
p3=1, # p3, baro
)
# this is a test for asynchronous handling of mavlink messages:
self.run_cmd_get_ack(command, mavutil.mavlink.MAV_RESULT_IN_PROGRESS, 2)
self.run_cmd_get_ack(command, mavutil.mavlink.MAV_RESULT_ACCEPTED, 5)
received_frsky_texts = []
last_len_received_statustexts = 0
timeout = 7 * self.speedup # it can take a *long* time to get these messages down!
while True:
self.drain_mav()
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException("Did not get statustext in time")
frsky.update()
data = frsky.get_data(0x5000) # no timestamping on this data, so we can't catch legitimate repeats.
if data is None:
continue
# frsky sends each quartet three times; skip the suplicates.
if old_data is not None and old_data == data:
continue
old_data = data
self.progress("Got (0x%x)" % data)
severity = 0
last = False
for i in 3, 2, 1, 0:
x = (data >> i*8) & 0xff
text += chr(x & 0x7f)
self.progress(" x=0x%02x" % x)
if x & 0x80:
severity += 1 << i
self.progress("Text sev=%u: %s" % (severity, str(text)))
if (x & 0x7f) == 0x00:
last = True
if last:
m = None
text = text.rstrip("\0")
self.progress("Received frsky text (%s)" % (text,))
self.progress("context texts: %s" %
str([st.text for st in self.context_collection('STATUSTEXT')]))
m = self.statustext_in_collections(text)
if m is not None:
want_sev = m.severity
if severity != want_sev:
raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity))
self.progress("Got statustext (%s)" % m.text)
break
received_frsky_texts.append((severity, text))
text = ""
received_statustexts = self.context_collection('STATUSTEXT')
if len(received_statustexts) != last_len_received_statustexts:
last_len_received_statustexts = len(received_statustexts)
self.progress("received statustexts: %s" % str([st.text for st in received_statustexts]))
self.progress("received frsky texts: %s" % str(received_frsky_texts))
for (want_sev, received_text) in received_frsky_texts:
for m in received_statustexts:
if m.text == received_text:
if want_sev != m.severity:
raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity))
self.progress("Got statustext (%s)" % received_text)
break
def FRSkyPassThroughSensorIDs(self):
'''test FRSKy protocol's telem-passthrough functionality (sensor IDs)'''
self.set_parameters({
"SERIAL5_PROTOCOL": 10, # serial5 is FRSky passthrough
"RPM1_TYPE": 10, # enable RPM output
})
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkyPassThrough(("127.0.0.1", port),
get_time=self.get_sim_time_cached)
self.wait_ready_to_arm()
# we need to start the engine to get some RPM readings, we do it for plane only
# anything with a lambda in here needs a proper test written.
# This, at least makes sure we're getting some of each
# message. These are ordered according to the wfq scheduler
wants = {
0x5000: lambda xx: True,
0x5006: self.tfp_validate_attitude,
0x0800: self.tf_validate_gps,
0x5005: self.tfp_validate_vel_and_yaw,
0x5001: self.tfp_validate_ap_status,
0x5002: self.tfp_validate_gps_status,
0x5004: self.tfp_validate_home_status,
# 0x5008: lambda x : True, # no second battery, so this doesn't arrive
0x5003: self.tfp_validate_battery1,
0x5007: self.tfp_validate_params,
0x500B: self.tfp_validate_terrain,
0x500C: self.tfp_validate_wind,
}
self.test_frsky_passthrough_do_wants(frsky, wants)
# now check RPM:
if self.is_plane():
self.set_autodisarm_delay(0)
if not self.arm_vehicle():
raise NotAchievedException("Failed to ARM")
self.set_rc(3, 1050)
wants = {
0x500A: self.tfp_validate_rpm,
}
self.test_frsky_passthrough_do_wants(frsky, wants)
self.zero_throttle()
self.progress("Wait for vehicle to slow down")
self.wait_groundspeed(0, 0.3)
self.disarm_vehicle()
self.progress("Counts of sensor_id polls sent:")
frsky.dump_sensor_id_poll_counts_as_progress_messages()
self.progress("Counts of dataids received:")
frsky.dump_dataid_counts_as_progress_messages()
def decode_mavlite_param_value(self, message):
'''returns a tuple of parameter name, value'''
(value,) = struct.unpack("<f", message[0:4])
name = message[4:]
return (name, value)
def decode_mavlite_command_ack(self, message):
'''returns a tuple of parameter name, value'''
(command, result) = struct.unpack("<HB", message)
return (command, result)
def read_message_via_mavlite(self, frsky, sport_to_mavlite):
'''read bytes from frsky mavlite stream, trying to form up a mavlite
message'''
tstart = self.get_sim_time()
timeout = 30 * self.speedup/10.0
if self.valgrind or self.callgrind:
timeout *= 10
while True:
self.drain_mav(quiet=True)
tnow = self.get_sim_time_cached()
if tnow - tstart > timeout:
raise NotAchievedException("Did not get parameter via mavlite")
frsky.update()
if sport_to_mavlite.state == sport_to_mavlite.state_MESSAGE_RECEIVED:
message = sport_to_mavlite.get_message()
sport_to_mavlite.reset()
# self.progress("############ message received (type=%u)" % message.msgid)
return message
def read_parameter_via_mavlite(self, frsky, sport_to_mavlite, name):
tstart = self.get_sim_time()
while True:
tnow = self.get_sim_time_cached()
if tnow - tstart > 30 * self.speedup / 10.0:
raise NotAchievedException("Did not get parameter via mavlite")
message = self.read_message_via_mavlite(frsky, sport_to_mavlite)
if message.msgid != mavutil.mavlink.MAVLINK_MSG_ID_PARAM_VALUE:
raise NotAchievedException("Unexpected msgid %u received" % message.msgid)
(got_name, value) = self.decode_mavlite_param_value(message.body)
