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ardupilot/Tools/autotest/common.py

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from __future__ import print_function
import abc
import math
import os
import shutil
import sys
import time
from pymavlink import mavwp, mavutil
from pysim import util, vehicleinfo
# a list of pexpect objects to read while waiting for
# messages. This keeps the output to stdout flowing
expect_list = []
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
# Check python version for abstract base class
if sys.version_info[0] >= 3 and sys.version_info[1] >= 4:
ABC = abc.ABC
else:
ABC = abc.ABCMeta('ABC', (), {})
class AutoTestTimeoutException(Exception):
pass
class AutoTest(ABC):
"""Base abstract class.
It implements the common function for all vehicle types.
"""
def __init__(self,
viewerip=None,
use_map=False):
self.mavproxy = None
self.mav = None
self.viewerip = viewerip
self.use_map = use_map
def progress(self, text):
"""Display autotest progress text."""
print("AUTOTEST: " + text)
# following two functions swiped from autotest.py:
def buildlogs_dirpath(self):
return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
def buildlogs_path(self, path):
'''return a string representing path in the buildlogs directory'''
bits = [self.buildlogs_dirpath()]
if isinstance(path, list):
bits.extend(path)
else:
bits.append(path)
return os.path.join(*bits)
def sitl_streamrate(self):
'''allow subclasses to override SITL streamrate'''
return 10
def mavproxy_options(self):
'''returns options to be passed to MAVProxy'''
ret = ['--sitl=127.0.0.1:5501',
'--out=127.0.0.1:19550',
'--streamrate=%u' % self.sitl_streamrate()]
if self.viewerip:
ret.append("--out=%s:14550" % self.viewerip)
if self.use_map:
ret.append('--map')
return ret
def vehicleinfo_key(self):
return self.log_name
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 close(self):
'''tidy up after running all tests'''
if self.use_map:
self.mavproxy.send("module unload map\n")
self.mavproxy.expect("Unloaded module map")
self.mav.close()
util.pexpect_close(self.mavproxy)
util.pexpect_close(self.sitl)
valgrind_log = util.valgrind_log_filepath(binary=self.binary,
model=self.frame)
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
self.buildlogs_path("%s-valgrind.log" %
self.log_name))
#################################################
# GENERAL UTILITIES
#################################################
def expect_list_clear(self):
"""clear the expect list."""
global expect_list
for p in expect_list[:]:
expect_list.remove(p)
def expect_list_extend(self, list_to_add):
"""Extend the expect list."""
global expect_list
expect_list.extend(list_to_add)
def idle_hook(self, mav):
"""Called when waiting for a mavlink message."""
global expect_list
for p in expect_list:
util.pexpect_drain(p)
def message_hook(self, mav, msg):
"""Called as each mavlink msg is received."""
self.idle_hook(mav)
def expect_callback(self, e):
"""Called when waiting for a expect pattern."""
global expect_list
for p in expect_list:
if p == e:
continue
util.pexpect_drain(p)
#################################################
# SIM UTILITIES
#################################################
def get_sim_time(self):
"""Get SITL time."""
m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
return m.time_boot_ms * 1.0e-3
def sim_location(self):
"""Return current simulator location."""
m = self.mav.recv_match(type='SIMSTATE', blocking=True)
return mavutil.location(m.lat*1.0e-7,
m.lng*1.0e-7,
0,
math.degrees(m.yaw))
def save_wp(self):
"""Trigger RC 7 to save waypoint."""
self.mavproxy.send('rc 7 1000\n')
self.mav.recv_match(condition='RC_CHANNELS.chan7_raw==1000',
blocking=True)
self.wait_seconds(1)
self.mavproxy.send('rc 7 2000\n')
self.mav.recv_match(condition='RC_CHANNELS.chan7_raw==2000',
blocking=True)
self.wait_seconds(1)
self.mavproxy.send('rc 7 1000\n')
self.mav.recv_match(condition='RC_CHANNELS.chan7_raw==1000',
blocking=True)
self.wait_seconds(1)
def log_download(self, filename, timeout=360):
"""Download latest log."""
