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 defaults_filepath(self):
vinfo = vehicleinfo.VehicleInfo()
defaults_file = vinfo.options["ArduPlane"]["frames"][self.frame]["default_params_filename"]
if isinstance(defaults_file, str):
defaults_file = [defaults_file]
defaults_list = []
for d in defaults_file:
defaults_list.append(os.path.join(testdir, d))
return ','.join(defaults_list)
def apply_defaultfile_parameters(self):
'''apply parameter file'''
# 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)
self.reboot_sitl()
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 fly_each_frame(self):
vinfo = vehicleinfo.VehicleInfo()
vinfo_options = vinfo.options[self.vehicleinfo_key()]
known_broken_frames = {}
for frame in sorted(vinfo_options["frames"].keys()):
self.start_subtest("Testing frame (%s)" % str(frame))
if frame in known_broken_frames:
self.progress(
"Actually, no I'm not - it is known-broken (%s)" %
(known_broken_frames[frame]))
continue
frame_bits = vinfo_options["frames"][frame]
print("frame_bits: %s" % str(frame_bits))
if frame_bits.get("external", False):
self.progress(
"Actually, no I'm not - it is an external simulation")
continue
model = frame_bits.get("model", frame)
# the model string for Callisto has crap in it.... we
# should really have another entry in the vehicleinfo data
# to carry the path to the JSON.
actual_model = model.split(":")[0]
defaults = self.model_defaults_filepath(actual_model)
if type(defaults) != list:
defaults = [defaults]
self.customise_SITL_commandline(
[
"--defaults",
','.join(defaults),
],
model=model,
wipe=True,
)
self.takeoff(10)
self.do_RTL()
self.set_rc(8, 1000)
except Exception as e:
progress("kill_tasks failed: {}".format(str(e)))
def progress(text):
"""Display sim_vehicle progress text"""
print("SIM_VEHICLE: " + text)
def wait_unlimited():
"""Wait until signal received"""
while True:
time.sleep(600)
vinfo = vehicleinfo.VehicleInfo()
def do_build_waf(opts, frame_options):
"""Build sitl using waf"""
progress("WAF build")
old_dir = os.getcwd()
os.chdir(root_dir)
waf_light = os.path.join(root_dir, "modules/waf/waf-light")
cmd_configure = [waf_light, "configure", "--board", "sitl"]
if opts.debug:
cmd_configure.append("--debug")
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 defaults_filepath(self):
vinfo = vehicleinfo.VehicleInfo()
defaults_file = vinfo.options["ArduPlane"]["frames"][
self.frame]["default_params_filename"]
return os.path.join(testdir, defaults_file)
