Exemple #1
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def drive_APMrover2(viewerip=None):
    '''drive APMrover2 in SIL

    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

    sil = util.start_SIL('APMrover2', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=50 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)

    runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Starting at lat')

    sil = util.start_SIL('APMrover2')
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/APMrover2-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #2
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def build_examples():
    '''run the build_examples.sh script'''
    print("Running build_examples.sh")
    if util.run_cmd(util.reltopdir('Tools/scripts/build_examples.sh'), dir=util.reltopdir('.')) != 0:
        print("Failed build_examples.sh")
        return False
    return True
Exemple #3
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def build_examples():
    """run the build_examples.sh script"""
    print("Running build_examples.sh")
    if util.run_cmd(util.reltopdir("Tools/scripts/build_examples.sh"), dir=util.reltopdir(".")) != 0:
        print("Failed build_examples.sh")
        return False
    return True
def write_XMLresults(atype, results):
    '''write XML JUnit results'''
    from pymavlink.generator import mavtemplate
    t = mavtemplate.MAVTemplate()
    for x in glob.glob(util.reltopdir('Tools/autotest/junit.xml')):
        junit_xml = util.loadfile(x)
        f = open(util.reltopdir("../buildlogs/%s-%s" % (atype, os.path.basename(x))), mode='w')
        t.write(f, junit_xml, results)
        f.close()
def fly_ArduCopter_scripted(testname):
    '''fly ArduCopter in SIL

    '''
    global homeloc

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += ' --wind=6,45,.3'

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('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 set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'

    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    # 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, arducopter.expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #6
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def build_all():
    '''run the build_all.sh script'''
    print("Running build_all.sh")
    flags = ""
    if opts.incremental == True:
        print("Building for incremental")
        flags = "-i"
    if util.run_cmd(util.reltopdir('Tools/scripts/build_all.sh') + " " + flags , dir=util.reltopdir('.')) != 0:
        print("Failed build_all.sh")
        return False
    return True
Exemple #7
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def write_webresults(results):
    '''write webpage results'''
    from pymavlink.generator import mavtemplate
    t = mavtemplate.MAVTemplate()
    for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
        html = util.loadfile(h)
        f = open("buildlogs/%s" % os.path.basename(h), mode='w')
        t.write(f, html, results)
        f.close()
    for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
        shutil.copy(f, 'buildlogs/%s' % os.path.basename(f))
Exemple #8
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def convert_gpx():
    '''convert any mavlog files to GPX and KML'''
    import glob
    mavlog = glob.glob(util.reltopdir("../buildlogs/*.mavlog"))
    for m in mavlog:
        util.run_cmd(util.reltopdir("../mavlink/pymavlink/examples/mavtogpx.py") + " --nofixcheck " + m)
        gpx = m + '.gpx'
        kml = m + '.kml'
        util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False)
        util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False)
    return True
Exemple #9
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def write_webresults(results):
    '''write webpage results'''
    from pymavlink.generator import mavtemplate
    t = mavtemplate.MAVTemplate()
    for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
        html = util.loadfile(h)
        f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)),
                 mode='w')
        t.write(f, html, results)
        f.close()
    for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
        shutil.copy(f, util.reltopdir('../buildlogs/%s' % os.path.basename(f)))
Exemple #10
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def write_webresults(results):
    """write webpage results"""
    from pymavlink.generator import mavtemplate

