def get_default_params(atype, binary):
"""Get default parameters."""
# use rover simulator so SITL is not starved of input
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246)
if "plane" in binary or "rover" in binary:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10, unhide_parameters=True)
mavproxy = util.start_MAVProxy_SITL(atype)
print("Dumping defaults")
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = buildlogs_path('%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
print("Saved defaults for %s to %s" % (atype, dest))
return True
def apply_parameters_using_sitl(self):
'''start SITL, apply parameter file, stop SITL'''
sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup_default)
self.mavproxy = util.start_MAVProxy_SITL(self.log_name)
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
vinfo = vehicleinfo.VehicleInfo()
if self.params is None:
frames = vinfo.options[self.vehicleinfo_key()]["frames"]
self.params = frames[self.frame]["default_params_filename"]
if not isinstance(self.params, list):
self.params = [self.params]
for x in self.params:
self.mavproxy.send("param load %s\n" % os.path.join(testdir, x))
self.mavproxy.expect('Loaded [0-9]+ parameters')
self.set_parameter('LOG_REPLAY', 1)
self.set_parameter('LOG_DISARMED', 1)
# kill this SITL instance off:
util.pexpect_close(self.mavproxy)
util.pexpect_close(sitl)
self.mavproxy = None
def dump_logs(atype):
"""Dump DataFlash logs."""
logfile = '%s.log' % atype
print("Dumping logs for %s to %s" % (atype, logfile))
sitl = util.start_SITL(atype)
log = open(logfile, mode='w')
mavproxy = util.start_MAVProxy_SITL(atype, setup=True, logfile=log)
mavproxy.send('\n\n\n')
print("navigating menus")
mavproxy.expect(']')
mavproxy.send("logs\n")
if opts.cli:
mavproxy.interact()
return
mavproxy.expect("logs enabled:")
lognums = []
i = mavproxy.expect(["No logs", "(\d+) logs"])
if i == 0:
numlogs = 0
else:
numlogs = int(mavproxy.match.group(1))
for i in range(numlogs):
mavproxy.expect("Log (\d+)")
lognums.append(int(mavproxy.match.group(1)))
mavproxy.expect("Log]")
for i in range(numlogs):
print("Dumping log %u (i=%u)" % (lognums[i], i))
mavproxy.send("dump %u\n" % lognums[i])
mavproxy.expect("logs enabled:", timeout=120)
mavproxy.expect("Log]")
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
log.close()
print("Saved log for %s to %s" % (atype, logfile))
return True
def init(self):
if self.frame is None:
self.frame = "tracker"
self.mavproxy_logfile = self.open_mavproxy_logfile()
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints,
)
self.mavproxy = util.start_MAVProxy_SITL(
'AntennaTracker', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.progress("Ready to start testing!")
def init(self):
if self.frame is None:
self.frame = 'vectored'
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints,
wipe=True)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduSub', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % logfile)
buildlog = self.buildlogs_path("ArduSub-test.tlog")
self.progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
# get a mavlink connection going
connection_string = '127.0.0.1:19550'
try:
self.mav = mavutil.mavlink_connection(connection_string,
robust_parsing=True)
except Exception as msg:
self.progress("Failed to start mavlink connection on %s: %s" %
(connection_string, msg,))
raise
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.apply_defaultfile_parameters()
self.progress("Ready to start testing!")
def init(self):
if self.frame is None:
self.frame = 'quadplane'
defaults_file = os.path.join(testdir, 'default_params/quadplane.parm')
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup,
defaults_file=defaults_file,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL(
'QuadPlane', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)')
logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % logfile)
buildlog = self.buildlogs_path("QuadPlane-test.tlog")
self.progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
# get a mavlink connection going
connection_string = '127.0.0.1:19550'
try:
self.mav = mavutil.mavlink_connection(connection_string,
robust_parsing=True)
except Exception as msg:
self.progress("Failed to start mavlink connection on %s: %s" %
(connection_string, msg))
raise
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.progress("Ready to start testing!")
def init(self):
super(AutoTestQuadPlane, self).init(os.path.realpath(__file__))
if self.frame is None:
self.frame = 'quadplane'
self.mavproxy_logfile = self.open_mavproxy_logfile()
vinfo = vehicleinfo.VehicleInfo()
defaults_file = vinfo.options["ArduPlane"]["frames"][self.frame]["default_params_filename"]
defaults_filepath = os.path.join(testdir, defaults_file)
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup,
defaults_file=defaults_filepath,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints,
)
self.mavproxy = util.start_MAVProxy_SITL(
'QuadPlane',
logfile=self.mavproxy_logfile,
options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.progress("Ready to start testing!")
def init(self):
super(AutoTestSub, self).init(os.path.realpath(__file__))
if self.frame is None:
self.frame = 'vectored'
self.mavproxy_logfile = self.open_mavproxy_logfile()
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.sitl_home(),
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints,
wipe=True)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduSub',
logfile=self.mavproxy_logfile,
options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.apply_defaultfile_parameters()
# FIXME:
self.set_parameter("FS_GCS_ENABLE", 0)
self.progress("Ready to start testing!")