# self.progress("Received parameter: %s=%f" % (name, value))
got_name = got_name.decode('ascii')
if got_name != name:
raise NotAchievedException("Incorrect name received (want=%s) (got=%s)" % (name, got_name))
return value
def get_parameter_via_mavlite(self, frsky, sport_to_mavlite, name):
# self.progress("########## Sending request")
frsky.send_mavlite_param_request_read(name)
return self.read_parameter_via_mavlite(frsky, sport_to_mavlite, name)
def set_parameter_via_mavlite(self, frsky, sport_to_mavlite, name, value):
# self.progress("########## Sending request")
frsky.send_mavlite_param_set(name, value)
# new value is echoed back immediately:
got_val = self.read_parameter_via_mavlite(frsky, sport_to_mavlite, name)
if abs(got_val - value) > 0.00001:
raise NotAchievedException("Returned value not same as set value (want=%f got=%f)" % (value, got_val))
def run_cmd_via_mavlite(self,
frsky,
sport_to_mavlite,
command,
p1=None,
p2=None,
p3=None,
p4=None,
p5=None,
p6=None,
p7=None,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
frsky.send_mavlite_command_long(
command,
p1=p1,
p2=p2,
p3=p3,
p4=p4,
p5=p5,
p6=p6,
p7=p7,
)
self.run_cmd_via_mavlite_get_ack(
frsky,
sport_to_mavlite,
command,
want_result
)
def run_cmd_via_mavlite_get_ack(self, frsky, sport_to_mavlite, command, want_result):
'''expect and read a command-ack from frsky sport passthrough'''
msg = self.read_message_via_mavlite(frsky, sport_to_mavlite)
if msg.msgid != mavutil.mavlink.MAVLINK_MSG_ID_COMMAND_ACK:
raise NotAchievedException("Expected a command-ack, got a %u" % msg.msgid)
(got_command, got_result) = self.decode_mavlite_command_ack(msg.body)
if got_command != command:
raise NotAchievedException(
"Did not receive expected command in command_ack; want=%u got=%u" %
(command, got_command))
if got_result != want_result:
raise NotAchievedException(
"Did not receive expected result in command_ack; want=%u got=%u" %
(want_result, got_result))
def FRSkyMAVlite(self):
'''Test FrSky MAVlite serial output'''
self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkyPassThrough(("127.0.0.1", port))
frsky.connect()
sport_to_mavlite = SPortToMAVlite()
frsky.data_downlink_handler = sport_to_mavlite.downlink_handler
self.start_subtest("Get parameter via MAVlite")
param_name = "STAB_PITCH_DOWN" # FIXME: want common across vehicles
set_value = 97.21
self.set_parameter(param_name, set_value) # DO NOT FLY
got_value = self.get_parameter_via_mavlite(frsky,
sport_to_mavlite,
param_name)
if abs(got_value - set_value) > 0.00001:
raise NotAchievedException("Incorrect value retrieved via mavlite (want=%f got=%f)" % (set_value, got_value))
self.progress("Got value OK")
self.end_subtest("Get parameter via MAVlite")
self.start_subtest("Set parameter via MAVlite")
param_name = "STAB_PITCH_DOWN" # FIXME: want common across vehicles
set_value = 91.67
# frsky.verbose = True
self.set_parameter_via_mavlite(frsky, sport_to_mavlite, param_name, set_value) # DO NOT FLY
got_value = self.get_parameter(param_name)
if abs(got_value - set_value) > 0.00001:
raise NotAchievedException("Incorrect value retrieved via mavlink (want=%f got=%f)" % (set_value, got_value))
self.progress("Set value OK")
self.end_subtest("Set parameter via MAVlite")
self.start_subtest("Calibrate Baro via MAVLite")
self.context_push()
self.context_collect("STATUSTEXT")
self.run_cmd_via_mavlite(
frsky,
sport_to_mavlite,
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
p1=0,
p2=0,
p3=1.0,
)
self.wait_statustext("Updating barometer calibration", check_context=True)
self.context_pop()
self.end_subtest("Calibrate Baro via MAVLite")
self.start_subtest("Change mode via MAVLite")
# FIXME: currently plane-specific
self.run_cmd_via_mavlite(
frsky,
sport_to_mavlite,
mavutil.mavlink.MAV_CMD_DO_SET_MODE,
p1=mavutil.mavlink.PLANE_MODE_MANUAL,
)
self.wait_mode("MANUAL")
self.run_cmd_via_mavlite(
frsky,
sport_to_mavlite,
mavutil.mavlink.MAV_CMD_DO_SET_MODE,
p1=mavutil.mavlink.PLANE_MODE_FLY_BY_WIRE_A,
)
self.wait_mode("FBWA")
self.end_subtest("Change mode via MAVLite")
self.start_subtest("Enable fence via MAVlite")
# Fence can be enabled using MAV_CMD
self.run_cmd_via_mavlite(
frsky,
sport_to_mavlite,
mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE,
p1=1,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
)
self.end_subtest("Enable fence via MAVlite")
def tfs_validate_gps_alt(self, value):
self.progress("validating gps altitude (0x%02x)" % value)
alt_m = value * 0.01 # cm -> m
gpi = self.mav.recv_match(
type='GLOBAL_POSITION_INT',
blocking=True,
timeout=1
)
if gpi is None:
raise NotAchievedException("Did not get GLOBAL_POSITION_INT message")
gpi_alt_m = round(gpi.alt * 0.001) # mm-> m
self.progress("GLOBAL_POSITION_INT alt==%f frsky==%f" % (gpi_alt_m, alt_m))
if self.compare_number_percent(gpi_alt_m, alt_m, 10):
return True
return False
def tfs_validate_baro_alt(self, value):
self.progress("validating baro altitude (0x%02x)" % value)
alt_m = value * 0.01 # cm -> m
gpi = self.mav.recv_match(
type='GLOBAL_POSITION_INT',
blocking=True,
timeout=1
)
if gpi is None:
raise NotAchievedException("Did not get GLOBAL_POSITION_INT message")
gpi_alt_m = round(gpi.relative_alt * 0.001) # mm -> m
self.progress("GLOBAL_POSITION_INT relative_alt==%f frsky==%f" % (gpi_alt_m, alt_m))
if abs(gpi_alt_m - alt_m) < 1:
return True
return False
def tfs_validate_gps_speed(self, value):