    t = mavtemplate.MAVTemplate()
    for h in glob.glob(util.reltopdir("Tools/autotest/web/*.html")):
        html = util.loadfile(h)
        f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)), mode="w")
        t.write(f, html, results)
        f.close()
    for f in glob.glob(util.reltopdir("Tools/autotest/web/*.png")):
        shutil.copy(f, util.reltopdir("../buildlogs/%s" % os.path.basename(f)))
Exemple #11
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def write_webresults(results):
    '''write webpage results'''
    sys.path.insert(0, os.path.join(util.reltopdir("../mavlink/pymavlink/generator")))
    import mavtemplate
    t = mavtemplate.MAVTemplate()
    for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
        html = util.loadfile(h)
        f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)), mode='w')
        t.write(f, html, results)
        f.close()
    for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
        shutil.copy(f, util.reltopdir('../buildlogs/%s' % os.path.basename(f)))
Exemple #12
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def convert_gpx():
    '''convert any tlog files to GPX and KML'''
    import glob
    mavlog = glob.glob(util.reltopdir("../buildlogs/*.tlog"))
    for m in mavlog:
        util.run_cmd(util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m)
        gpx = m + '.gpx'
        kml = m + '.kml'
        util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False)
        util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False)
        util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m,m))
    return True
Exemple #13
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def convert_gpx():
    """convert any tlog files to GPX and KML"""
    import glob

    mavlog = glob.glob(util.reltopdir("../buildlogs/*.tlog"))
    for m in mavlog:
        util.run_cmd(util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m)
        gpx = m + ".gpx"
        kml = m + ".kml"
        util.run_cmd("gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s" % (gpx, kml), checkfail=False)
        util.run_cmd("zip %s.kmz %s.kml" % (m, m), checkfail=False)
        util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m))
    return True
Exemple #14
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def build_devrelease():
    '''run the build_devrelease.sh script'''
    print("Running build_devrelease.sh")
    import shutil
    # copy the script as it changes git branch, which can change the script while running
    orig=util.reltopdir('Tools/scripts/build_devrelease.sh')
    copy=util.reltopdir('./build_devrelease.sh')
    shutil.copyfile(orig, copy)
    shutil.copymode(orig, copy)
    if util.run_cmd(copy, dir=util.reltopdir('.')) != 0:
        print("Failed build_devrelease.sh")
        return False
    return True
Exemple #15
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def convert_gpx():
    print( "===== Converting buildlogs/*.tlog ====" )
    '''convert any tlog files to GPX and KML'''
    import glob
    mavlog = glob.glob(util.reltopdir("../buildlogs/*.tlog"))
    for m in mavlog:
        util.run_cmd(util.reltopdir("../mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m)
        gpx = m + '.gpx'
        kml = m + '.kml'
        util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False)
        util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False)
        util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m,m))
    return True
Exemple #16
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def test_prerequesites():
    '''check we have the right directories and tools to run tests'''
    print("Testing prerequesites")
    util.mkdir_p(util.reltopdir('../buildlogs'))
    if not os.path.exists(util.reltopdir('../HILTest/hil_quad.py')):
        print('''
You need to install HILTest in %s

You can get it from git://git.samba.org/tridge/UAV/HILTest.git

        ''' % util.reltopdir('../HILTest'))
        return False
    return True
Exemple #17
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def build_devrelease():
    '''run the build_devrelease.sh script'''
    print("Running build_devrelease.sh")
    import shutil
    # copy the script as it changes git branch, which can change the script while running
    orig=util.reltopdir('Tools/scripts/build_devrelease.sh')
    copy=util.reltopdir('./build_devrelease.sh')
    shutil.copyfile(orig, copy)
    shutil.copymode(orig, copy)
    if util.run_cmd(copy, dir=util.reltopdir('.')) != 0:
        print("Failed build_devrelease.sh")
        return False
    return True
Exemple #18
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def test_prerequesites():
    '''check we have the right directories and tools to run tests'''
    print("Testing prerequesites")
    util.mkdir_p(util.reltopdir('../buildlogs'))
    if not os.path.exists(util.reltopdir('../HILTest/hil_quad.py')):
        print('''
You need to install HILTest in %s