self.disarm_vehicle()
self.mav.wait_heartbeat()
self.mavproxy.send("log list\n")
self.mavproxy.expect("numLogs")
self.mav.wait_heartbeat()
self.mav.wait_heartbeat()
self.mavproxy.send("set shownoise 0\n")
self.mavproxy.send("log download latest %s\n" % filename)
self.mavproxy.expect("Finished downloading", timeout=timeout)
self.mav.wait_heartbeat()
self.mav.wait_heartbeat()
return True
def show_gps_and_sim_positions(self, on_off):
"""Allow to display gps and actual position on map."""
if on_off is True:
# turn on simulator display of gps and actual position
self.mavproxy.send('map set showgpspos 1\n')
self.mavproxy.send('map set showsimpos 1\n')
else:
# turn off simulator display of gps and actual position
self.mavproxy.send('map set showgpspos 0\n')
self.mavproxy.send('map set showsimpos 0\n')
def mission_count(self, filename):
"""Load a mission from a file and return number of waypoints."""
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
return num_wp
def load_mission_from_file(self, filename):
"""Load a mission from a file to flight controller."""
self.mavproxy.send('wp load %s\n' % filename)
self.mavproxy.expect('Flight plan received')
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
# update num_wp
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
return num_wp
def save_mission_to_file(self, filename):
"""Save a mission to a file"""
self.mavproxy.send('wp save %s\n' % filename)
self.mavproxy.expect('Saved ([0-9]+) waypoints')
num_wp = int(self.mavproxy.match.group(1))
self.progress("num_wp: %d" % num_wp)
return num_wp
def set_rc_default(self):
"""Setup all simulated RC control to 1500."""
for chan in range(1, 16):
self.mavproxy.send('rc %u 1500\n' % chan)
def set_rc(self, chan, pwm, timeout=5):
"""Setup a simulated RC control to a PWM value"""
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
self.mavproxy.send('rc %u %u\n' % (chan, pwm))
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
chan_pwm = getattr(m, "chan" + str(chan) + "_raw")
if chan_pwm == pwm:
return True
self.progress("Failed to send RC commands")
return False
def arm_vehicle(self):
"""Arm vehicle with mavlink arm message."""
self.mavproxy.send('arm throttle\n')
self.mav.motors_armed_wait()
self.progress("ARMED")
return True
def disarm_vehicle(self):
"""Disarm vehicle with mavlink disarm message."""
self.mavproxy.send('disarm\n')
self.mav.motors_disarmed_wait()
self.progress("DISARMED")
return True
def set_parameter(self, name, value):
for i in range(1, 10):
self.mavproxy.send("param set %s %s\n" % (name, str(value)))
self.mavproxy.send("param fetch %s\n" % name)
self.mavproxy.expect("%s = (.*)" % (name,))
returned_value = self.mavproxy.match.group(1)
if float(returned_value) == float(value):
# yes, exactly equal.
break
self.progress("Param fetch returned incorrect value (%s) vs (%s)"
% (returned_value, value))
def get_parameter(self, name):
self.mavproxy.send("param fetch %s\n" % name)
self.mavproxy.expect("%s = (.*)" % (name,))
return float(self.mavproxy.match.group(1))
#################################################
# UTILITIES
#################################################
@staticmethod
def get_distance(loc1, loc2):
"""Get ground distance between two locations."""
dlat = loc2.lat - loc1.lat
dlong = loc2.lng - loc1.lng
return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
@staticmethod
def get_bearing(loc1, loc2):
"""Get bearing from loc1 to loc2."""
off_x = loc2.lng - loc1.lng
off_y = loc2.lat - loc1.lat
bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
if bearing < 0:
bearing += 360.00
return bearing
def do_get_autopilot_capabilities(self):
self.mavproxy.send("long REQUEST_AUTOPILOT_CAPABILITIES 1\n")
m = self.mav.recv_match(type='AUTOPILOT_VERSION',
blocking=True,
timeout=10)
if m is None:
self.progress("AUTOPILOT_VERSION not received")
return False
self.progress("AUTOPILOT_VERSION received")
return True
def do_set_mode_via_command_long(self):
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = 4 # hold
start = time.time()
while time.time() - start < 5:
self.mavproxy.send("long DO_SET_MODE %u %u\n" %
(base_mode, custom_mode))
m = self.mav.recv_match(type='HEARTBEAT',
blocking=True,
timeout=10)
if m is None:
return False
if m.custom_mode == custom_mode:
return True
time.sleep(0.1)
return False
def reach_heading_manual(self, heading):
"""Manually direct the vehicle to the target heading."""