def init(self):
if self.frame is None:
self.frame = 'plane-elevrev'
self.mavproxy_logfile = self.open_mavproxy_logfile()
defaults_file = os.path.join(testdir,
'default_params/plane-jsbsim.parm')
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup,
defaults_file=defaults_file,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduPlane', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.hasInit = True
self.progress("Ready to start testing!")
def init(self):
if self.frame is None:
self.frame = 'plane-elevrev'
defaults_file = os.path.join(testdir,
'default_params/plane-jsbsim.parm')
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup,
defaults_file=defaults_file,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduPlane', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.hasInit = True
self.progress("Ready to start testing!")
def init(self):
if self.frame is None:
self.frame = "tracker"
self.mavproxy_logfile = self.open_mavproxy_logfile()
self.sitl = util.start_SITL(
self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints,
)
self.mavproxy = util.start_MAVProxy_SITL(
'AntennaTracker', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.progress("Ready to start testing!")
def fly_CopterAVC(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
frame=None,
params=None,
gdbserver=False,
speedup=10):
"""Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc
if frame is None:
frame = 'heli'
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt,
AVCHOME.heading)
sitl = util.start_SITL(binary,
wipe=True,
model=frame,
home=home,
speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('ArduCopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["ArduCopter"]["frames"][frame][
"default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
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)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='heli',
home=home,
speedup=speedup,
valgrind=valgrind,
gdb=gdb,
gdbserver=gdbserver)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)\r\n')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
if use_map:
mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
progress("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
failed_test_msg = "None"
try:
mav.wait_heartbeat()
set_rc_default(mavproxy)
set_rc(mavproxy, mav, 3, 1000)
homeloc = mav.location()
progress("Lowering rotor speed")
set_rc(mavproxy, mav, 8, 1000)
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
wait_ready_to_arm(mav)
# Arm
progress("# Arm motors")
if not arm_vehicle(mavproxy, mav):
failed_test_msg = "arm_motors failed"
progress(failed_test_msg)
failed = True
progress("Raising rotor speed")
set_rc(mavproxy, mav, 8, 2000)
progress("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
progress(failed_test_msg)
failed = True
else:
progress("Flew AVC mission OK")
progress("Lowering rotor speed")
set_rc(mavproxy, mav, 8, 1000)
# mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed"
progress(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='heli')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/Helicopter-valgrind.log"))
if failed:
progress("FAILED: %s" % failed_test_msg)
return False
return True
def init(self):
if self.frame is None:
self.frame = '+'
if self.frame == 'heli':
self.log_name = "HeliCopter"
self.home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt,
AVCHOME.heading)
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
wipe=True)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduCopter', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.buildlog = self.buildlogs_path(self.log_name + "-test.tlog")
self.progress("buildlog=%s" % self.buildlog)
self.copy_tlog = False
if os.path.exists(self.buildlog):
os.unlink(self.buildlog)
try:
os.link(self.logfile, self.buildlog)
except Exception:
self.progress("WARN: Failed to create symlink: %s => %s, "
"will copy tlog manually to target location" %
(self.logfile, self.buildlog))
self.copy_tlog = True
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
self.apply_defaultfile_parameters()
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
# get a mavlink connection going
connection_string = '127.0.0.1:19550'
try:
self.mav = mavutil.mavlink_connection(connection_string,
robust_parsing=True)
except Exception as msg:
self.progress("Failed to start mavlink connection on %s: %s" % (
connection_string,
msg,
))
raise
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.progress("Ready to start testing!")