You can get it from git://git.samba.org/tridge/UAV/HILTest.git

        ''' % util.reltopdir('../HILTest'))
        return False
    return True
Exemple #19
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def write_XMLresults(atype, results):
    '''write XML JUnit results'''
    sys.path.insert(
        0, os.path.join(util.reltopdir("../mavlink/pymavlink/generator")))
    import mavtemplate
    t = mavtemplate.MAVTemplate()
    for x in glob.glob(util.reltopdir('Tools/autotest/junit.xml')):
        junit_xml = util.loadfile(x)
        f = open(util.reltopdir("../buildlogs/%s-%s" %
                                (atype, os.path.basename(x))),
                 mode='w')
        t.write(f, junit_xml, results)
        f.close()
Exemple #20
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def build_binaries():
    """run the build_binaries.sh script"""
    print("Running build_binaries.sh")
    import shutil

    # copy the script as it changes git branch, which can change the script while running
    orig = util.reltopdir("Tools/scripts/build_binaries.sh")
    copy = util.reltopdir("./build_binaries.sh")
    shutil.copyfile(orig, copy)
    shutil.copymode(orig, copy)
    if util.run_cmd(copy, dir=util.reltopdir(".")) != 0:
        print("Failed build_binaries.sh")
        return False
    return True
Exemple #21
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def binary_path(step, debug=False):
    if step.find("ArduCopter") != -1:
        binary_name = "arducopter-quad"
    elif step.find("ArduPlane") != -1:
        binary_name = "arduplane"
    elif step.find("APMrover2") != -1:
        binary_name = "ardurover"
    elif step.find("AntennaTracker") != -1:
        binary_name = "antennatracker"
    elif step.find("CopterAVC") != -1:
        binary_name = "arducopter-heli"
    elif step.find("QuadPlane") != -1:
        binary_name = "arduplane"
    else:
        # cope with builds that don't have a specific binary
        return None

    if debug:
        binary_basedir = "sitl-debug"
    else:
        binary_basedir = "sitl"

    binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name))
    if not os.path.exists(binary):
        if os.path.exists(binary + ".exe"):
            binary_path += ".exe"
        else:
            raise ValueError("Binary (%s) does not exist" % (binary,))

    return binary
Exemple #22
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def get_default_params(atype, binary):
    '''get default parameters'''

    # use rover simulator so SITL is not starved of input
    from pymavlink import mavutil
    HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
    if binary.find("plane") != -1 or binary.find("rover") != -1:
        frame = "rover"
    else:
        frame = "+"

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL(binary, wipe=True, model=frame, home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL(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(sil)
        sil = util.start_SIL(binary, model=frame, home=home, speedup=10)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = util.reltopdir('../buildlogs/%s-defaults.parm' % atype)
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True
Exemple #23
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def dump_logs(atype):
    '''dump DataFlash logs'''
    print("Dumping logs for %s" % atype)
    sil = util.start_SIL(atype)
    logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
    log = open(logfile, mode='w')
    mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
    mavproxy.send('\n\n\n')
    print("navigating menus")
    mavproxy.expect(']')
    mavproxy.send("logs\n")
    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(sil)
    log.close()
    print("Saved log for %s to %s" % (atype, logfile))
    return True
Exemple #24
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def dump_logs(atype):
    '''dump DataFlash logs'''
    print("Dumping logs for %s" % atype)
    sil = util.start_SIL(atype)
    logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
    log = open(logfile, mode='w')
    mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
    mavproxy.send('\n\n\n')
    print("navigating menus")
    mavproxy.expect(']')
    mavproxy.send("logs\n")
    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(sil)
    log.close()
    print("Saved log for %s to %s" % (atype, logfile))
    return True
Exemple #25
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def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False, gdb=False):
    """fly ArduCopter in SIL for AVC2013 mission
    """
    global homeloc

    home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    sil = util.start_SIL(binary, wipe=True, model="heli", home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL("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/Helicopter.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(sil)

    sil = util.start_SIL(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 map:
        options += " --map"
    mavproxy = util.start_MAVProxy_SIL("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([sil, mavproxy])

    if 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, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #26
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def fly_CopterAVC(viewerip=None, map=False):
    '''fly ArduCopter in SIL for AVC2013 mission
    '''
    global homeloc

