ardupilot/Tools/autotest/ardusub.py

199 lines
5.6 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(33.810313, -118.393867, 0, 185)
homeloc = None
def arm_sub(mavproxy, mav):
for i in range(8):
mavproxy.send('rc %d 1500\n' % (i+1))
mavproxy.send('arm throttle\n')
mavproxy.expect('ARMED')
print("SUB ARMED")
return True
def dive_manual(mavproxy, mav):
mavproxy.send('rc 3 1600\n')
mavproxy.send('rc 5 1600\n')
mavproxy.send('rc 6 1550\n')
if not wait_distance(mav, 50, accuracy=7, timeout=200):
return False
mavproxy.send('rc 4 1550\n')
if not wait_heading(mav, 0):
return False
mavproxy.send('rc 4 1500\n')
if not wait_distance(mav, 50, accuracy=7, timeout=100):
return False
mavproxy.send('rc 4 1550\n')
if not wait_heading(mav, 0):
return False
mavproxy.send('rc 4 1500\n')
mavproxy.send('rc 5 1500\n')
mavproxy.send('rc 6 1100\n')
if not wait_distance(mav, 75, accuracy=7, timeout=100):
return False
mavproxy.send('rc all 1500\n')
mavproxy.send('disarm\n');
# wait for disarm
mav.motors_disarmed_wait()
print("Manual dive OK")
return True
def dive_mission(mavproxy, mav, filename):
print("Executing mission %s" % filename)
mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('Flight plan received')
mavproxy.send('wp list\n')
mavproxy.expect('Saved [0-9]+ waypoints')
if not arm_sub(mavproxy, mav):
print("Failed to ARM")
return False
mavproxy.send('mode auto\n')
wait_mode(mav, 'AUTO')
if not wait_waypoint(mav, 1, 5, max_dist=5):
return False
mavproxy.send('disarm\n');
# wait for disarm
mav.motors_disarmed_wait()
print("Mission OK")
return True
def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
"""Dive ArduSub 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
"""
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, model='vectored', wipe=True, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/sub.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send('param set FS_GCS_ENABLE 0\n')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='vectored', home=home, speedup=10, valgrind=valgrind, gdb=gdb)
mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduSub-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("Waiting for GPS fix")
mav.wait_gps_fix()
# wait for EKF and GPS checks to pass
mavproxy.expect('IMU0 is using GPS')
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not arm_sub(mavproxy, mav):
print("Failed to ARM")
failed = True
if not dive_manual(mavproxy, mav):
print("Failed manual dive")
failed = True
if not dive_mission(mavproxy, mav, os.path.join(testdir, "sub_mission.txt")):
print("Failed auto mission")
failed = True
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduSub-log.bin")):
print("Failed log download")
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='sub')
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