From d5b51f2129cf14726810e2d44ba446dbed223988 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 5 May 2015 16:32:14 +1000 Subject: [PATCH] autotest: use internal simulator for copter test --- Tools/autotest/arducopter.py | 41 ++++++------------------------------ 1 file changed, 7 insertions(+), 34 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 925bcc5765..a6467481a7 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -911,17 +911,9 @@ def fly_ArduCopter(viewerip=None, map=False): if TARGET != 'sitl': util.build_SIL('ArduCopter', target=TARGET) - sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=%s --speedup=100 --rate=400 --home=%f,%f,%u,%u' % ( - FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading) - sim_cmd += ' --wind=6,45,.3' - if viewerip: - sim_cmd += ' --fgout=%s:5503' % viewerip - - sil = util.start_SIL('ArduCopter', wipe=True) + home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading) + sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=10) mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter') - sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10) - sim.delaybeforesend = 0 - util.pexpect_autoclose(sim) mavproxy.expect('Received [0-9]+ parameters') # setup test parameters @@ -931,9 +923,8 @@ def fly_ArduCopter(viewerip=None, map=False): # reboot with new parameters util.pexpect_close(mavproxy) util.pexpect_close(sil) - util.pexpect_close(sim) - sil = util.start_SIL('ArduCopter', height=HOME.alt) + sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=10) options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5' if viewerip: options += ' --out=%s:14550' % viewerip @@ -944,10 +935,6 @@ def fly_ArduCopter(viewerip=None, map=False): logfile = mavproxy.match.group(1) print("LOGFILE %s" % logfile) - sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10) - sim.delaybeforesend = 0 - util.pexpect_autoclose(sim) - buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog") print("buildlog=%s" % buildlog) copyTLog = False @@ -966,7 +953,7 @@ def fly_ArduCopter(viewerip=None, map=False): util.expect_setup_callback(mavproxy, expect_callback) expect_list_clear() - expect_list_extend([sim, sil, mavproxy]) + expect_list_extend([sil, mavproxy]) # get a mavlink connection going try: @@ -1247,7 +1234,6 @@ def fly_ArduCopter(viewerip=None, map=False): mav.close() util.pexpect_close(mavproxy) util.pexpect_close(sil) - util.pexpect_close(sim) if os.path.exists('ArduCopter-valgrind.log'): os.chmod('ArduCopter-valgrind.log', 0644) @@ -1272,16 +1258,9 @@ def fly_CopterAVC(viewerip=None, map=False): if TARGET != 'sitl': util.build_SIL('ArduCopter', target=TARGET) - sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=%s --rate=400 --speedup=100 --home=%f,%f,%u,%u' % ( - FRAME, AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading) - if viewerip: - sim_cmd += ' --fgout=%s:5503' % viewerip - - sil = util.start_SIL('ArduCopter', wipe=True) + home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading) + sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=10) mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter') - sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10) - sim.delaybeforesend = 0 - util.pexpect_autoclose(sim) mavproxy.expect('Received [0-9]+ parameters') # setup test parameters @@ -1291,7 +1270,6 @@ def fly_CopterAVC(viewerip=None, map=False): # reboot with new parameters util.pexpect_close(mavproxy) util.pexpect_close(sil) - util.pexpect_close(sim) sil = util.start_SIL('ArduCopter', height=HOME.alt) options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5' @@ -1304,10 +1282,6 @@ def fly_CopterAVC(viewerip=None, map=False): logfile = mavproxy.match.group(1) print("LOGFILE %s" % logfile) - sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10) - sim.delaybeforesend = 0 - util.pexpect_autoclose(sim) - buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog") print("buildlog=%s" % buildlog) if os.path.exists(buildlog): @@ -1324,7 +1298,7 @@ def fly_CopterAVC(viewerip=None, map=False): util.expect_setup_callback(mavproxy, expect_callback) expect_list_clear() - expect_list_extend([sim, sil, mavproxy]) + expect_list_extend([sil, mavproxy]) if map: mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n') @@ -1379,7 +1353,6 @@ def fly_CopterAVC(viewerip=None, map=False): mav.close() util.pexpect_close(mavproxy) util.pexpect_close(sil) - util.pexpect_close(sim) if failed: print("FAILED: %s" % failed_test_msg)