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    sil = util.start_SIL('ArduCopter', wipe=True, model='heli', home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL('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/Helicopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', model='heli', home=home, speedup=speedup_default)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('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([sil, mavproxy])

    if 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, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #27
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def build_parameters():
    '''run the param_parse.py script'''
    print("Running param_parse.py")
    if util.run_cmd(util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), dir=util.reltopdir('.')) != 0:
        print("Failed param_parse.py")
        return False
    return True
Exemple #28
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def fly_CopterAVC(viewerip=None, map=False):
    '''fly ArduCopter in SIL for AVC2013 mission
    '''
    global homeloc

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    sil = util.start_SIL('ArduCopter', wipe=True, model='heli', home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL('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/Helicopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', model='heli', home=home, speedup=speedup_default)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('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([sil, mavproxy])

    if 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, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #29
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def build_parameters():
    """run the param_parse.py script"""
    print("Running param_parse.py")
    if util.run_cmd(util.reltopdir("Tools/autotest/param_metadata/param_parse.py"), dir=util.reltopdir(".")) != 0:
        print("Failed param_parse.py")
        return False
    return True
Exemple #30
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def binary_path(step, debug=False):
    if step.find("ArduCopter") != -1:
        binary_name = "arducopter-quad"
    elif step.find("ArduPlane") != -1:
        binary_name = "arduplane"
    elif step.find("APMrover2") != -1:
        binary_name = "ardurover"
    elif step.find("AntennaTracker") != -1:
        binary_name = "antennatracker"
    elif step.find("CopterAVC") != -1:
        binary_name = "arducopter-heli"
    elif step.find("QuadPlane") != -1:
        binary_name = "arduplane"
    else:
        # cope with builds that don't have a specific binary
        return None

    if debug:
        binary_basedir = "sitl-debug"
    else:
        binary_basedir = "sitl"

    binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name))
    if not os.path.exists(binary):
        if os.path.exists(binary + ".exe"):
            binary_path += ".exe"
        else:
            raise ValueError("Binary (%s) does not exist" % (binary,))

    return binary
Exemple #31
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def get_default_params(atype):
    '''get default parameters'''

    # use rover simulator so SITL is not starved of input
    from pymavlink import mavutil
    HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)

    runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    runsim.expect('Starting at lat')

    sil = util.start_SIL(atype, wipe=True)
    mavproxy = util.start_MAVProxy_SIL(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(sil)
        sil = util.start_SIL(atype)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = 'buildlogs/%s-defaults.parm' % atype
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    util.pexpect_close(runsim)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True
Exemple #32
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 def __init__(self):
     self.date = time.asctime()
     self.githash = util.run_cmd('git rev-parse HEAD',
                                 output=True,
                                 dir=util.reltopdir('.')).strip()
     self.tests = []
     self.files = []
Exemple #33
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def build_parameters():
    '''run the param_parse.py script'''
    print("Running param_parse.py")
    if util.run_cmd(util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), dir=util.reltopdir('.')) != 0:
        print("Failed param_parse.py")
        return False
    return True
Exemple #34
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def binary_path(step, debug=False):
    if step.find("ArduCopter") != -1:
        binary_name = "arducopter-quad"
    elif step.find("ArduPlane") != -1:
        binary_name = "arduplane"
    elif step.find("APMrover2") != -1:
        binary_name = "ardurover"
    elif step.find("AntennaTracker") != -1:
        binary_name = "antennatracker"
    elif step.find("CopterAVC") != -1:
        binary_name = "arducopter-heli"
    elif step.find("QuadPlane") != -1:
        binary_name = "arduplane"
    else:
        raise(ValueError("Unable to determine binary name for step %s" % (step,)))

    if debug:
        binary_basedir = "sitl-debug"
    else:
        binary_basedir = "sitl"

    binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name))
    if not os.path.exists(binary):
        if os.path.exists(binary + ".exe"):
            binary_path += ".exe"
        else:
            raise ValueError("Binary (%s) does not exist" % (binary,))

    return binary
Exemple #35
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def get_default_params(atype, binary):
    '''get default parameters'''