def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
"""Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sitl = util.start_SITL(binary, wipe=True, model='heli', home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/copter-heli.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)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
if use_map:
mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')
# 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
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("Raising rotor speed")
mavproxy.send('rc 8 2000\n')
print("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew AVC mission OK")
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed"
print(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/Helicopter-valgrind.log"))
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True
def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame='+', params_file=None):
"""Fly ArduCopter in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params_file is None:
params_file = "{testdir}/default_params/copter.parm"
mavproxy.send("param load %s\n" % params_file.format(testdir=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)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
print("buildlog=%s" % buildlog)
copy_tlog = False
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
print("WARN: Failed to create symlink: " + logfile + " => " + buildlog + ", Will copy tlog manually to target location")
copy_tlog = True
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# 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
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a square in Stabilize mode
print("#")
print("########## Fly a square and save WPs with CH7 switch ##########")
print("#")
if not fly_square(mavproxy, mav):
failed_test_msg = "fly_square failed"
print(failed_test_msg)
failed = True
# save the stored mission to file
print("# Save out the CH7 mission to file")
if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")):
failed_test_msg = "save_mission_to_file failed"
print(failed_test_msg)
failed = True
# fly the stored mission
print("# Fly CH7 saved mission")
if not fly_mission(mavproxy, mav, height_accuracy=0.5, target_altitude=10):
failed_test_msg = "fly ch7_mission failed"
print(failed_test_msg)
failed = True
# Throttle Failsafe
print("#")
print("########## Test Failsafe ##########")
print("#")
if not fly_throttle_failsafe(mavproxy, mav):
failed_test_msg = "fly_throttle_failsafe failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Battery failsafe
if not fly_battery_failsafe(mavproxy, mav):
failed_test_msg = "fly_battery_failsafe failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Stability patch
print("#")
print("########## Test Stability Patch ##########")
print("#")
if not fly_stability_patch(mavproxy, mav, 30):
failed_test_msg = "fly_stability_patch failed"
print(failed_test_msg)
failed = True
# RTL
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after stab patch failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fence test
print("#")
print("########## Test Horizontal Fence ##########")
print("#")
if not fly_fence_test(mavproxy, mav, 180):
failed_test_msg = "fly_fence_test failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly GPS Glitch Loiter test
print("# GPS Glitch Loiter Test")
if not fly_gps_glitch_loiter_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_loiter_test failed"
print(failed_test_msg)
failed = True
# RTL after GPS Glitch Loiter test
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL failed"
print(failed_test_msg)
failed = True
# Fly GPS Glitch test in auto mode
print("# GPS Glitch Auto Test")
if not fly_gps_glitch_auto_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_auto_test failed"
print(failed_test_msg)
failed = True
# take-off ahead of next test
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Loiter for 10 seconds
print("#")
print("########## Test Loiter for 10 seconds ##########")
print("#")
if not loiter(mavproxy, mav):
failed_test_msg = "loiter failed"
print(failed_test_msg)
failed = True
# Loiter Climb
print("#")
print("# Loiter - climb to 30m")
print("#")
if not change_alt(mavproxy, mav, 30):
failed_test_msg = "change_alt climb failed"
print(failed_test_msg)
failed = True
# Loiter Descend
print("#")
print("# Loiter - descend to 20m")
print("#")
if not change_alt(mavproxy, mav, 20):
failed_test_msg = "change_alt descend failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after Loiter climb/descend failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Simple mode
print("# Fly in SIMPLE mode")
if not fly_simple(mavproxy, mav):
failed_test_msg = "fly_simple failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after simple mode failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a circle in super simple mode
print("# Fly a circle in SUPER SIMPLE mode")
if not fly_super_simple(mavproxy, mav):
failed_test_msg = "fly_super_simple failed"
print(failed_test_msg)
failed = True
# RTL
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after super simple mode failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Circle mode
print("# Fly CIRCLE mode")
if not fly_circle(mavproxy, mav):
failed_test_msg = "fly_circle failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after circle failed"
print(failed_test_msg)
failed = True
print("# Fly copter mission")
if not fly_auto_test(mavproxy, mav):
failed_test_msg = "fly_auto_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew copter mission OK")
# wait for disarm
mav.motors_disarmed_wait()
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduCopter-log.bin")):
failed_test_msg = "log_download failed"
print(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
# [2014/05/07] FC Because I'm doing a cross machine build (source is on host, build is on guest VM) I cannot hard link
# This flag tells me that I need to copy the data out
if copy_tlog:
shutil.copy(logfile, buildlog)
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True
def fly_Falcon(binary, filepath, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
"""Fly ArduCopter in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
if frame is None:
frame = '+'
print("# ########################### enter fly_falcon..")
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
ardulogfile = mavproxy.match.group(1)
logfile_path,logfile_name = os.path.split(ardulogfile)
logfile = os.path.join(logfile_path, "falconlog.tlog")
print("LOGFILE PATH %s" % logfile)
buildlog = util.reltopdir("../buildlogs/FalconCopter-test.tlog")
print("buildlog=%s" % buildlog)
copy_tlog = False
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
print("WARN: Failed to create symlink: " + logfile + " => " + buildlog + ", Will copy tlog manually to target location")
copy_tlog = True
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# 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
failed_test_msg = "None"
# Enable MAVProxy debugging
mavproxy.send("set moddebug 3\n")
try:
# Falcon test
print("######## Fly falcon mission now")
# time.sleep(3)
if not fly_falcon_test(mavproxy, mav, filepath):
failed_test_msg = "fly_falcon_test failed"
print(failed_test_msg)
failed = True
else:
print("fly_falcon_test OK")
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
# valgrind_log = util.valgrind_log_filepath(binary=binary, model='+')
# if os.path.exists(valgrind_log):
# os.chmod(valgrind_log, 0o644)
# shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
# [2014/05/07] FC Because I'm doing a cross machine build (source is on host, build is on guest VM) I cannot hard link
# This flag tells me that I need to copy the data out
if copy_tlog:
shutil.copy(logfile, buildlog)
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True
def test(mission):
global homeloc
assert mission in ['good1','good2','good3','bad1','bad2']
binary = '/experiment/source/build/sitl/bin/ardurover'
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
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(2)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='rover', home=home, speedup=10, gdb=False)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# 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)
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)
# Perform mission
return arm_rover(mavproxy, mav) and \
drive_mission(mavproxy, mav, mission)
# enforce a time limit
except pexpect.TIMEOUT:
print("Failed: time out")
return False
finally:
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False, speedup=10):
"""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=speedup)
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=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
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
def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=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
if frame is None:
frame = 'rover'
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=frame, 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
if params is None:
params = vinfo.options["APMrover2"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
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, gdbserver=gdbserver)
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 disarm_rover(mavproxy, mav):
print("Failed to DISARM")
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
def fly(mission):
"""Fly ArduPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
binary = '/experiment/source/build/sitl/bin/arduplane'
valgrind = False
use_map = False
gdb = False
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
sitl = util.start_SITL(binary,
model='plane-elevrev',
home=HOME_LOCATION,
speedup=10,
valgrind=valgrind,
gdb=gdb,
defaults_file=os.path.join(
testdir, 'default_params/plane-jsbsim.parm'))
mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
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)
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.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Failed takeoff")
failed = True
except pexpect.TIMEOUT as e:
print("Failed with timeout")