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_HELICOPTER,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
self.mavproxy.send('rc 4 1580\n')
if not self.wait_heading(heading):
self.progress("Failed to reach heading")
return False
self.mavproxy.send('rc 4 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan4_raw==1500',
blocking=True)
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
self.progress("NOT IMPLEMENTED")
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
self.mavproxy.send('rc 1 1700\n')
self.mavproxy.send('rc 3 1550\n')
if not self.wait_heading(heading):
self.progress("Failed to reach heading")
return False
self.mavproxy.send('rc 3 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan3_raw==1500',
blocking=True)
self.mavproxy.send('rc 1 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan1_raw==1500',
blocking=True)
return True
def reach_distance_manual(self, distance):
"""Manually direct the vehicle to the target distance from home."""
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_HELICOPTER,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
self.mavproxy.send('rc 2 1350\n')
if not self.wait_distance(distance, accuracy=5, timeout=60):
self.progress("Failed to reach distance of %u" % distance)
return False
self.mavproxy.send('rc 2 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan2_raw==1500',
blocking=True)
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
self.progress("NOT IMPLEMENTED")
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
self.mavproxy.send('rc 3 1700\n')
if not self.wait_distance(distance, accuracy=2):
self.progress("Failed to reach distance of %u" % distance)
return False
self.mavproxy.send('rc 3 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan3_raw==1500',
blocking=True)
return True
#################################################
# WAIT UTILITIES
#################################################
def wait_seconds(self, seconds_to_wait):
"""Wait some second in SITL time."""
tstart = self.get_sim_time()
tnow = tstart
while tstart + seconds_to_wait > tnow:
tnow = self.get_sim_time()
def wait_altitude(self, alt_min, alt_max, timeout=30):
"""Wait for a given altitude range."""
climb_rate = 0
previous_alt = 0
tstart = self.get_sim_time()
self.progress("Waiting for altitude between %u and %u" %
(alt_min, alt_max))
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
climb_rate = m.alt - previous_alt
previous_alt = m.alt
self.progress("Wait Altitude: Cur:%u, min_alt:%u, climb_rate: %u"
% (m.alt, alt_min, climb_rate))
if m.alt >= alt_min and m.alt <= alt_max:
self.progress("Altitude OK")
return True
self.progress("Failed to attain altitude range")
return False
def wait_groundspeed(self, gs_min, gs_max, timeout=30):
"""Wait for a given ground speed range."""
tstart = self.get_sim_time()
self.progress("Waiting for groundspeed between %.1f and %.1f" %
(gs_min, gs_max))
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("Wait groundspeed %.1f, target:%.1f" %
(m.groundspeed, gs_min))
if m.groundspeed >= gs_min and m.groundspeed <= gs_max:
return True
self.progress("Failed to attain groundspeed range")
return False
def wait_roll(self, roll, accuracy, timeout=30):
"""Wait for a given roll in degrees."""
tstart = self.get_sim_time()
self.progress("Waiting for roll of %d at %s" % (roll, time.ctime()))
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='ATTITUDE', blocking=True)
p = math.degrees(m.pitch)
r = math.degrees(m.roll)
self.progress("Roll %d Pitch %d" % (r, p))
if math.fabs(r - roll) <= accuracy:
self.progress("Attained roll %d" % roll)
return True
self.progress("Failed to attain roll %d" % roll)
return False
def wait_pitch(self, pitch, accuracy, timeout=30):
"""Wait for a given pitch in degrees."""
tstart = self.get_sim_time()
self.progress("Waiting for pitch of %u at %s" % (pitch, time.ctime()))
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='ATTITUDE', blocking=True)
p = math.degrees(m.pitch)
r = math.degrees(m.roll)
self.progress("Pitch %d Roll %d" % (p, r))
if math.fabs(p - pitch) <= accuracy:
self.progress("Attained pitch %d" % pitch)
return True
self.progress("Failed to attain pitch %d" % pitch)
return False
def wait_heading(self, heading, accuracy=5, timeout=30):
"""Wait for a given heading."""