    # use rover simulator so SITL is not starved of input
    from pymavlink import mavutil
    HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
    if binary.find("plane") != -1 or binary.find("rover") != -1:
        frame = "rover"
    else:
        frame = "+"

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL(binary, wipe=True, model=frame, home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL(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(sil)
        sil = util.start_SIL(binary, model=frame, home=home, speedup=10)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = util.reltopdir('../buildlogs/%s-defaults.parm' % atype)
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True
Exemple #36
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def drive_APMrover2(viewerip=None, map=False):
    '''drive APMrover2 in SIL

    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 map:
        options += ' --map'

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL('APMrover2', wipe=True, model='rover', home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)

    print("WAITING FOR PARAMETERS")
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('APMrover2', model='rover', home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL('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([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #37
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def drive_APMrover2(viewerip=None, map=False, valgrind=False):
    '''drive APMrover2 in SIL

    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 map:
        options += ' --map'

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL('APMrover2', wipe=True, model='rover', home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)

    print("WAITING FOR PARAMETERS")
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('APMrover2', model='rover', home=home, speedup=10, valgrind=valgrind)
    mavproxy = util.start_MAVProxy_SIL('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([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #38
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def run_mission(mission_path, frame, home, viewerip=None):
  sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py')
  sim_cmd += ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
    frame, home.lat, home.lng, home.alt, home.heading)
  sim_cmd += ' --wind=6,45,.3'
  if viewerip:
    sim_cmd += ' --fgout=%s:5503' % viewerip

  sil = util.start_SIL('ArduCopter', wipe=True)
  mavproxy = util.start_MAVProxy_SIL(
    '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 set SYSID_THISMAV %u\n' % random.randint(100, 200))
  mavproxy.send("param load %s/autotest/ArduCopter.parm\n" % testdir)
  mavproxy.expect('Loaded [0-9]+ parameters')
  mavproxy.send('module load mmap\n')

  # reboot with new parameters
  util.pexpect_close(mavproxy)
  util.pexpect_close(sil)

  sil = util.start_SIL('ArduCopter', height=home.alt)
  print 'Executing command %s' % (sim_cmd,)
  sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
  sim.delaybeforesend = 0
  util.pexpect_autoclose(sim)
  options = ('--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter '
             '--streamrate=5')
  if viewerip:
      options += ' --out=%s:14550' % viewerip
  mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
  mavproxy.expect('Logging to (\S+)')
  logfile = mavproxy.match.group(1)
  print 'Saving log %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'])

  mavproxy.send('module load mmap\n')
  util.expect_setup_callback(mavproxy, common.expect_callback)

  common.expect_list_clear()
  common.expect_list_extend([sim, sil, mavproxy])

  # get a mavlink connection going
  try:
    mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
  except Exception, msg:
    error("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
    raise
Exemple #39
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def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
    '''fly QuadPlane in SIL

    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 map:
        options += ' --map'

    sil = util.start_SIL(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_SIL('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([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550',
                                         robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #40
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def check_logs(step):
    '''check for log files from a step'''
    print("check step: ", step)
    if step.startswith('fly.'):
        vehicle = step[4:]
    elif step.startswith('drive.'):
        vehicle = step[6:]
    else:
        return
    logs = glob.glob("logs/*.BIN")
    for log in logs:
        bname = os.path.basename(log)
        newname = util.reltopdir("../buildlogs/%s-%s" % (vehicle, bname))
        print("Renaming %s to %s" % (log, newname))
        os.rename(log, newname)

    corefile = "core"
    if os.path.exists(corefile):
        newname = util.reltopdir("../buildlogs/%s.core" % vehicle)
        print("Renaming %s to %s" % (corefile, newname))
        os.rename(corefile, newname)
        util.run_cmd('/bin/cp A*/A*.elf ../buildlogs', dir=util.reltopdir('.'))
Exemple #41
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def check_logs(step):
    '''check for log files from a step'''
    print("check step: ", step)
    if step.startswith('fly.'):
        vehicle = step[4:]
    elif step.startswith('drive.'):
        vehicle = step[6:]
    else:
        return
    logs = glob.glob("logs/*.BIN")
    for log in logs:
        bname = os.path.basename(log)
        newname = util.reltopdir("../buildlogs/%s-%s" % (vehicle, bname))
        print("Renaming %s to %s" % (log, newname))
        os.rename(log, newname)