self.progress("validating gps speed (0x%02x)" % value)
speed_ms = value * 0.001 # mm/s -> m/s
vfr_hud = self.mav.recv_match(
type='VFR_HUD',
blocking=True,
timeout=1
)
if vfr_hud is None:
raise NotAchievedException("Did not get VFR_HUD message")
vfr_hud_speed_ms = round(vfr_hud.groundspeed)
self.progress("VFR_HUD groundspeed==%f frsky==%f" % (vfr_hud_speed_ms, speed_ms))
if self.compare_number_percent(vfr_hud_speed_ms, speed_ms, 10):
return True
return False
def tfs_validate_yaw(self, value):
self.progress("validating yaw (0x%02x)" % value)
yaw_deg = value * 0.01 # cd -> deg
vfr_hud = self.mav.recv_match(
type='VFR_HUD',
blocking=True,
timeout=1
)
if vfr_hud is None:
raise NotAchievedException("Did not get VFR_HUD message")
vfr_hud_yaw_deg = round(vfr_hud.heading)
self.progress("VFR_HUD heading==%f frsky==%f" % (vfr_hud_yaw_deg, yaw_deg))
if self.compare_number_percent(vfr_hud_yaw_deg, yaw_deg, 10):
return True
return False
def tfs_validate_vspeed(self, value):
self.progress("validating vspeed (0x%02x)" % value)
vspeed_ms = value * 0.01 # cm/s -> m/s
vfr_hud = self.mav.recv_match(
type='VFR_HUD',
blocking=True,
timeout=1
)
if vfr_hud is None:
raise NotAchievedException("Did not get VFR_HUD message")
vfr_hud_vspeed_ms = round(vfr_hud.climb)
self.progress("VFR_HUD climb==%f frsky==%f" % (vfr_hud_vspeed_ms, vspeed_ms))
if self.compare_number_percent(vfr_hud_vspeed_ms, vspeed_ms, 10):
return True
return False
def tfs_validate_battery1(self, value):
self.progress("validating battery1 (0x%02x)" % value)
voltage_v = value * 0.01 # cV -> V
batt = self.mav.recv_match(
type='BATTERY_STATUS',
blocking=True,
timeout=5,
condition="BATTERY_STATUS.id==0"
)
if batt is None:
raise NotAchievedException("Did not get BATTERY_STATUS message")
battery_status_voltage_v = batt.voltages[0] * 0.001 # mV -> V
self.progress("BATTERY_STATUS volatge==%f frsky==%f" % (battery_status_voltage_v, voltage_v))
if self.compare_number_percent(battery_status_voltage_v, voltage_v, 10):
return True
return False
def tfs_validate_current1(self, value):
# test frsky current vs BATTERY_STATUS
self.progress("validating battery1 (0x%02x)" % value)
current_a = value * 0.1 # dA -> A
batt = self.mav.recv_match(
type='BATTERY_STATUS',
blocking=True,
timeout=5,
condition="BATTERY_STATUS.id==0"
)
if batt is None:
raise NotAchievedException("Did not get BATTERY_STATUS message")
battery_status_current_a = batt.current_battery * 0.01 # cA -> A
self.progress("BATTERY_STATUS current==%f frsky==%f" % (battery_status_current_a, current_a))
if self.compare_number_percent(round(battery_status_current_a * 10), round(current_a * 10), 10):
return True
return False
def tfs_validate_fuel(self, value):
self.progress("validating fuel (0x%02x)" % value)
fuel = value
batt = self.mav.recv_match(
type='BATTERY_STATUS',
blocking=True,
timeout=5,
condition="BATTERY_STATUS.id==0"
)
if batt is None:
raise NotAchievedException("Did not get BATTERY_STATUS message")
battery_status_fuel = batt.battery_remaining
self.progress("BATTERY_STATUS fuel==%f frsky==%f" % (battery_status_fuel, fuel))
if self.compare_number_percent(battery_status_fuel, fuel, 10):
return True
return False
def tfs_validate_tmp1(self, value):
self.progress("validating tmp1 (0x%02x)" % value)
tmp1 = value
heartbeat = self.wait_heartbeat()
heartbeat_tmp1 = heartbeat.custom_mode
self.progress("GLOBAL_POSITION_INT custom_mode==%f frsky==%f" % (heartbeat_tmp1, tmp1))
if heartbeat_tmp1 == tmp1:
return True
return False
def tfs_validate_tmp2(self, value):
self.progress("validating tmp2 (0x%02x)" % value)
tmp2 = value
gps_raw = self.mav.recv_match(
type='GPS_RAW_INT',
blocking=True,
timeout=1
)
if gps_raw is None:
raise NotAchievedException("Did not get GPS_RAW_INT message")
gps_raw_tmp2 = gps_raw.satellites_visible*10 + gps_raw.fix_type
self.progress("GPS_RAW_INT tmp2==%f frsky==%f" % (gps_raw_tmp2, tmp2))
if gps_raw_tmp2 == tmp2:
return True
return False
def tfs_validate_rpm(self, value):
self.progress("validating rpm (0x%02x)" % value)
tfs_rpm = value
rpm = self.mav.recv_match(
type='RPM',
blocking=True,
timeout=5
)
if rpm is None:
raise NotAchievedException("Did not get RPM message")
rpm_value = round(rpm.rpm1)
self.progress("RPM rpm==%f frsky==%f" % (rpm_value, tfs_rpm))
if rpm_value == tfs_rpm:
return True
return False
def wait_rpm1(self, min_rpm=None, timeout=10):
'''wait for mavlink RPM message to indicate valid RPM'''
tstart = self.get_sim_time()
while True:
t = self.get_sim_time_cached()
if t - tstart > timeout:
raise AutoTestTimeoutException("Failed to do get valid RPM")
rpm = self.mav.recv_match(
type='RPM',
blocking=True,
timeout=1
)
self.progress("rpm: (%s)" % str(rpm))
if rpm is None:
continue
if min_rpm is None:
return
if rpm.rpm1 >= min_rpm:
return
def FRSkySPort(self):
'''Test FrSky SPort mode'''
self.set_parameter("SERIAL5_PROTOCOL", 4) # serial5 is FRSky sport
self.set_parameter("RPM1_TYPE", 10) # enable SITL RPM sensor
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkySPort(("127.0.0.1", port), verbose=True)
self.wait_ready_to_arm()
# we need to start the engine to get some RPM readings, we do it for plane only
if self.is_plane():
self.set_autodisarm_delay(0)
if not self.arm_vehicle():
raise NotAchievedException("Failed to ARM")
self.set_rc(3, 1050)
self.wait_rpm1(timeout=10, min_rpm=200)
self.assert_current_onboard_log_contains_message("RPM")
self.drain_mav()