tstart = self.get_sim_time()
self.progress("Waiting for heading %u with accuracy %u" %
(heading, accuracy))
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("Heading %u" % m.heading)
if math.fabs(m.heading - heading) <= accuracy:
self.progress("Attained heading %u" % heading)
return True
self.progress("Failed to attain heading %u" % heading)
return False
def wait_distance(self, distance, accuracy=5, timeout=30):
"""Wait for flight of a given distance."""
tstart = self.get_sim_time()
start = self.mav.location()
while self.get_sim_time() < tstart + timeout:
pos = self.mav.location()
delta = self.get_distance(start, pos)
self.progress("Distance %.2f meters" % delta)
if math.fabs(delta - distance) <= accuracy:
self.progress("Attained distance %.2f meters OK" % delta)
return True
if delta > (distance + accuracy):
self.progress("Failed distance - overshoot delta=%f dist=%f"
% (delta, distance))
return False
self.progress("Failed to attain distance %u" % distance)
return False
def wait_location(self,
loc,
accuracy=5,
timeout=30,
target_altitude=None,
height_accuracy=-1):
"""Wait for arrival at a location."""
tstart = self.get_sim_time()
if target_altitude is None:
target_altitude = loc.alt
self.progress("Waiting for location"
"%.4f,%.4f at altitude %.1f height_accuracy=%.1f" %
(loc.lat, loc.lng, target_altitude, height_accuracy))
while self.get_sim_time() < tstart + timeout:
pos = self.mav.location()
delta = self.get_distance(loc, pos)
self.progress("Distance %.2f meters alt %.1f" % (delta, pos.alt))
if delta <= accuracy:
height_delta = math.fabs(pos.alt - target_altitude)
if (height_accuracy != -1 and height_delta > height_accuracy):
continue
self.progress("Reached location (%.2f meters)" % delta)
return True
self.progress("Failed to attain location")
return False
def wait_waypoint(self,
wpnum_start,
wpnum_end,
allow_skip=True,
max_dist=2,
timeout=400):
"""Wait for waypoint ranges."""
tstart = self.get_sim_time()
# this message arrives after we set the current WP
start_wp = self.mav.waypoint_current()
current_wp = start_wp
mode = self.mav.flightmode
self.progress("\ntest: wait for waypoint ranges start=%u end=%u\n\n"
% (wpnum_start, wpnum_end))
# if start_wp != wpnum_start:
# self.progress("test: Expected start waypoint %u but got %u" %
# (wpnum_start, start_wp))
# return False
while self.get_sim_time() < tstart + timeout:
seq = self.mav.waypoint_current()
m = self.mav.recv_match(type='NAV_CONTROLLER_OUTPUT',
blocking=True)
wp_dist = m.wp_dist
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
# if we changed mode, fail
if self.mav.flightmode != mode:
self.progress('Exited %s mode' % mode)
return False
self.progress("test: WP %u (wp_dist=%u Alt=%d), current_wp: %u,"
"wpnum_end: %u" %
(seq, wp_dist, m.alt, current_wp, wpnum_end))
if seq == current_wp+1 or (seq > current_wp+1 and allow_skip):
self.progress("test: Starting new waypoint %u" % seq)
tstart = self.get_sim_time()
current_wp = seq
# the wp_dist check is a hack until we can sort out
# the right seqnum for end of mission
# if current_wp == wpnum_end or (current_wp == wpnum_end-1 and
# wp_dist < 2):
if current_wp == wpnum_end and wp_dist < max_dist:
self.progress("Reached final waypoint %u" % seq)
return True
if seq >= 255:
self.progress("Reached final waypoint %u" % seq)
return True
if seq > current_wp+1:
self.progress("Failed: Skipped waypoint! Got wp %u expected %u"
% (seq, current_wp+1))
return False
self.progress("Failed: Timed out waiting for waypoint %u of %u" %
(wpnum_end, wpnum_end))
return False
def wait_mode(self, mode, timeout=None):
"""Wait for mode to change."""