    corefile = "core"
    if os.path.exists(corefile):
        newname = util.reltopdir("../buildlogs/%s.core" % vehicle)
        print("Renaming %s to %s" % (corefile, newname))
        os.rename(corefile, newname)
        util.run_cmd('/bin/cp A*/A*.elf ../buildlogs', dir=util.reltopdir('.'))
Exemple #42
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def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
    '''fly ArduPlane in SIL

    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 map:
        options += ' --map'

    sil = util.start_SIL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
                         valgrind=valgrind, gdb=gdb,
                         defaults_file=os.path.join(testdir, 'default_params/ArduPlane.parm'))
    mavproxy = util.start_MAVProxy_SIL('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([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #43
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def get_default_params(atype):
    '''get default parameters'''
    sil = util.start_SIL(atype, wipe=True)
    mavproxy = util.start_MAVProxy_SIL(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(sil)
        sil = util.start_SIL(atype)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True
Exemple #44
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def get_default_params(atype):
    '''get default parameters'''
    sil = util.start_SIL(atype, wipe=True)
    mavproxy = util.start_MAVProxy_SIL(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(sil)
        sil = util.start_SIL(atype)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True
Exemple #45
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def get_default_params(atype):
    '''get default parameters'''

    # use rover simulator so SITL is not starved of input
    from pymavlink import mavutil
    HOME = mavutil.location(40.071374969556928, -105.22978898137808,
                            1583.702759, 246)
    sim_cmd = util.reltopdir(
        'Tools/autotest/pysim/sim_rover.py'
    ) + ' --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)

    runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    runsim.expect('Starting at lat')

    sil = util.start_SIL(atype, wipe=True)
    mavproxy = util.start_MAVProxy_SIL(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(sil)
        sil = util.start_SIL(atype)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = 'buildlogs/%s-defaults.parm' % atype
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    util.pexpect_close(runsim)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True
Exemple #46
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            failed = True
        if not fly_LOITER(mavproxy, mav):
            print("Failed LOITER")
            failed = True
        if not fly_CIRCLE(mavproxy, mav):
            print("Failed CIRCLE")
            failed = True
        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
        if not log_download(mavproxy, mav,
                            util.reltopdir("../buildlogs/ArduPlane-log.bin")):
            print("Failed log download")
            failed = True
    except pexpect.TIMEOUT, e:
        print("Failed with timeout")
        failed = True

    mav.close()
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    util.pexpect_close(runsim)

    if os.path.exists('ArduPlane-valgrind.log'):
        os.chmod('ArduPlane-valgrind.log', 0644)
        shutil.copy("ArduPlane-valgrind.log",
                    util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
Exemple #47
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def fly_ArduCopter(viewerip=None, map=False):
    '''fly ArduCopter in SIL

    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 TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL('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/copter_params.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=speedup_default)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('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)
    copyTLog = 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" )
        copyTLog = 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([sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #48
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    def setup_class(cls):
        #Set this to False to enable logging.
        DEBUG = False
        CONSOLE = False

        cls.TIMEOUT = 5
        cls.DELAY = 2

        cls.resource_path = os.path.join(
            os.path.join(os.path.dirname(os.path.abspath(__file__)),
                         'TestGroupLib/'), 'Resources/')

