ardupilot/Tools/autotest/apmrover2.py

201 lines
5.9 KiB
Python

# drive APMrover2 in SITL
from __future__ import print_function
import os
import shutil
import pexpect
from pymavlink import mavutil
from common import *
from pysim import util
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
# HOME=mavutil.location(-35.362938,149.165085,584,270)
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246)
homeloc = None
def wait_ready_to_arm(mavproxy):
# wait for EKF and GPS checks to pass
mavproxy.expect('IMU0 is using GPS')
def arm_rover(mavproxy, mav):
wait_ready_to_arm(mavproxy);
mavproxy.send('arm throttle\n')
mavproxy.expect('ARMED')
print("ROVER ARMED")
return True
def drive_left_circuit(mavproxy, mav):
"""Drive a left circuit, 50m on a side."""
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
mavproxy.send('rc 3 2000\n')
print("Driving left circuit")
# do 4 turns
for i in range(0, 4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 1 1000\n')
if not wait_heading(mav, 270 - (90*i), accuracy=10):
return False
mavproxy.send('rc 1 1500\n')
print("Starting leg %u" % i)
if not wait_distance(mav, 50, accuracy=7):
return False
mavproxy.send('rc 3 1500\n')
print("Circuit complete")
return True
def drive_RTL(mavproxy, mav):
"""Drive to home."""
print("Driving home in RTL")
mavproxy.send('switch 3\n')
if not wait_location(mav, homeloc, accuracy=22, timeout=90):
return False
print("RTL Complete")
return True
def setup_rc(mavproxy):
"""Setup RC override control."""
for chan in [1, 2, 3, 4, 5, 6, 7]:
mavproxy.send('rc %u 1500\n' % chan)
mavproxy.send('rc 8 1800\n')
def drive_mission(mavproxy, mav, filename):
"""Drive a mission from a file."""
global homeloc
print("Driving mission %s" % filename)
mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('Flight plan received')
mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints')
mavproxy.send('switch 4\n') # auto mode
mavproxy.send('rc 3 1500\n')
wait_mode(mav, 'AUTO')
if not wait_waypoint(mav, 1, 4, max_dist=5):
return False
wait_mode(mav, 'HOLD')
print("Mission OK")
return True
def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
"""Drive APMrover2 in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the mission in real time
"""
global homeloc
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model='rover', home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
print("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/rover.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='rover', home=home, speedup=10, valgrind=valgrind, gdb=gdb)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Setting up RC parameters")
setup_rc(mavproxy)
print("Waiting for GPS fix")
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not arm_rover(mavproxy, mav):
print("Failed to ARM")
failed = True
if not drive_mission(mavproxy, mav, os.path.join(testdir, "rover1.txt")):
print("Failed mission")
failed = True
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/APMrover2-log.bin")):
print("Failed log download")
failed = True
# if not drive_left_circuit(mavproxy, mav):
# print("Failed left circuit")
# failed = True
# if not drive_RTL(mavproxy, mav):
# print("Failed RTL")
# failed = True
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='rover')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True