# anything with a lambda in here needs a proper test written.
# This, at least makes sure we're getting some of each
# message.
wants = {
0x082F: self.tfs_validate_gps_alt, # gps altitude integer cm
0x040F: self.tfs_validate_tmp1, # Tmp1
0x060F: self.tfs_validate_fuel, # fuel % 0-100
0x041F: self.tfs_validate_tmp2, # Tmp2
0x010F: self.tfs_validate_baro_alt, # baro alt cm
0x083F: self.tfs_validate_gps_speed, # gps speed integer mm/s
0x084F: self.tfs_validate_yaw, # yaw in cd
0x020F: self.tfs_validate_current1, # current dA
0x011F: self.tfs_validate_vspeed, # vertical speed cm/s
0x021F: self.tfs_validate_battery1, # battery 1 voltage cV
0x0800: self.tf_validate_gps, # gps lat/lon
0x050E: self.tfs_validate_rpm, # rpm 1
}
tstart = self.get_sim_time_cached()
last_wanting_print = 0
last_data_time = None
while len(wants):
now = self.get_sim_time()
if now - last_wanting_print > 1:
self.progress("Still wanting (%s)" %
",".join([("0x%02x" % x) for x in wants.keys()]))
last_wanting_print = now
wants_copy = copy.copy(wants)
if now - tstart > 300:
self.progress("Failed to get frsky passthrough data")
self.progress("Counts of sensor_id polls sent:")
frsky.dump_sensor_id_poll_counts_as_progress_messages()
self.progress("Counts of dataids received:")
frsky.dump_dataid_counts_as_progress_messages()
raise AutoTestTimeoutException("Failed to get frsky sport data")
frsky.update()
if frsky.last_data_time == last_data_time:
continue
last_data_time = frsky.last_data_time
for want in wants_copy:
data = frsky.get_data(want)
if data is None:
continue
self.progress("Checking 0x%x" % (want,))
if wants[want](data):
self.progress(" Fulfilled")
del wants[want]
# ok done, stop the engine
if self.is_plane():
self.zero_throttle()
self.disarm_vehicle(force=True)
def FRSkyD(self):
'''Test FrSkyD serial output'''
self.set_parameter("SERIAL5_PROTOCOL", 3) # serial5 is FRSky output
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
])
frsky = FRSkyD(("127.0.0.1", port))
self.wait_ready_to_arm()
m = self.assert_receive_message('GLOBAL_POSITION_INT', timeout=1)
gpi_abs_alt = int((m.alt+500) / 1000) # mm -> m
# grab a battery-remaining percentage
self.run_cmd(
mavutil.mavlink.MAV_CMD_BATTERY_RESET,
p1=65535, # battery mask
p2=96, # percentage
)
m = self.assert_receive_message('BATTERY_STATUS', timeout=1)
want_battery_remaining_pct = m.battery_remaining
tstart = self.get_sim_time_cached()
have_alt = False
have_battery = False
while True:
t2 = self.get_sim_time_cached()
if t2 - tstart > 10:
raise AutoTestTimeoutException("Failed to get frsky D data")
frsky.update()
alt = frsky.get_data(frsky.dataid_GPS_ALT_BP)
self.progress("Got alt (%s) mav=%s" % (str(alt), str(gpi_abs_alt)))
if alt is None:
continue
if alt == gpi_abs_alt:
have_alt = True
batt = frsky.get_data(frsky.dataid_FUEL)
self.progress("Got batt (%s) mav=%s" % (str(batt), str(want_battery_remaining_pct)))
if batt is None:
continue
if batt == want_battery_remaining_pct:
have_battery = True
if have_alt and have_battery:
break
self.drain_mav()
def test_ltm_g(self, ltm):
g = ltm.g()
if g is None:
return
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
print("m: %s" % str(m))
print("g.lat=%s m.lat=%s" % (str(g.lat()), str(m.lat)))
if abs(m.lat - g.lat()) > 10:
return False
print("g.lon:%s m.lon:%s" % (str(g.lon()), str(m.lon)))
if abs(m.lon - g.lon()) > 10:
return False
print("gndspeed: %s" % str(g.gndspeed()))
if g.gndspeed() != 0:
# FIXME if we start the vehicle moving.... check against VFR_HUD?
return False
print("g.alt=%s m.alt=%s" % (str(g.alt()/100.0), str(m.relative_alt/1000.0)))
if abs(m.relative_alt/1000.0 - g.alt()/100.0) > 1:
return False
print("sats: %s" % str(g.sats()))
m = self.mav.recv_match(type='GPS_RAW_INT', blocking=True)
if m.satellites_visible != g.sats():
return False
constrained_fix_type = m.fix_type
if constrained_fix_type > 3:
constrained_fix_type = 3
print("fix_type: %s" % g.fix_type())
if constrained_fix_type != g.fix_type():
return False
return True
def test_ltm_a(self, ltm):
a = ltm.a()
if a is None:
return
m = self.assert_receive_message('ATTITUDE')
pitch = a.pitch()
print("pitch: %s" % str(pitch))
if abs(math.degrees(m.pitch) - pitch) > 1:
return False
roll = a.roll()
print("roll: %s" % str(roll))
if abs(math.degrees(m.roll) - roll) > 1:
return False
hdg = a.hdg()
myaw = math.degrees(m.yaw)
myaw += 360
myaw %= 360
print("a.hdg=%s m.hdg=%s" % (str(hdg), str(myaw)))
if abs(myaw - hdg) > 1:
return False
return True
def test_ltm_s(self, ltm):
s = ltm.s()
if s is None:
return
# FIXME. Actually check the field values are correct :-)
return True
def LTM(self):
'''Test LTM serial output'''
self.set_parameter("SERIAL5_PROTOCOL", 25) # serial5 is LTM output
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
])
ltm = LTM(("127.0.0.1", port))
self.wait_ready_to_arm()
wants = {
"g": self.test_ltm_g,
"a": self.test_ltm_a,
"s": self.test_ltm_s,
}
tstart = self.get_sim_time()
while True:
self.progress("Still wanting (%s)" %
",".join([("%s" % x) for x in wants.keys()]))
if len(wants) == 0:
break
now = self.get_sim_time_cached()
if now - tstart > 10:
raise AutoTestTimeoutException("Failed to get ltm data")
ltm.update()
wants_copy = copy.copy(wants)
for want in wants_copy:
self.progress("Checking %s" % (want,))
if wants[want](ltm):
self.progress(" Fulfilled")
del wants[want]
def convertDmsToDdFormat(self, dms):
deg = math.trunc(dms * 1e-7)
dd = deg + (((dms * 1.0e-7) - deg) * 100.0 / 60.0)
if dd < -180.0 or dd > 180.0:
dd = 0.0
return math.trunc(dd * 1.0e7)
def DEVO(self):
'''Test DEVO serial output'''
self.context_push()
self.set_parameter("SERIAL5_PROTOCOL", 17) # serial5 is DEVO output
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
])
devo = DEVO(("127.0.0.1", port))
self.wait_ready_to_arm()
m = self.assert_receive_message('GLOBAL_POSITION_INT', timeout=1)
tstart = self.get_sim_time_cached()
while True:
self.drain_mav()
now = self.get_sim_time_cached()
if now - tstart > 10:
if devo.frame is not None:
# we received some frames but could not find correct values
raise AutoTestTimeoutException("Failed to get correct data")
else:
# No frames received. Devo telemetry is compiled out?
break
devo.update()
frame = devo.frame
if frame is None:
continue
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
loc = LocationInt(self.convertDmsToDdFormat(frame.lat()), self.convertDmsToDdFormat(frame.lon()), 0, 0)
print("received lat:%s expected lat:%s" % (str(loc.lat), str(m.lat)))
print("received lon:%s expected lon:%s" % (str(loc.lon), str(m.lon)))
dist_diff = self.get_distance_int(loc, m)
print("Distance:%s" % str(dist_diff))
if abs(dist_diff) > 2:
continue
gpi_rel_alt = int(m.relative_alt / 10) # mm -> cm, since driver send alt in cm
print("received alt:%s expected alt:%s" % (str(frame.alt()), str(gpi_rel_alt)))
if abs(gpi_rel_alt - frame.alt()) > 10:
continue
print("received gndspeed: %s" % str(frame.speed()))
if frame.speed() != 0:
# FIXME if we start the vehicle moving.... check against VFR_HUD?
continue
print("received temp:%s expected temp:%s" % (str(frame.temp()), str(self.mav.messages['HEARTBEAT'].custom_mode)))
if frame.temp() != self.mav.messages['HEARTBEAT'].custom_mode:
# currently we receive mode as temp. This should be fixed when driver is updated
continue
# we match the received voltage with the voltage of primary instance
batt = self.mav.recv_match(
type='BATTERY_STATUS',
blocking=True,
timeout=5,
condition="BATTERY_STATUS.id==0"
)
if batt is None:
raise NotAchievedException("Did not get BATTERY_STATUS message")
volt = batt.voltages[0]*0.001
print("received voltage:%s expected voltage:%s" % (str(frame.volt()*0.1), str(volt)))
if abs(frame.volt()*0.1 - volt) > 0.1:
continue
# if we reach here, exit
break
self.context_pop()
self.reboot_sitl()
def MSP_DJI(self):
'''Test MSP DJI serial output'''
self.set_parameter("SERIAL5_PROTOCOL", 33) # serial5 is MSP DJI output
self.set_parameter("MSP_OPTIONS", 1) # telemetry (unpolled) mode
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 spews to localhost port
])
msp = MSP_DJI(("127.0.0.1", port))
self.wait_ready_to_arm()
tstart = self.get_sim_time()
while True:
self.drain_mav()
if self.get_sim_time_cached() - tstart > 10:
raise NotAchievedException("Did not get location")
msp.update()
try:
f = msp.get_frame(msp.FRAME_GPS_RAW)
except KeyError:
continue
dist = self.get_distance_int(f.LocationInt(), self.sim_location_int())
print("lat=%f lon=%f dist=%f" % (f.lat(), f.lon(), dist))
if dist < 1:
break
def CRSF(self):
'''Test RC CRSF'''
self.context_push()
ex = None
try:
self.set_parameter("SERIAL5_PROTOCOL", 23) # serial5 is RCIN input
port = self.spare_network_port()
self.customise_SITL_commandline([
"--uartF=tcp:%u" % port # serial5 reads from to localhost port
])
crsf = CRSF(("127.0.0.1", port))
crsf.connect()
self.progress("Writing vtx_frame")
crsf.write_data_id(crsf.dataid_vtx_frame)
self.delay_sim_time(5)
self.progress("Writing vtx_telem")
crsf.write_data_id(crsf.dataid_vtx_telem)
self.delay_sim_time(5)
self.progress("Writing vtx_unknown")
crsf.write_data_id(crsf.dataid_vtx_unknown)
self.delay_sim_time(5)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def CompassPrearms(self):
'''test compass prearm checks'''
self.wait_ready_to_arm()
# XY are checked specially:
for axis in 'X', 'Y': # ArduPilot only checks these two axes
self.context_push()
self.set_parameter(f"COMPASS_OFS2_{axis}", 1000)
self.assert_prearm_failure("Compasses inconsistent")
self.context_pop()
self.wait_ready_to_arm()
# now test the total anglular difference:
self.context_push()
self.set_parameters({
"COMPASS_OFS2_X": 1000,
"COMPASS_OFS2_Y": -1000,
"COMPASS_OFS2_Z": -10000,
})
self.assert_prearm_failure("Compasses inconsistent")
self.context_pop()
self.wait_ready_to_arm()
# the following line papers over a probably problem with the
# EKF recovering from bad compass offsets. Without it, the
# EKF will maintain a 10-degree offset from the true compass
# heading seemingly indefinitely.
self.reboot_sitl()
def AHRS_ORIENTATION(self):
'''test AHRS_ORIENTATION parameter works'''
self.context_push()
self.wait_ready_to_arm()
original_imu = self.assert_receive_message("RAW_IMU", verbose=True)
self.set_parameter("AHRS_ORIENTATION", 16) # roll-90
self.delay_sim_time(2) # we update this on a timer
new_imu = self.assert_receive_message("RAW_IMU", verbose=True)
delta_zacc = original_imu.zacc - new_imu.zacc
delta_z_g = delta_zacc/1000.0 # milligravities -> gravities
if delta_z_g - 1 > 0.1: # milligravities....
raise NotAchievedException("Magic AHRS_ORIENTATION update did not work (delta_z_g=%f)" % (delta_z_g,))
delta_yacc = original_imu.yacc - new_imu.yacc
delta_y_g = delta_yacc/1000.0 # milligravities -> gravities
if delta_y_g + 1 > 0.1:
raise NotAchievedException("Magic AHRS_ORIENTATION update did not work (delta_y_g=%f)" % (delta_y_g,))
self.context_pop()
self.reboot_sitl()
self.delay_sim_time(2) # we update orientation on a timer
def GPSTypes(self):
'''check each simulated GPS works'''
self.reboot_sitl()
orig = self.poll_home_position(timeout=60)
# (sim_gps_type, name, gps_type, detection name)
# if gps_type is None we auto-detect
sim_gps = [
# (0, "NONE"),
(1, "UBLOX", None, "u-blox", 5, 'detected'),
(5, "NMEA", 5, "NMEA", 5, 'detected'),
(6, "SBP", None, "SBP", 5, 'detected'),
# (7, "SBP2", 9, "SBP2", 5), # broken, "waiting for config data"
(8, "NOVA", 15, "NOVA", 5, 'detected'), # no attempt to auto-detect this in AP_GPS
(11, "GSOF", 11, "GSOF", 5, 'detected'),
(19, "MSP", 19, "MSP", 32, 'specified'), # no attempt to auto-detect this in AP_GPS
# (9, "FILE"),
]
self.context_collect("STATUSTEXT")
for (sim_gps_type, name, gps_type, detect_name, serial_protocol, detect_prefix) in sim_gps:
self.start_subtest("Checking GPS type %s" % name)
self.set_parameter("SIM_GPS_TYPE", sim_gps_type)
self.set_parameter("SERIAL3_PROTOCOL", serial_protocol)
if gps_type is None:
gps_type = 1 # auto-detect
self.set_parameter("GPS_TYPE", gps_type)
self.context_clear_collection('STATUSTEXT')
self.reboot_sitl()
self.wait_statustext("%s as %s" % (detect_prefix, detect_name), check_context=True)
n = self.poll_home_position(timeout=120)
distance = self.get_distance_int(orig, n)
if distance > 1:
raise NotAchievedException("gps type %u misbehaving" % name)
def assert_gps_satellite_count(self, messagename, count):
m = self.assert_receive_message(messagename)
if m.satellites_visible != count:
raise NotAchievedException("Expected %u sats, got %u" %
(count, m.satellites_visible))
def MultipleGPS(self):
'''check ArduPilot behaviour across multiple GPS units'''
self.assert_message_rate_hz('GPS2_RAW', 0)
# we start sending GPS_TYPE2 - but it will never actually be
# filled in as _port[1] is only filled in in AP_GPS::init()
self.start_subtest("Get GPS2_RAW as soon as we're configured for a second GPS")
self.set_parameter("GPS_TYPE2", 1)
self.assert_message_rate_hz('GPS2_RAW', 5)
self.start_subtest("Ensure correct fix type when no connected GPS")
m = self.assert_receive_message("GPS2_RAW")
self.progress(self.dump_message_verbose(m))
if m.fix_type != mavutil.mavlink.GPS_FIX_TYPE_NO_GPS:
raise NotAchievedException("Incorrect fix type")
self.start_subtest("Ensure detection when sim gps connected")
self.set_parameter("SIM_GPS2_TYPE", 1)
self.set_parameter("SIM_GPS2_DISABLE", 0)