        #start MAVLink, etc
        try:
            os.remove('eeprom.bin')
        except OSError:
            pass

        try:
            os.remove('jsb_pipe')
            os.remove('mavproxy_pipe')
        except Exception:
            pass

        util.run_cmd('mkfifo mavproxy_pipe')
        util.run_cmd('mkfifo jsb_pipe')

        if DEBUG:
            util.run_cmd('xterm -e tail -f jsb_pipe &')
            util.run_cmd('xterm -e tail -f mavproxy_pipe &')

        util.run_cmd('echo "INITIALIZED MAVPROXY PIPE" > mavproxy_pipe &')
        util.run_cmd('echo "INITIALIZED JSBSIM PIPE" > jsb_pipe &')

        cls.homeloc = None
        HOME_LOCATION = '35.7168007,-120.7644466,275,295'  #McMillan Lat/Lon/Alt/Heading
        WIND = "0,180,0.0"  # speed,direction,variance
        options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=100 '

        #Start SITL
        cls.sil = util.start_SIL('ArduPlane', wipe=True)
        cls.mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
        cls.mavproxy.expect('Received [0-9]+ parameters')

        #Load SITL params
        cls.mavproxy.send("param load %ssitl.parm\n" % cls.resource_path)
        cls.mavproxy.expect('Loaded [0-9]+ parameters')

        #Fetch list of params
        cls.mavproxy.send("param fetch\n")

        #TODO: Optimize this. Is it necessary to start and close it?
        util.pexpect_close(cls.mavproxy)
        util.pexpect_close(cls.sil)

        #Start JSBSim simulation
        cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
        cmd += " --home=%s --wind=%s" % (HOME_LOCATION, WIND)
        #cls.runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
        cls.runsim = pexpect.spawn(cmd,
                                   logfile=file('jsb_pipe', 'w+', 0),
                                   timeout=10)
        cls.runsim.delaybeforesend = 0
        util.pexpect_autoclose(cls.runsim)
        cls.runsim.expect('Simulator ready to fly.')
        cls.sil = util.start_SIL('ArduPlane', valgrind=True)
        options += ' --map'
        if CONSOLE:
            options += ' --console'
        cls.mavproxy = util.start_MAVProxy_SIL('ArduPlane',
                                               logfile=file(
                                                   'mavproxy_pipe', 'w+', 0),
                                               options=options)

        #TODO: Make these easier to find
        cls.mavproxy.expect('Logging to (\S+)')
        logfile = cls.mavproxy.match.group(1)
        print("LOGFILE %s" % logfile)

        #TODO: Make these easier to find
        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

        cls.mavproxy.expect('Received [0-9]+ parameters')

        util.expect_setup_callback(cls.mavproxy, expect_callback)

        expect_list_clear()
        expect_list_extend([cls.runsim, cls.sil, cls.mavproxy])

        print("Started simulator.")

        #Get a mavlink connection started.
        try:
            cls.mav = mavutil.mavlink_connection('127.0.0.1:19550',
                                                 robust_parsing=True)
        except Exception, msg:
            print("Failed to start mavlink connection on 127.0.0.1:19550" %
                  msg)
            raise
Exemple #49
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        print("########## Test RTL ##########")
        print("#")
        if not fly_RTL(mavproxy, mav):
            failed_test_msg = "fly_RTL 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")

        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, failed_test_msg:
        failed_test_msg = "Timeout"
        failed = True

    mav.close()
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    util.pexpect_close(sim)

    if os.path.exists('ArduCopter-valgrind.log'):
        os.chmod('ArduCopter-valgrind.log', 0644)
Exemple #50
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#!/usr/bin/env python
# APM automatic test suite
# Andrew Tridgell, October 2011

import pexpect, os, sys, shutil, atexit
import optparse, fnmatch, time, glob, traceback, signal

sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pysim'))

import util

os.environ['PYTHONUNBUFFERED'] = '1'

os.putenv('TMPDIR', util.reltopdir('tmp'))

def get_default_params(atype, binary):
    '''get default parameters'''

    # use rover simulator so SITL is not starved of input
    from pymavlink import mavutil
    HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
    if binary.find("plane") != -1 or binary.find("rover") != -1:
        frame = "rover"
    else:
        frame = "+"

