forked from Archive/PX4-Autopilot
297 lines
9.9 KiB
Python
Executable File
297 lines
9.9 KiB
Python
Executable File
#!/usr/bin/env python
|
|
|
|
################################################################################################
|
|
# @File MissionCheck.py
|
|
# Automated mission loading, execution and monitoring
|
|
# for Continuous Integration
|
|
#
|
|
# @author Sander Smeets <sander@droneslab.com>
|
|
#
|
|
# Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics.
|
|
################################################################################################
|
|
|
|
|
|
################################################################################################
|
|
# Settings
|
|
################################################################################################
|
|
|
|
connection_string = '127.0.0.1:14540'
|
|
|
|
import_mission_filename = 'VTOLmission.txt'
|
|
max_execution_time = 250
|
|
alt_acceptance_radius = 10
|
|
|
|
################################################################################################
|
|
# Init
|
|
################################################################################################
|
|
|
|
# Import DroneKit-Python
|
|
from dronekit import connect, Command
|
|
from pymavlink import mavutil
|
|
import time, sys, argparse
|
|
|
|
parser = argparse.ArgumentParser()
|
|
parser.add_argument("-c", "--connect", help="connection string")
|
|
parser.add_argument("-f", "--filename", help="mission filename")
|
|
parser.add_argument("-t", "--timeout", help="execution timeout", type=float)
|
|
parser.add_argument("-a", "--altrad", help="altitude acceptance radius", type=float)
|
|
args = parser.parse_args()
|
|
|
|
if args.connect:
|
|
connection_string = args.connect
|
|
if args.filename:
|
|
import_mission_filename = args.filename
|
|
if args.timeout:
|
|
max_execution_time = args.timeout
|
|
if args.altrad:
|
|
alt_acceptance_radius = args.altrad
|
|
|
|
|
|
|
|
mission_failed = False
|
|
MAV_MODE_AUTO = 4
|
|
|
|
# start time counter
|
|
start_time = time.time()
|
|
elapsed_time = time.time() - start_time
|
|
|
|
|
|
|
|
# Connect to the Vehicle
|
|
print "Connecting"
|
|
vehicle = connect(connection_string, wait_ready=True)
|
|
|
|
while not vehicle.system_status.state == "STANDBY" or vehicle.gps_0.fix_type < 3:
|
|
if time.time() - start_time > 20:
|
|
print "FAILED: SITL did not reach standby with GPS fix within 20 seconds"
|
|
sys.exit(98)
|
|
print "Waiting for vehicle to initialise... %s " % vehicle.system_status.state
|
|
time.sleep(1)
|
|
|
|
# Display basic vehicle state
|
|
print " Type: %s" % vehicle._vehicle_type
|
|
print " Armed?: %s" % vehicle.armed
|
|
print " System status: %s" % vehicle.system_status.state
|
|
print " GPS: %s" % vehicle.gps_0
|
|
print " Alt: %s" % vehicle.location.global_relative_frame.alt
|
|
|
|
|
|
################################################################################################
|
|
# Functions
|
|
################################################################################################
|
|
|
|
|
|
def readmission(aFileName):
|
|
"""
|
|
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 i, line in enumerate(f):
|
|
if i==0:
|
|
if not line.startswith('QGC WPL 110'):
|
|
raise Exception('File is not supported WP version')
|
|
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
|
|
|
|
|
|
def upload_mission(aFileName):
|
|
"""
|
|
Upload a mission from a file.