# try to run a mission?
# "ArduPlane-Missions/CMAC-bigloop.txt"
fly_mission(mavproxy, mav, "missions/{}".format(mission))
# shutdown
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
"""Fly QuadPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight 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'
sitl = util.start_SITL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
defaults_file=os.path.join(testdir, 'default_params/quadplane.parm'), valgrind=valgrind, gdb=gdb)
mavproxy = util.start_MAVProxy_SITL('QuadPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/QuadPlane-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
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.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
mavproxy.send('arm throttle\n')
mavproxy.expect('ARMED')
if not fly_mission(mavproxy, mav,
os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt"),
os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016-fence.txt")):
print("Failed mission")
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='quadplane')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/QuadPlane-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True
def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
"""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
if frame is None:
frame = 'rover'
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=frame, home=home, speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('APMrover2')
progress("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["APMrover2"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
set_parameter(mavproxy, 'LOG_REPLAY', 1)
set_parameter(mavproxy, 'LOG_DISARMED', 1)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='rover', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)\r\n')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
progress("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])
progress("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
progress("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:
progress("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
progress("Setting up RC parameters")
set_rc_default(mavproxy)
set_rc(mavproxy, mav, 8, 1800)
progress("Waiting for GPS fix")
mav.wait_gps_fix()
homeloc = mav.location()
progress("Home location: %s" % homeloc)
mavproxy.send('switch 6\n') # Manual mode
wait_mode(mav, 'MANUAL')
progress("Waiting reading for arm")
wait_ready_to_arm(mav)
if not arm_vehicle(mavproxy, mav):
progress("Failed to ARM")
failed = True
progress("#")
progress("########## Drive an RTL mission ##########")
progress("#")
# Drive a square in learning mode
if not drive_rtl_mission(mavproxy, mav):
progress("Failed RTL mission")
failed = True
progress("#")
progress("########## Drive a square and save WPs with CH7 switch ##########")
progress("#")
# Drive a square in learning mode
if not drive_mission(mavproxy, mav, os.path.join(testdir, "rover1.txt")):
progress("Failed mission")
failed = True
if not drive_brake(mavproxy, mav):
progress("Failed brake")
failed = True
if not disarm_vehicle(mavproxy, mav):
progress("Failed to DISARM")
failed = True
# do not move this to be the first test. MAVProxy's dedupe
# function may bite you.
progress("Getting banner")
if not do_get_banner(mavproxy, mav):
progress("FAILED: get banner")
failed = True
progress("Getting autopilot capabilities")
if not do_get_autopilot_capabilities(mavproxy, mav):
progress("FAILED: get capabilities")
failed = True
progress("Setting mode via MAV_COMMAND_DO_SET_MODE")
if not do_set_mode_via_command_long(mavproxy, mav):
failed = True
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/APMrover2-log.bin")):
progress("Failed log download")
failed = True
# if not drive_left_circuit(mavproxy, mav):
# progress("Failed left circuit")
# failed = True
# if not drive_RTL(mavproxy, mav):
# progress("Failed RTL")
# failed = True
except pexpect.TIMEOUT as e:
progress("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:
progress("FAILED: %s" % e)
return False
return True
def init(self):
if self.frame is None:
self.frame = 'plane-elevrev'
#Give path to the parameter file for the individual
#param_path = self.indv_name + '.parm'
#param_path = 'indv_params/' + param_path
#param_path = self.indv.param_path
print("param path: %s\n" % self.indv.param_path)
defaults_file = os.path.join(testdir, self.indv.param_path)
# Initialize SITL instance
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup,
defaults_file=defaults_file,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduPlane', options=self.mavproxy_options())
#self.mavproxy.expect('Telemetry log: (\S+)\r\n')
#print("got this expect (telem)\n")
#logfile = self.mavproxy.match.group(1)
logfile = "not sure"
self.progress("LOGFILE %s" % logfile)
buildlog = self.buildlogs_path("ArduPlane-test.tlog")
self.progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
print("Pre-Parameters")
self.mavproxy.expect('Received [0-9]+ parameters')
print("Received parameter\n")
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
# get a mavlink connection going
connection_string = '127.0.0.1:19550'
try:
self.mav = mavutil.mavlink_connection(connection_string,
robust_parsing=True)
except Exception as msg:
self.progress("Failed to start mavlink connection on %s: %s" %
(connection_string, msg))
raise
print("Finished connection")
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.progress("Ready to start testing!")
