DroneKit IT: use new QGC json format

integrationtests/python_src/px4_it/dronekit/MissionCheck.py

@@ -28,7 +28,7 @@ alt_acceptance_radius   = 5
 # Import DroneKit-Python
 from dronekit import connect, Command, VehicleMode
 from pymavlink import mavutil
-import time, sys, argparse
+import time, sys, argparse, json
 
 parser = argparse.ArgumentParser()
 parser.add_argument("-c", "--connect", help="connection string")
@@ -80,36 +80,15 @@ print " Alt: %s" % vehicle.location.global_relative_frame.alt
 # Functions
 ################################################################################################
 
-
+def read_mission_json(f):
-def readmission(aFileName):
+    d = json.load(f)
-    """
+    current = True
-    Load a mission from a file into a list. The mission definition is in the Waypoint file
-    format (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
-    This function is used by upload_mission().
-    """
-    cmds = vehicle.commands
     missionlist=[]
-    with open(aFileName) as f:
+    for wp in d['items']:
-        for i, line in enumerate(f):
+	cmd = Command( 0, 0, 0, int(wp['frame']), int(wp['command']), current, int(wp['autoContinue']), float(wp['param1']), float(wp['param2']), float(wp['param3']), float(wp['param4']), float(wp['coordinate'][0]), float(wp['coordinate'][1]), float(wp['coordinate'][2]))
-            if i==0:
+	missionlist.append(cmd)
-                if not line.startswith('QGC WPL 110'):
+	if current:
-                    raise Exception('File is not supported WP version')
+	    current = False
-            else:
-                linearray=line.split('\t')
-                ln_index=int(linearray[0])
-                ln_currentwp=int(linearray[1])
-                ln_frame=int(linearray[2])
-                ln_command=int(linearray[3])
-                ln_param1=float(linearray[4])
-                ln_param2=float(linearray[5])
-                ln_param3=float(linearray[6])
-                ln_param4=float(linearray[7])
-                ln_param5=float(linearray[8])
-                ln_param6=float(linearray[9])
-                ln_param7=float(linearray[10])
-                ln_autocontinue=int(linearray[11].strip())
-                cmd = Command( 0, 0, 0, ln_frame, ln_command, ln_currentwp, ln_autocontinue, ln_param1, ln_param2, ln_param3, ln_param4, ln_param5, ln_param6, ln_param7)
-                missionlist.append(cmd)
     return missionlist
 
 
@@ -118,7 +97,8 @@ def upload_mission(aFileName):
     Upload a mission from a file.
     """
     #Read mission from file
-    missionlist = readmission(aFileName)
+    with open(aFileName) as f:
+	missionlist = read_mission_json(f)
 
     #Clear existing mission from vehicle
     cmds = vehicle.commands
@@ -131,51 +111,6 @@ def upload_mission(aFileName):
     return missionlist
 
 
-def download_mission():
-    """
-    Downloads the current mission and returns it in a list.
-    It is used in save_mission() to get the file information to save.
-    """
-    print " Download mission from vehicle"
-    missionlist=[]
-    cmds = vehicle.commands
-    cmds.download()
-    cmds.wait_ready()
-    for cmd in cmds:
-        missionlist.append(cmd)
-    return missionlist
-
-def save_mission(aFileName):
-    """
-    Save a mission in the Waypoint file format
-    (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
-    """
-    print "\nSave mission from Vehicle to file: %s" % aFileName
-    #Download mission from vehicle
-    missionlist = download_mission()
-    #Add file-format information
-    output='QGC WPL 110\n'
-    #Add home location as 0th waypoint
-    home = vehicle.home_location
-    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n\n\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
-    #Add commands
-    for cmd in missionlist:
-        commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)
-        output+=commandline
-    with open(aFileName, 'w') as file_:
-        print " Write mission to file"
-        file_.write(output)
-
-
-def printfile(aFileName):
-    """
-    Print a mission file to demonstrate "round trip"
-    """
-    print "\nMission file: %s" % aFileName
-    with open(aFileName) as f:
-        for line in f:
-            print ' %s' % line.strip()
-
 
 ################################################################################################
 # Listeners

integrationtests/python_src/px4_it/dronekit/VTOL_TAKEOFF.mission

@@ -1,5 +1,89 @@
-QGC WPL 110
+{
-0	0	3	84	0.0	0.0	-0.0	0.0	47.3975105286	8.55026626587	10.0	1
+    "MAV_AUTOPILOT": 12,
-1	0	3	16	0.0	0.0	-0.0	0.0	47.395450592	8.55018424988	10.0	1
+    "complexItems": [
-2	0	3	16	0.0	0.0	-0.0	0.0	47.3954582214	8.54566764832	10.0	1
+    ],
-3	0	3	85	0.0	0.0	-0.0	0.0	47.3977355957	8.54561138153	10.0	1
+    "groundStation": "QGroundControl",
+    "items": [
+        {
+            "autoContinue": true,
+            "command": 84,
+            "coordinate": [
+                47.397510528564453,
+                8.5502662658691406,
+                10
+            ],
+            "frame": 3,
+            "id": 1,
+            "param1": 0,
+            "param2": 0,
+            "param3": 0,
+            "param4": 0,
+            "type": "missionItem"
+        },
+        {
+            "autoContinue": true,
+            "command": 16,
+            "coordinate": [
+                47.395450592041016,
+                8.5501842498779297,
+                10
+            ],
+            "frame": 3,
+            "id": 2,
+            "param1": 0,
+            "param2": 0,
+            "param3": 0,
+            "param4": 0,
+            "type": "missionItem"
+        },
+        {
+            "autoContinue": true,
+            "command": 16,
+            "coordinate": [
+                47.395420809467687,
+                8.5456138849258423,
+                10
+            ],
+            "frame": 3,
+            "id": 3,
+            "param1": 0,
+            "param2": 0,
+            "param3": 0,
+            "param4": 0,
+            "type": "missionItem"
+        },
+        {
+            "autoContinue": true,
+            "command": 85,
+            "coordinate": [
+                47.397735595703125,
+                8.5456113815307617,
+                10
+            ],
+            "frame": 3,
+            "id": 4,
+            "param1": 0,
+            "param2": 0,
+            "param3": 0,
+            "param4": 0,
+            "type": "missionItem"
+        }
+    ],
+    "plannedHomePosition": {
+        "autoContinue": true,
+        "command": 16,
+        "coordinate": [
+            47.39659309387207,
+            8.5479388236999512,
+            0
+        ],
+        "frame": 0,
+        "id": 0,
+        "param1": 0,
+        "param2": 0,
+        "param3": 0,
+        "param4": 0,
+        "type": "missionItem"
+    },
+    "version": "1.0"
+}