|
|
"""
|
|
#Read mission from file
|
|
missionlist = readmission(aFileName)
|
|
|
|
#Clear existing mission from vehicle
|
|
cmds = vehicle.commands
|
|
cmds.clear()
|
|
#Add new mission to vehicle
|
|
for command in missionlist:
|
|
cmds.add(command)
|
|
print ' Uploaded mission with %s items' % len(missionlist)
|
|
vehicle.commands.upload()
|
|
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" % export_mission_filename
|
|
#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" % (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
|
|
################################################################################################
|
|
|
|
current_sequence = -1
|
|
current_sequence_changed = False
|
|
current_landed_state = -1
|
|
home_position_set = False
|
|
|
|
#Create a message listener for mission sequence number
|
|
@vehicle.on_message('MISSION_CURRENT')
|
|
def listener(self, name, mission_current):
|
|
global current_sequence, current_sequence_changed
|
|
if (current_sequence <> mission_current.seq):
|
|
current_sequence = mission_current.seq;
|
|
current_sequence_changed = True
|
|
print 'current mission sequence: %s' % mission_current.seq
|
|
|
|
#Create a message listener for mission sequence number
|
|
@vehicle.on_message('EXTENDED_SYS_STATE')
|
|
def listener(self, name, extended_sys_state):
|
|
global current_landed_state
|
|
if (current_landed_state <> extended_sys_state.landed_state):
|
|
current_landed_state = extended_sys_state.landed_state;
|
|
|
|
#Create a message listener for home position fix
|
|
@vehicle.on_message('HOME_POSITION')
|
|
def listener(self, name, home_position):
|
|
global home_position_set
|
|
home_position_set = True
|
|
|
|
|
|
|
|
################################################################################################
|
|
# Start mission test
|
|
################################################################################################
|
|
|
|
|
|
while not home_position_set:
|
|
if time.time() - start_time > 30:
|
|
print "FAILED: getting home position 30 seconds"
|
|
sys.exit(98)
|
|
print "Waiting for home position..."
|
|
time.sleep(1)
|
|
|
|
|
|
#Upload mission from file
|
|
missionlist = upload_mission(import_mission_filename)
|
|
time.sleep(2)
|
|
|
|
# set mission mode the hard way
|
|
vehicle._master.mav.command_long_send(vehicle._master.target_system, vehicle._master.target_component,
|
|
mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
|
|
MAV_MODE_AUTO,
|
|
0, 0, 0, 0, 0, 0)
|
|
time.sleep(1)
|
|
|
|
|
|
# Arm vehicle
|
|
vehicle.armed = True
|
|
|
|
while not vehicle.system_status.state == "ACTIVE":
|
|
if time.time() - start_time > 30:
|
|
print "FAILED: vehicle did not arm within 30 seconds"
|
|
sys.exit(98)
|
|
print "Waiting for vehicle to arm..."
|
|
time.sleep(1)
|
|
|
|
|
|
|
|
# Wait for completion of mission items
|
|
while (current_sequence < len(missionlist)-1 and elapsed_time < max_execution_time):
|
|
time.sleep(.2)
|
|
if current_sequence > 0 and current_sequence_changed:
|
|
|
|
if missionlist[current_sequence-1].z - alt_acceptance_radius > vehicle.location.global_relative_frame.alt or missionlist[current_sequence-1].z + alt_acceptance_radius < vehicle.location.global_relative_frame.alt:
|
|
print "waypoint %s out of bounds altitude %s gps altitude: %s" % (current_sequence, missionlist[current_sequence-1].z, vehicle.location.global_relative_frame.alt)
|
|
mission_failed = True
|
|
current_sequence_changed = False
|
|
elapsed_time = time.time() - start_time
|
|
|
|
if elapsed_time < max_execution_time:
|
|
print "Mission items have been executed"
|
|
|
|
# wait for the vehicle to have landed
|
|
while (current_landed_state != 1 and elapsed_time < max_execution_time):
|
|
time.sleep(1)
|
|
elapsed_time = time.time() - start_time
|
|
|
|
if elapsed_time < max_execution_time:
|
|
print "Vehicle has landed"
|
|
|
|
# Disarm vehicle
|
|
vehicle.armed = False
|
|
|
|
# count elapsed time
|
|
elapsed_time = time.time() - start_time
|
|
|
|
# Close vehicle object before exiting script
|
|
vehicle.close()
|
|
time.sleep(2)
|
|
|
|
# Validate time constraint
|
|
if elapsed_time <= max_execution_time and not mission_failed:
|
|
print "Mission succesful time elapsed %s" % elapsed_time
|
|
sys.exit(0)
|
|
|
|
if elapsed_time > max_execution_time:
|
|
print "Mission FAILED to execute within %s seconds" % max_execution_time
|
|
sys.exit(99)
|
|
|
|
if mission_failed:
|
|
print "Mission FAILED out of bounds"
|
|
sys.exit(100)
|
|
|
|
print "Mission FAILED something strange happened"
|
|
sys.exit(101)
|