def fly(mission):
"""Fly ArduPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
binary = '/experiment/source/build/sitl/bin/arduplane'
valgrind = False
use_map = False
gdb = False
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
sitl = util.start_SITL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
valgrind=valgrind, gdb=gdb,
defaults_file=os.path.join(testdir, 'default_params/plane-jsbsim.parm'))
mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
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)
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.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Failed takeoff")
failed = True
except pexpect.TIMEOUT as e:
print("Failed with timeout")
# try to run a mission?
# "ArduPlane-Missions/CMAC-bigloop.txt"
fly_mission(mavproxy, mav, "missions/{}".format(mission))
# shutdown
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
def dive_ArduSub(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
gdbserver=False,
speedup=10):
"""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=speedup)
mavproxy = util.start_MAVProxy_SITL('ArduSub')
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=speedup,
valgrind=valgrind,
gdb=gdb,
gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
mavproxy.expect('Telemetry log: (\S+)\r\n')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduSub-test.tlog")
progress("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])
progress("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
progress("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:
progress("Waiting for a heartbeat with mavlink protocol %s" %
mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
progress("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()
progress("Home location: %s" % homeloc)
set_rc_default(mavproxy)
if not arm_vehicle(mavproxy, mav):
progress("Failed to ARM")
failed = True
if not dive_manual(mavproxy, mav):
progress("Failed manual dive")
failed = True
if not dive_mission(mavproxy, mav,
os.path.join(testdir, "sub_mission.txt")):
progress("Failed auto mission")
failed = True
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/ArduSub-log.bin")):
progress("Failed log download")
failed = True
except pexpect.TIMEOUT as e:
progress("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:
progress("FAILED: %s" % e)
return False
return True
def fly_CopterAVC(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False):
"""Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt,
AVCHOME.heading)
sitl = util.start_SITL(binary,
wipe=True,
model='heli',
home=home,
speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL(
'ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/copter-heli.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)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='heli',
home=home,
speedup=speedup_default,
valgrind=valgrind,
gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
if use_map:
mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')
# 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
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("Raising rotor speed")
mavproxy.send('rc 8 2000\n')
print("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew AVC mission OK")
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed"
print(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/Helicopter-valgrind.log"))
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True
def drive_APMrover2(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
frame=None,
params=None,
gdbserver=False,
speedup=10):
"""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
if frame is None:
frame = 'rover'
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=frame,
home=home,
speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('APMrover2')
progress("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["APMrover2"]["frames"][frame][
"default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
set_parameter(mavproxy, 'LOG_REPLAY', 1)
set_parameter(mavproxy, 'LOG_DISARMED', 1)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='rover',
home=home,
speedup=speedup,
valgrind=valgrind,
gdb=gdb,
gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)\r\n')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
progress("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])
progress("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
progress("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:
progress("Waiting for a heartbeat with mavlink protocol %s" %
mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
progress("Setting up RC parameters")
set_rc_default(mavproxy)
set_rc(mavproxy, mav, 8, 1800)
progress("Waiting for GPS fix")
mav.wait_gps_fix()
homeloc = mav.location()
progress("Home location: %s" % homeloc)
mavproxy.send('switch 6\n') # Manual mode
wait_mode(mav, 'MANUAL')
progress("Waiting reading for arm")
wait_ready_to_arm(mav)
if not arm_vehicle(mavproxy, mav):
progress("Failed to ARM")
failed = True
progress("#")
progress(
"########## Drive a square and save WPs with CH7 switch ##########"
)
progress("#")
# Drive a square in learning mode
if not drive_mission(mavproxy, mav, os.path.join(
testdir, "rover1.txt")):
progress("Failed mission")
failed = True
if not drive_brake(mavproxy, mav):
progress("Failed brake")
failed = True
if not disarm_vehicle(mavproxy, mav):
progress("Failed to DISARM")