# a reboot is required after setting GPS_TYPE2. We start
# sending GPS2_RAW out, once the parameter is set, but a
# reboot is required because _port[1] is only set in
# AP_GPS::init() at boot time, so it will never be detected.
self.context_collect("STATUSTEXT")
self.reboot_sitl()
self.wait_statustext("GPS 1: detected as u-blox", check_context=True)
self.wait_statustext("GPS 2: detected as u-blox", check_context=True)
m = self.assert_receive_message("GPS2_RAW")
self.progress(self.dump_message_verbose(m))
# would be nice for it to take some time to get a fix....
if m.fix_type != mavutil.mavlink.GPS_FIX_TYPE_RTK_FIXED:
raise NotAchievedException("Incorrect fix type")
self.start_subtest("Check parameters are per-GPS")
self.assert_parameter_value("SIM_GPS_NUMSATS", 10)
self.assert_gps_satellite_count("GPS_RAW_INT", 10)
self.set_parameter("SIM_GPS_NUMSATS", 13)
self.assert_gps_satellite_count("GPS_RAW_INT", 13)
self.assert_parameter_value("SIM_GPS2_NUMSATS", 10)
self.assert_gps_satellite_count("GPS2_RAW", 10)
self.set_parameter("SIM_GPS2_NUMSATS", 12)
self.assert_gps_satellite_count("GPS2_RAW", 12)
self.start_subtest("check that GLOBAL_POSITION_INT fails over")
m = self.assert_receive_message("GLOBAL_POSITION_INT")
gpi_alt = m.alt
for msg in ["GPS_RAW_INT", "GPS2_RAW"]:
m = self.assert_receive_message(msg)
if abs(m.alt - gpi_alt) > 100: # these are in mm
raise NotAchievedException("Alt (%s) discrepancy; %d vs %d" %
(msg, m.alt, gpi_alt))
introduced_error = 10 # in metres
self.set_parameter("SIM_GPS2_ALT_OFS", introduced_error)
self.do_timesync_roundtrip()
m = self.assert_receive_message("GPS2_RAW")
if abs((m.alt-introduced_error*1000) - gpi_alt) > 100:
raise NotAchievedException("skewed Alt (%s) discrepancy; %d+%d vs %d" %
(msg, introduced_error*1000, m.alt, gpi_alt))
m = self.assert_receive_message("GLOBAL_POSITION_INT")
new_gpi_alt = m.alt
if abs(gpi_alt - new_gpi_alt) > 100:
raise NotAchievedException("alt moved unexpectedly")
self.progress("Killing first GPS")
self.set_parameter("SIM_GPS_DISABLE", 1)
self.delay_sim_time(1)
self.progress("Checking altitude now matches second GPS")
m = self.assert_receive_message("GLOBAL_POSITION_INT")
new_gpi_alt2 = m.alt
m = self.assert_receive_message("GPS2_RAW")
if abs(new_gpi_alt2 - m.alt) > 100:
raise NotAchievedException("Failover not detected")
def fetch_file_via_ftp(self, path, timeout=20):
'''returns the content of the FTP'able file at path'''
self.progress("Retrieving (%s) using MAVProxy" % path)
mavproxy = self.start_mavproxy()
mavproxy.expect("Saved .* parameters to")
ex = None
tmpfile = tempfile.NamedTemporaryFile(mode='r', delete=False)
try:
mavproxy.send("module load ftp\n")
mavproxy.expect(["Loaded module ftp", "module ftp already loaded"])
mavproxy.send("ftp set debug 1\n") # so we get the "Terminated session" message
mavproxy.send("ftp get %s %s\n" % (path, tmpfile.name))
mavproxy.expect("Getting")
tstart = self.get_sim_time()
while True:
now = self.get_sim_time()
if now - tstart > timeout:
raise NotAchievedException("expected complete transfer")
self.progress("Polling status")
mavproxy.send("ftp status\n")
try:
mavproxy.expect("No transfer in progress", timeout=1)
break
except Exception:
continue
# terminate the connection, or it may still be in progress the next time an FTP is attempted:
mavproxy.send("ftp cancel\n")
mavproxy.expect("Terminated session")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.stop_mavproxy(mavproxy)
if ex is not None:
raise ex
return tmpfile.read()
def MAVFTP(self):
'''ensure MAVProxy can do MAVFTP to ardupilot'''
mavproxy = self.start_mavproxy()
ex = None
try:
mavproxy.send("module load ftp\n")
mavproxy.expect(["Loaded module ftp", "module ftp already loaded"])
mavproxy.send("ftp list\n")
some_directory = None
for entry in sorted(os.listdir(".")):
if os.path.isdir(entry):
some_directory = entry
break
if some_directory is None:
raise NotAchievedException("No directories?!")
