| |
|
|
| |
| from __future__ import print_function |
| import os |
|
|
| import pexpect |
| from pymavlink import mavutil |
|
|
| from pysim import util |
|
|
| from common import AutoTest |
| from common import NotAchievedException |
|
|
| |
| testdir = os.path.dirname(os.path.realpath(__file__)) |
| HOME = mavutil.location(33.810313, -118.393867, 0, 185) |
|
|
|
|
| class AutoTestSub(AutoTest): |
| def __init__(self, |
| binary, |
| valgrind=False, |
| gdb=False, |
| speedup=10, |
| frame=None, |
| params=None, |
| gdbserver=False, |
| breakpoints=[], |
| **kwargs): |
| super(AutoTestSub, self).__init__(**kwargs) |
| self.binary = binary |
| self.valgrind = valgrind |
| self.gdb = gdb |
| self.frame = frame |
| self.params = params |
| self.gdbserver = gdbserver |
| self.breakpoints = breakpoints |
|
|
| self.home = "%f,%f,%u,%u" % (HOME.lat, |
| HOME.lng, |
| HOME.alt, |
| HOME.heading) |
| self.homeloc = None |
| self.speedup = speedup |
|
|
| self.sitl = None |
| self.hasInit = False |
|
|
| self.log_name = "ArduSub" |
|
|
| def default_mode(self): |
| return 'MANUAL' |
|
|
| def init(self): |
| 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.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') |
| 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.hasInit = True |
|
|
| self.apply_defaultfile_parameters() |
|
|
| |
| self.set_parameter("FS_GCS_ENABLE", 0) |
|
|
| self.progress("Ready to start testing!") |
|
|
| def dive_manual(self): |
| self.wait_ready_to_arm() |
| self.arm_vehicle() |
|
|
| self.set_rc(3, 1600) |
| self.set_rc(5, 1600) |
| self.set_rc(6, 1550) |
|
|
| self.wait_distance(50, accuracy=7, timeout=200) |
| self.set_rc(4, 1550) |
|
|
| self.wait_heading(0) |
| self.set_rc(4, 1500) |
|
|
| self.wait_distance(50, accuracy=7, timeout=100) |
| self.set_rc(4, 1550) |
|
|
| self.wait_heading(0) |
| self.set_rc(4, 1500) |
| self.set_rc(5, 1500) |
| self.set_rc(6, 1100) |
|
|
| self.wait_distance(75, accuracy=7, timeout=100) |
| self.set_rc_default() |
|
|
| self.disarm_vehicle() |
| self.progress("Manual dive OK") |
|
|
| def dive_mission(self, filename): |
| self.progress("Executing mission %s" % filename) |
| self.load_mission(filename) |
| self.set_rc_default() |
|
|
| self.arm_vehicle() |
|
|
| self.mavproxy.send('mode auto\n') |
| self.wait_mode('AUTO') |
|
|
| self.wait_waypoint(1, 5, max_dist=5) |
|
|
| self.disarm_vehicle() |
|
|
| self.progress("Mission OK") |
|
|
| def test_gripper_mission(self): |
| self.context_push() |
| ex = None |
| try: |
| try: |
| self.get_parameter("GRIP_ENABLE", timeout=5) |
| except NotAchievedException as e: |
| self.progress("Skipping; Gripper not enabled in config?") |
| return |
|
|
| self.load_mission("sub-gripper-mission.txt") |
| self.mavproxy.send('mode loiter\n') |
| self.wait_ready_to_arm() |
| self.arm_vehicle() |
| self.mavproxy.send('mode auto\n') |
| self.wait_mode('AUTO') |
| self.mavproxy.expect("Gripper Grabbed") |
| self.mavproxy.expect("Gripper Released") |
| except Exception as e: |
| self.progress("Exception caught") |
| ex = e |
| self.context_pop() |
| if ex is not None: |
| raise ex |
|
|
| def reboot_sitl(self): |
| """Reboot SITL instance and wait it to reconnect.""" |
| self.mavproxy.send("reboot\n") |
| self.mavproxy.expect("Initialising APM") |
| |
| while self.mav.recv_match(blocking=False): |
| pass |
| self.initialise_after_reboot_sitl() |
|
|
| def tests(self): |
| '''return list of all tests''' |
| ret = super(AutoTestSub, self).tests() |
|
|
| ret.extend([ |
| ("ArmFeatures", "Arm features", self.test_arm_feature), |
|
|
| ("DiveManual", "Dive manual", self.dive_manual), |
|
|
| ("DiveMission", |
| "Dive mission", |
| lambda: self.dive_mission("sub_mission.txt")), |
|
|
| ("GripperMission", |
| "Test gripper mission items", |
| self.test_gripper_mission), |
|
|
| ("DownLoadLogs", "Download logs", lambda: |
| self.log_download( |
| self.buildlogs_path("APMrover2-log.bin"), |
| upload_logs=len(self.fail_list) > 0)), |
| ]) |
|
|
| return ret |
|
|