failed = True
# do not move this to be the first test. MAVProxy's dedupe
# function may bite you.
progress("Getting banner")
if not do_get_banner(mavproxy, mav):
progress("FAILED: get banner")
failed = True
progress("Getting autopilot capabilities")
if not do_get_autopilot_capabilities(mavproxy, mav):
progress("FAILED: get capabilities")
failed = True
progress("Setting mode via MAV_COMMAND_DO_SET_MODE")
if not do_set_mode_via_command_long(mavproxy, mav):
failed = True
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/APMrover2-log.bin")):
progress("Failed log download")
failed = True
# if not drive_left_circuit(mavproxy, mav):
# progress("Failed left circuit")
# failed = True
# if not drive_RTL(mavproxy, mav):
# progress("Failed RTL")
# failed = True
except pexpect.TIMEOUT as e:
progress("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:
progress("FAILED: %s" % e)
return False
return True
def execute_test(mission):
missions = {
'throttle_failsafe':
lambda mavproxy, mav: test_throttle_failsafe(mavproxy, mav),
'battery_failsafe':
lambda mavproxy, mav: test_battery_failsafe(mavproxy, mav),
'horizontal_fence':
lambda mavproxy, mav: test_horizontal_fence(mavproxy, mav),
'square_stabilize':
lambda mavproxy, mav: test_square_stabilize(mavproxy, mav),
'stability_patch':
lambda mavproxy, mav: test_stability_patch(mavproxy, mav),
'gps_glitch_loiter':
lambda mavproxy, mav: test_gps_glitch_loiter(mavproxy, mav),
'gps_glitch_auto':
lambda mavproxy, mav: test_gps_glitch_auto(mavproxy, mav),
'loiter_ten':
lambda mavproxy, mav: test_loiter_ten(mavproxy, mav),
'simple':
lambda mavproxy, mav: test_simple(mavproxy, mav),
'super_simple':
lambda mavproxy, mav: test_super_simple(mavproxy, mav),
'circle':
lambda mavproxy, mav: test_circle(mavproxy, mav),
'copter_mission':
lambda mavproxy, mav: test_copter_mission(mavproxy, mav)
}
mission = missions[mission]
global homeloc
binary = '/experiment/source/build/sitl/bin/arducopter'
use_map = False
frame = '+'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary,
wipe=True,
model=frame,
home=home,
speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL(
'ArduCopter',
options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
params = vinfo.options["ArduCopter"]["frames"][frame][
"default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(2)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model=frame,
home=home,
speedup=speedup_default,
valgrind=False,
gdb=False)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# 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)
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
# Arm the motors
wait_ready_to_arm(mavproxy)
if not arm_motors(mavproxy, mav):
print("Failed to arm motors")
return False
# Perform mission
return mission(mavproxy, mav)
# enforce a time limit
except pexpect.TIMEOUT:
print("Failed: time out")
return False
finally:
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
def fly_ArduCopter(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False):
"""Fly ArduCopter in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary,
wipe=True,
model='+',
home=home,
speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL(
'ArduCopter',
options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/copter.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)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='+',
home=home,
speedup=speedup_default,
valgrind=valgrind,
gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
print("buildlog=%s" % buildlog)
copy_tlog = False
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
print("WARN: Failed to create symlink: " + logfile + " => " +
buildlog + ", Will copy tlog manually to target location")
copy_tlog = True
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# 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
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a square in Stabilize mode
print("#")
print(
"########## Fly a square and save WPs with CH7 switch ##########")
print("#")
if not fly_square(mavproxy, mav):
failed_test_msg = "fly_square failed"
print(failed_test_msg)
failed = True
# save the stored mission to file
print("# Save out the CH7 mission to file")
if not save_mission_to_file(mavproxy, mav,
os.path.join(testdir, "ch7_mission.txt")):
failed_test_msg = "save_mission_to_file failed"
print(failed_test_msg)
failed = True
# fly the stored mission
print("# Fly CH7 saved mission")
if not fly_mission(
mavproxy, mav, height_accuracy=0.5, target_altitude=10):
failed_test_msg = "fly ch7_mission failed"
print(failed_test_msg)
failed = True
# Throttle Failsafe
print("#")
print("########## Test Failsafe ##########")
print("#")
if not fly_throttle_failsafe(mavproxy, mav):
failed_test_msg = "fly_throttle_failsafe failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Battery failsafe
if not fly_battery_failsafe(mavproxy, mav):
failed_test_msg = "fly_battery_failsafe failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Stability patch
print("#")
print("########## Test Stability Patch ##########")
print("#")
if not fly_stability_patch(mavproxy, mav, 30):
failed_test_msg = "fly_stability_patch failed"
print(failed_test_msg)
failed = True
# RTL
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after stab patch failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fence test
print("#")
print("########## Test Horizontal Fence ##########")
print("#")
if not fly_fence_test(mavproxy, mav, 180):
failed_test_msg = "fly_fence_test failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly GPS Glitch Loiter test