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL(binary, wipe=True, model=frame, home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL(atype)
    print("Dumping defaults")
    idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
Exemple #51
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def test_prerequisites():
    '''check we have the right directories and tools to run tests'''
    print("Testing prerequisites")
    util.mkdir_p(util.reltopdir('../buildlogs'))
    return True
Exemple #52
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def fly_CopterAVC(viewerip=None, map=False):
    '''fly ArduCopter in SIL for AVC2013 mission
    '''
    global homeloc

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    if viewerip:
        sim_cmd += ' --fgout=%s:5503' % viewerip

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('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/copter_AVC2013_params.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\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([sim, sil, mavproxy])

    if 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, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #53
0
            failed = True
        else:
            print("Flew mission2 OK")

        print("# Land")
        if not land(mavproxy, mav):
            print("land failed")
            failed = True

        #print("# disarm motors")
        #if not disarm_motors(mavproxy, mav):
        #    print("disarm_motors failed")
        #    failed = True
    except pexpect.TIMEOUT, e:
        failed = True

    mav.close()
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    util.pexpect_close(sim)

    if os.path.exists('ArduCopter-valgrind.log'):
        os.chmod('ArduCopter-valgrind.log', 0644)
        shutil.copy("ArduCopter-valgrind.log",
                    util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))

    if failed:
        print("FAILED: %s" % e)
        return False
    return True
Exemple #54
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def fly_ArduCopter(viewerip=None):
    '''fly ArduCopter in SIL

    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 TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    sim_cmd = util.reltopdir(
        'Tools/autotest/pysim/sim_multicopter.py'
    ) + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += ' --wind=6,45,.3'
    if viewerip:
        sim_cmd += ' --fgout=%s:5503' % viewerip

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL(
        '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 set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    # 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([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550',
                                         robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #55
0
def fly_ArduPlane(viewerip=None, map=False):
    '''fly ArduPlane in SIL

    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 map:
        options += ' --map'

    sil = util.start_SIL('ArduPlane', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    mavproxy.send("param fetch\n")

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
    cmd += " --home=%s --wind=%s" % (HOME_LOCATION, WIND)
    if viewerip:
        cmd += " --fgout=%s:5503" % viewerip

    runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Simulator ready to fly')

    sil = util.start_SIL('ArduPlane')
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Logging to (\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

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550',
                                         robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
Exemple #56
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 def addglobimage(self, name, pattern):
     '''add a set of images'''
     import glob
     for f in glob.glob(util.reltopdir('../buildlogs/%s' % pattern)):
         self.addimage(name, os.path.basename(f))
Exemple #57
0
parser.add_option("--elevon", action='store_true', default=False, help='assume elevon input')
parser.add_option("--revthr", action='store_true', default=False, help='reverse throttle')
parser.add_option("--vtail", action='store_true', default=False, help='assume vtail input')
parser.add_option("--wind", dest="wind", help="Simulate wind (speed,direction,turbulance)", default='0,0,0')
parser.add_option("--rate", type='int', help="Simulation rate (Hz)", default=1000)
parser.add_option("--speedup", type='float', default=1.0, help="speedup from realtime")

(opts, args) = parser.parse_args()

for m in [ 'home', 'script' ]:
    if not opts.__dict__[m]:
        print("Missing required option '%s'" % m)
        parser.print_help()
        sys.exit(1)

os.chdir(util.reltopdir('Tools/autotest'))

# kill off child when we exit
atexit.register(util.pexpect_close_all)

setup_template(opts.home)

# start child
cmd = "JSBSim --realtime --suspend --nice --simulation-rate=%u --logdirectivefile=jsb_sim/fgout.xml --script=%s" % (opts.rate, opts.script)
if opts.options:
    cmd += ' %s' % opts.options

jsb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
jsb.delaybeforesend = 0
util.pexpect_autoclose(jsb)
i = jsb.expect(["Successfully bound to socket for input on port (\d+)",
Exemple #58
0
    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, e:
        print("Failed with timeout")
        failed = True

    mav.close()
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)