expected_line = " D %s" % some_directory
mavproxy.expect(expected_line) # one line from the ftp list output
except Exception as e:
self.print_exception_caught(e)
ex = e
self.stop_mavproxy(mavproxy)
if ex is not None:
raise ex
def write_content_to_filepath(self, content, filepath):
'''write biunary content to filepath'''
with open(filepath, "wb") as f:
if sys.version_info.major >= 3:
if not isinstance(content, bytes):
raise NotAchievedException("Want bytes to write_content_to_filepath")
f.write(content)
f.close()
def add_embedded_params_to_binary(self, binary, defaults):
sys.path.insert(1, os.path.join(self.rootdir(), 'Tools', 'scripts'))
import apj_tool
# copy binary
if getattr(self, "embedded_default_counter", None) is None:
self.embedded_default_counter = 0
self.embedded_default_counter += 1
new_filepath = binary + "-newdefaults-%u" % self.embedded_default_counter
shutil.copy(binary, new_filepath)
# create file for defaults
defaults_filepath = "embed-these-defaults.txt"
self.write_content_to_filepath(defaults.encode('utf-8'), defaults_filepath)
# do the needful
a = apj_tool.embedded_defaults(new_filepath)
if not a.find():
raise NotAchievedException("Did not find defaults")
a.set_file(defaults_filepath)
a.save()
return new_filepath
def sample_param_file_content(self):
'''returns an array of tuples, (param file content, dictionary of what
parameter values should be tested afterwards)'''
dashes = "-" * 150
return [
# multiple lines:
("""SERIAL5_BAUD 1234
SERIAL4_BAUD=4567
""", {"SERIAL5_BAUD": 1234, "SERIAL4_BAUD": 4567}),
# line missing CR:
("""SERIAL5_BAUD 6789""", {"SERIAL5_BAUD": 6789}),
# commented-out line:
("""# SERIAL5_BAUD 6789""", {"SERIAL5_BAUD": 57}),
# very long comment line followed by more text:
("""SERIAL4_BAUD 6789
# awesome dashes: %s
SERIAL5_BAUD 128
""" % dashes, {"SERIAL4_BAUD": 6789, "SERIAL5_BAUD": 128}),
]
def EmbeddedParamParser(self):
'''check parsing of embedded defaults file'''
# warning: don't try this test on Copter as it won't boot
# without the passed-in file (which we don't parse if there
# are embedded defaults)
for (content, param_values) in self.sample_param_file_content():
binary_with_defaults = self.add_embedded_params_to_binary(self.binary, content)
self.customise_SITL_commandline([], binary=binary_with_defaults)
self.assert_parameter_values(param_values)
def _MotorTest(self,
command,
timeout=60,
mot1_servo_chan=1,
mot4_servo_chan=4,
wait_finish_text=True,
quadplane=False):
'''Run Motor Tests (with specific mavlink message)'''
self.start_subtest("Testing PWM output")
pwm_in = 1300
# default frame is "+" - start motor of 2 is "B", which is
# motor 1... see
# https://ardupilot.org/copter/docs/connect-escs-and-motors.html
command(
mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
p1=2, # start motor
p2=mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM,
p3=pwm_in, # pwm-to-output
p4=2, # timeout in seconds
p5=2, # number of motors to output
p6=0, # compass learning
timeout=timeout,
)
# long timeouts here because there's a pause before we start motors
self.wait_servo_channel_value(mot1_servo_chan, pwm_in, timeout=10)
self.wait_servo_channel_value(mot4_servo_chan, pwm_in, timeout=10)
if wait_finish_text:
self.wait_statustext("finished motor test")
self.wait_disarmed()
# wait_disarmed is not sufficient here; it's actually the
# *motors* being armed which causes the problem, not the
# vehicle's arm state! Could we use SYS_STATUS here instead?
self.delay_sim_time(10)
self.end_subtest("Testing PWM output")
self.start_subtest("Testing percentage output")
percentage = 90.1
# since MOT_SPIN_MIN and MOT_SPIN_MAX are not set, the RC3
# min/max are used.
expected_pwm = 1000 + (self.get_parameter("RC3_MAX") - self.get_parameter("RC3_MIN")) * percentage/100.0
# quadplane doesn't use the expect value - it wants 1900
# rather than the calculated 1901...
if quadplane:
expected_pwm = 1900
self.progress("expected pwm=%f" % expected_pwm)
command(
mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
p1=2, # start motor
p2=mavutil.mavlink.MOTOR_TEST_THROTTLE_PERCENT,
p3=percentage, # pwm-to-output
p4=2, # timeout in seconds
p5=2, # number of motors to output
p6=0, # compass learning
timeout=timeout,
)
self.wait_servo_channel_value(mot1_servo_chan, expected_pwm, timeout=10)
self.wait_servo_channel_value(mot4_servo_chan, expected_pwm, timeout=10)
if wait_finish_text:
self.wait_statustext("finished motor test")
self.wait_disarmed()
# wait_disarmed is not sufficient here; it's actually the
# *motors* being armed which causes the problem, not the
# vehicle's arm state! Could we use SYS_STATUS here instead?
self.delay_sim_time(10)
self.end_subtest("Testing percentage output")
def MotorTest(self, timeout=60, **kwargs):
'''Run Motor Tests''' # common to Copter and QuadPlane
self._MotorTest(self.run_cmd, **kwargs)
self._MotorTest(self.run_cmd_int, **kwargs)
def tests(self):
return [
self.PIDTuning,
self.ArmFeatures,
self.SetHome,
self.ConfigErrorLoop,
self.CPUFailsafe,
self.Parameters,
self.LoggerDocumentation,
self.Logging,
self.GetCapabilities,
self.InitialMode,
]
def post_tests_announcements(self):
if self._show_test_timings:
if self.waiting_to_arm_count == 0:
avg = None
else:
avg = self.total_waiting_to_arm_time/self.waiting_to_arm_count
self.progress("Spent %f seconds waiting to arm. count=%u avg=%s" %
(self.total_waiting_to_arm_time,
self.waiting_to_arm_count,
str(avg)))
self.show_test_timings()
if self.forced_post_test_sitl_reboots != 0:
print("Had to force-reset SITL %u times" %
(self.forced_post_test_sitl_reboots,))
def autotest(self, tests=None, allow_skips=True):
"""Autotest used by ArduPilot autotest CI."""