print("# GPS Glitch Loiter Test")
if not fly_gps_glitch_loiter_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_loiter_test failed"
print(failed_test_msg)
failed = True
# RTL after GPS Glitch Loiter test
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL failed"
print(failed_test_msg)
failed = True
# Fly GPS Glitch test in auto mode
print("# GPS Glitch Auto Test")
if not fly_gps_glitch_auto_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_auto_test failed"
print(failed_test_msg)
failed = True
# take-off ahead of next test
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Loiter for 10 seconds
print("#")
print("########## Test Loiter for 10 seconds ##########")
print("#")
if not loiter(mavproxy, mav):
failed_test_msg = "loiter failed"
print(failed_test_msg)
failed = True
# Loiter Climb
print("#")
print("# Loiter - climb to 30m")
print("#")
if not change_alt(mavproxy, mav, 30):
failed_test_msg = "change_alt climb failed"
print(failed_test_msg)
failed = True
# Loiter Descend
print("#")
print("# Loiter - descend to 20m")
print("#")
if not change_alt(mavproxy, mav, 20):
failed_test_msg = "change_alt descend failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after Loiter climb/descend failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Simple mode
print("# Fly in SIMPLE mode")
if not fly_simple(mavproxy, mav):
failed_test_msg = "fly_simple failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after simple mode failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a circle in super simple mode
print("# Fly a circle in SUPER SIMPLE mode")
if not fly_super_simple(mavproxy, mav):
failed_test_msg = "fly_super_simple failed"
print(failed_test_msg)
failed = True
# RTL
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after super simple mode failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Circle mode
print("# Fly CIRCLE mode")
if not fly_circle(mavproxy, mav):
failed_test_msg = "fly_circle failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after circle failed"
print(failed_test_msg)
failed = True
print("# Fly copter mission")
if not fly_auto_test(mavproxy, mav):
failed_test_msg = "fly_auto_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew copter mission OK")
# wait for disarm
mav.motors_disarmed_wait()
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/ArduCopter-log.bin")):
failed_test_msg = "log_download failed"
print(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
# [2014/05/07] FC Because I'm doing a cross machine build (source is on host, build is on guest VM) I cannot hard link
# This flag tells me that I need to copy the data out
if copy_tlog:
shutil.copy(logfile, buildlog)
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True
def init(self):
if self.frame is None:
self.frame = '+'
if self.frame == 'heli':
self.log_name = "HeliCopter"
self.home = "%f,%f,%u,%u" % (AVCHOME.lat,
AVCHOME.lng,
AVCHOME.alt,
AVCHOME.heading)
self.apply_parameters_using_sitl()
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduCopter', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.buildlog = self.buildlogs_path(self.log_name + "-test.tlog")
self.progress("buildlog=%s" % self.buildlog)
self.copy_tlog = False
if os.path.exists(self.buildlog):
os.unlink(self.buildlog)
try:
os.link(self.logfile, self.buildlog)
except Exception:
self.progress("WARN: Failed to create symlink: %s => %s, "
"will copy tlog manually to target location" %
(self.logfile, self.buildlog))
self.copy_tlog = True
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
# get a mavlink connection going
connection_string = '127.0.0.1:19550'
try:
self.mav = mavutil.mavlink_connection(connection_string,
robust_parsing=True)
except Exception as msg:
self.progress("Failed to start mavlink connection on %s: %s" %
(connection_string, msg,))
raise
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.progress("Ready to start testing!")
def init(self):
if self.frame is None:
self.frame = 'rover'
if self.viewerip:
self.options += " --out=%s:14550" % self.viewerip
if self.use_map:
self.options += ' --map'
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup_default)
self.mavproxy = util.start_MAVProxy_SITL('APMrover2')
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
vinfo = vehicleinfo.VehicleInfo()
if self.params is None:
frames = vinfo.options["APMrover2"]["frames"]
self.params = frames[self.frame]["default_params_filename"]
if not isinstance(self.params, list):
self.params = [self.params]
for x in self.params:
self.mavproxy.send("param load %s\n" % os.path.join(testdir, x))
self.mavproxy.expect('Loaded [0-9]+ parameters')
self.set_parameter('LOG_REPLAY', 1)
self.set_parameter('LOG_DISARMED', 1)
self.progress("RELOADING SITL WITH NEW PARAMETERS")
# restart with new parms
util.pexpect_close(self.mavproxy)
util.pexpect_close(self.sitl)
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL('APMrover2',
options=self.options)
self.mavproxy.expect('Telemetry log: (\S+)')
logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % logfile)
buildlog = self.buildlogs_path("APMrover2-test.tlog")
self.progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
# get a mavlink connection going
connection_string = '127.0.0.1:19550'
try:
self.mav = mavutil.mavlink_connection(connection_string,
robust_parsing=True)
except Exception as msg:
self.progress("Failed to start mavlink connection on %s" %
connection_string)
raise
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.progress("Ready to start testing!")
def execute_test(mission):
missions = {
'throttle_failsafe':
lambda mavproxy, mav: test_throttle_failsafe(mavproxy, mav),
'battery_failsafe':
lambda mavproxy, mav: test_battery_failsafe(mavproxy, mav),
'horizontal_fence':
lambda mavproxy, mav: test_horizontal_fence(mavproxy, mav),
'square_stabilize':
lambda mavproxy, mav: test_square_stabilize(mavproxy, mav),
'stability_patch':
lambda mavproxy, mav: test_stability_patch(mavproxy, mav),
'gps_glitch_loiter':
lambda mavproxy, mav: test_gps_glitch_loiter(mavproxy, mav),
'gps_glitch_auto':
lambda mavproxy, mav: test_gps_glitch_auto(mavproxy, mav),
'loiter_ten':
lambda mavproxy, mav: test_loiter_ten(mavproxy, mav),
'simple':
lambda mavproxy, mav: test_simple(mavproxy, mav),
'super_simple':
lambda mavproxy, mav: test_super_simple(mavproxy, mav),
'circle':
lambda mavproxy, mav: test_circle(mavproxy, mav),
'copter_mission':
lambda mavproxy, mav: test_copter_mission(mavproxy, mav)
}
mission = missions[mission]
global homeloc
binary = '/experiment/source/build/sitl/bin/arducopter'
use_map = False
frame = '+'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(2)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=False, gdb=False)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# 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)
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
# Arm the motors
wait_ready_to_arm(mavproxy)
if not arm_motors(mavproxy, mav):
print("Failed to arm motors")
return False
# Perform mission
return mission(mavproxy, mav)
# enforce a time limit
except pexpect.TIMEOUT:
print("Failed: time out")
return False
finally:
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
def test(mission):
global homeloc
assert mission in ['good1', 'good2', 'good3', 'bad1', 'bad2']
binary = '/experiment/source/build/sitl/bin/ardurover'
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
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(2)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='rover',
home=home,
speedup=10,
gdb=False)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# 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)
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)
# Perform mission
return arm_rover(mavproxy, mav) and \
drive_mission(mavproxy, mav, mission)
# enforce a time limit
except pexpect.TIMEOUT:
print("Failed: time out")
return False
finally:
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
"""Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc
if frame is None:
frame = 'heli'
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('ArduCopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
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)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='heli', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)\r\n')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
if use_map:
mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
progress("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
failed_test_msg = "None"
try:
mav.wait_heartbeat()
set_rc_default(mavproxy)
set_rc(mavproxy, mav, 3, 1000)
homeloc = mav.location()
progress("Lowering rotor speed")
set_rc(mavproxy, mav, 8, 1000)
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
wait_ready_to_arm(mav)
# Arm
progress("# Arm motors")
if not arm_vehicle(mavproxy, mav):
failed_test_msg = "arm_motors failed"
progress(failed_test_msg)
failed = True
progress("Raising rotor speed")
set_rc(mavproxy, mav, 8, 2000)
progress("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
progress(failed_test_msg)
failed = True
else:
progress("Flew AVC mission OK")
progress("Lowering rotor speed")
set_rc(mavproxy, mav, 8, 1000)
# mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed"
progress(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='heli')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/Helicopter-valgrind.log"))
if failed:
progress("FAILED: %s" % failed_test_msg)
return False
return True
def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False):
"""Fly ArduPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight 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'
sitl = util.start_SITL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
valgrind=valgrind, gdb=gdb, gdbserver=gdbserver,
defaults_file=os.path.join(testdir, 'default_params/plane-jsbsim.parm'))
mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
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
fail_list = []
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.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Failed takeoff")
failed = True
fail_list.append("takeoff")
if not fly_left_circuit(mavproxy, mav):
print("Failed left circuit")
failed = True
fail_list.append("left_circuit")
if not axial_left_roll(mavproxy, mav, 1):
print("Failed left roll")
failed = True
fail_list.append("left_roll")
if not inside_loop(mavproxy, mav):
print("Failed inside loop")
failed = True
fail_list.append("inside_loop")
if not test_stabilize(mavproxy, mav):
print("Failed stabilize test")
failed = True
fail_list.append("stabilize")
if not test_acro(mavproxy, mav):
print("Failed ACRO test")
failed = True
fail_list.append("acro")
if not test_FBWB(mavproxy, mav):
print("Failed FBWB test")
failed = True
fail_list.append("fbwb")
if not test_FBWB(mavproxy, mav, mode='CRUISE'):
print("Failed CRUISE test")
failed = True
fail_list.append("cruise")
if not fly_RTL(mavproxy, mav):
print("Failed RTL")
failed = True
fail_list.append("RTL")
if not fly_LOITER(mavproxy, mav):
print("Failed LOITER")
failed = True
fail_list.append("LOITER")
if not fly_CIRCLE(mavproxy, mav):
print("Failed CIRCLE")
failed = True
fail_list.append("LOITER")
if not fly_mission(mavproxy, mav, os.path.join(testdir, "ap1.txt"), height_accuracy = 10,
target_altitude=homeloc.alt+100):
print("Failed mission")
failed = True
fail_list.append("mission")
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduPlane-log.bin")):
print("Failed log download")
failed = True
fail_list.append("log_download")
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
fail_list.append("timeout")
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='plane-elevrev')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
if failed:
print("FAILED: %s" % e, fail_list)
return False
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 = sitl.valgrind_log_filepath()
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True