if tests is None:
tests = self.tests()
all_tests = []
for test in tests:
if not isinstance(test, Test):
test = Test(test)
all_tests.append(test)
disabled = self.disabled_tests()
if not allow_skips:
disabled = {}
skip_list = []
tests = []
seen_test_name = set()
for test in all_tests:
if test.name in seen_test_name:
raise ValueError("Duplicate test name %s" % test.name)
seen_test_name.add(test.name)
if test.name in disabled:
self.progress("##### %s is skipped: %s" % (test, disabled[test.name]))
skip_list.append((test, disabled[test.name]))
continue
tests.append(test)
results = self.run_tests(tests)
if len(skip_list):
self.progress("Skipped tests:")
for skipped in skip_list:
(test, reason) = skipped
print(" %s (see %s)" % (test.name, reason))
self.fail_list = list(filter(lambda x : not x.passed, results))
if len(self.fail_list):
self.progress("Failing tests:")
for failure in self.fail_list:
print(str(failure))
self.post_tests_announcements()
return len(self.fail_list) == 0
def mavfft_fttd(self, sensor_type, sensor_instance, since, until):
'''display fft for raw ACC data in current logfile'''
'''object to store data about a single FFT plot'''
class MessageData(object):
def __init__(self, ffth):
self.seqno = -1
self.fftnum = ffth.N
self.sensor_type = ffth.type
self.instance = ffth.instance
self.sample_rate_hz = ffth.smp_rate
self.multiplier = ffth.mul
self.sample_us = ffth.SampleUS
self.data = {}
self.data["X"] = []
self.data["Y"] = []
self.data["Z"] = []
self.holes = False
self.freq = None
def add_fftd(self, fftd):
self.seqno += 1
self.data["X"].extend(fftd.x)
self.data["Y"].extend(fftd.y)
self.data["Z"].extend(fftd.z)
mlog = self.dfreader_for_current_onboard_log()
# see https://holometer.fnal.gov/GH_FFT.pdf for a description of the techniques used here
messages = []
messagedata = None
while True:
m = mlog.recv_match()
if m is None:
break
msg_type = m.get_type()
if msg_type == "ISBH":
if messagedata is not None:
if (messagedata.sensor_type == sensor_type and
messagedata.instance == sensor_instance and
messagedata.sample_us > since and
messagedata.sample_us < until):
messages.append(messagedata)
messagedata = MessageData(m)
continue
if msg_type == "ISBD":
if (messagedata is not None and
messagedata.sensor_type == sensor_type and
messagedata.instance == sensor_instance):
messagedata.add_fftd(m)
fft_len = len(messages[0].data["X"])
sum_fft = {
"X": numpy.zeros(int(fft_len / 2 + 1)),
"Y": numpy.zeros(int(fft_len / 2 + 1)),
"Z": numpy.zeros(int(fft_len / 2 + 1)),
}
sample_rate = 0
counts = 0
window = numpy.hanning(fft_len)
freqmap = numpy.fft.rfftfreq(fft_len, 1.0 / messages[0].sample_rate_hz)
# calculate NEBW constant
S2 = numpy.inner(window, window)
for message in messages:
for axis in ["X", "Y", "Z"]:
# normalize data and convert to dps in order to produce more meaningful magnitudes
if message.sensor_type == 1:
d = numpy.array(numpy.degrees(message.data[axis])) / float(message.multiplier)
else:
d = numpy.array(message.data[axis]) / float(message.multiplier)
# apply window to the input
d *= window
# perform RFFT
d_fft = numpy.fft.rfft(d)
# convert to squared complex magnitude
d_fft = numpy.square(abs(d_fft))
# remove DC component
d_fft[0] = 0
d_fft[-1] = 0
# accumulate the sums
sum_fft[axis] += d_fft
sample_rate = message.sample_rate_hz
counts += 1
numpy.seterr(divide='ignore')
psd = {}
for axis in ["X", "Y", "Z"]:
# normalize output to averaged PSD
psd[axis] = 2 * (sum_fft[axis] / counts) / (sample_rate * S2)
psd[axis] = 10 * numpy.log10(psd[axis])
psd["F"] = freqmap
return psd
def model_defaults_filepath(self, model):
vehicle = self.vehicleinfo_key()
vinfo = vehicleinfo.VehicleInfo()
defaults_filepath = vinfo.options[vehicle]["frames"][model]["default_params_filename"]
if isinstance(defaults_filepath, str):
defaults_filepath = [defaults_filepath]
defaults_list = []
for d in defaults_filepath:
defaults_list.append(util.reltopdir(os.path.join(testdir, d)))
return defaults_list
def load_default_params_file(self, filename):
'''load a file from Tools/autotest/default_params'''
filepath = util.reltopdir(os.path.join("Tools", "autotest", "default_params", filename))
self.repeatedly_apply_parameter_file(filepath)
def send_pause_command(self):
'''pause AUTO/GUIDED modes'''
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
p1=0, # 0: pause, 1: continue
)
def send_resume_command(self):
'''resume AUTO/GUIDED modes'''
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
p1=1, # 0: pause, 1: continue
)
def enum_state_name(self, enum_name, state, pretrim=None):
e = mavutil.mavlink.enums[enum_name]
e_value = e[state]
name = e_value.name
if pretrim is not None:
if not pretrim.startswith(pretrim):
raise NotAchievedException("Expected %s to pretrim" % (pretrim))
name = name.replace(pretrim, "")
return name
def vtol_state_name(self, state):
return self.enum_state_name("MAV_VTOL_STATE", state, pretrim="MAV_VTOL_STATE_")
def landed_state_name(self, state):
return self.enum_state_name("MAV_LANDED_STATE", state, pretrim="MAV_LANDED_STATE_")
def assert_extended_sys_state(self, vtol_state, landed_state):
m = self.assert_receive_message('EXTENDED_SYS_STATE', timeout=1)
if m.vtol_state != vtol_state:
raise ValueError("Bad MAV_VTOL_STATE. Want=%s got=%s" %
(self.vtol_state_name(vtol_state),
self.vtol_state_name(m.vtol_state)))
if m.landed_state != landed_state:
raise ValueError("Bad MAV_LANDED_STATE. Want=%s got=%s" %
(self.landed_state_name(landed_state),
self.landed_state_name(m.landed_state)))
def wait_extended_sys_state(self, vtol_state, landed_state, timeout=10):
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > timeout:
raise NotAchievedException("Did not achieve vol/landed states")
self.progress("Waiting for MAV_VTOL_STATE=%s MAV_LANDED_STATE=%s" %
(self.vtol_state_name(vtol_state),
self.landed_state_name(landed_state)))
m = self.assert_receive_message('EXTENDED_SYS_STATE', verbose=True)
if m.landed_state != landed_state:
self.progress("Wrong MAV_LANDED_STATE (want=%s got=%s)" %
(self.landed_state_name(landed_state),
self.landed_state_name(m.landed_state)))
continue
if m.vtol_state != vtol_state:
self.progress("Wrong MAV_VTOL_STATE (want=%s got=%s)" %
(self.vtol_state_name(vtol_state),
self.vtol_state_name(m.vtol_state)))
continue
self.progress("vtol and landed states match")
return
def setGCSfailsafe(self, paramValue):
# Slow down the sim rate if GCS Failsafe is in use
if paramValue == 0:
self.set_parameters({
"FS_GCS_ENABLE": paramValue,
"SIM_SPEEDUP": 10,
})
else:
self.set_parameters({
"SIM_SPEEDUP": 4,
"FS_GCS_ENABLE": paramValue,
})
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