self.progress("Waiting for mode %s" % mode)
tstart = self.get_sim_time()
hastimeout = False
while self.mav.flightmode.upper() != mode.upper() and not hastimeout:
if timeout is not None:
hastimeout = self.get_sim_time() > tstart + timeout
self.mav.wait_heartbeat()
self.progress("Got mode %s" % mode)
return self.mav.flightmode
def wait_ready_to_arm(self, timeout=None):
# wait for EKF checks to pass
return self.wait_ekf_happy(timeout=timeout)
def wait_ekf_happy(self, timeout=30):
"""Wait for EKF to be happy"""
tstart = self.get_sim_time()
required_value = 831
self.progress("Waiting for EKF value %u" % required_value)
while timeout is None or self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True)
current = m.flags
if (tstart - self.get_sim_time()) % 5 == 0:
self.progress("Wait EKF.flags: required:%u current:%u" %
(required_value, current))
if current == required_value:
self.progress("EKF Flags OK")
return
self.progress("Failed to get EKF.flags=%u" % required_value)
raise AutoTestTimeoutException()
@abc.abstractmethod
def init(self):
"""Initilialize autotest feature."""
pass
# def test_common_feature(self):
# """Common feature to test."""
# sucess = True
# # TEST ARMING/DISARM
# if not self.arm_vehicle():
# self.progress("Failed to ARM")
# sucess = False
# if not self.disarm_vehicle():
# self.progress("Failed to DISARM")
# sucess = False
# if not self.test_arm_motors_radio():
# self.progress("Failed to ARM with radio")
# sucess = False
# if not self.test_disarm_motors_radio():
# self.progress("Failed to ARM with radio")
# sucess = False
# if not self.test_autodisarm_motors():
# self.progress("Failed to AUTO DISARM")
# sucess = False
# # TODO: Test failure on arm (with arming check)
# # TEST MISSION FILE
# # TODO : rework that to work on autotest server
# # self.progress("TEST LOADING MISSION")
# # num_wp = self.load_mission_from_file(
# os.path.join(testdir, "fake_mission.txt"))
# # if num_wp == 0:
# # self.progress("Failed to load all_msg_mission")
# # sucess = False
# #
# # self.progress("TEST SAVING MISSION")
# # num_wp_old = num_wp
# # num_wp = self.save_mission_to_file(os.path.join(testdir,
# "fake_mission2.txt"))
# # if num_wp != num_wp_old:
# # self.progress("Failed to save all_msg_mission")
# # sucess = False
#
# self.progress("TEST CLEARING MISSION")
# self.mavproxy.send("wp clear\n")
# self.mavproxy.send('wp list\n')
# self.mavproxy.expect('Requesting [0-9]+ waypoints')
# num_wp = mavwp.MAVWPLoader().count()
# if num_wp != 0:
# self.progress("Failed to clear mission ")
# sucess = False
#
# return sucess
#
# # TESTS FAILSAFE
# @abc.abstractmethod
# def test_throttle_failsafe(self, home, distance_min=10, side=60,
# timeout=180):
# """Test that RTL success in case of thottle failsafe."""
# pass
#
# # TEST ARM RADIO
# @abc.abstractmethod
# def test_arm_motors_radio(self):
# """Test arming with RC sticks."""
# pass
#
# # TEST DISARM RADIO
# @abc.abstractmethod
# def test_disarm_motors_radio(self):
# """Test disarming with RC sticks."""
# pass
#
# # TEST AUTO DISARM
# @abc.abstractmethod
# def test_autodisarm_motors(self):
# """Test auto disarming."""
# pass
#
# # TEST RC OVERRIDE
# # TEST RC OVERRIDE TIMEOUT
# @abc.abstractmethod
# def test_rtl(self, home, distance_min=10, timeout=250):
# """Test that RTL success."""
# self.progress("# Enter RTL")
# self.mavproxy.send('switch 3\n')
# tstart = self.get_sim_time()
# while self.get_sim_time() < tstart + timeout:
# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
# pos = self.mav.location()
# home_distance = self.get_distance(home, pos)
# self.progress("Alt: %u HomeDistance: %.0f" %
# (m.alt, home_distance))
# if m.alt <= 1 and home_distance < distance_min:
# self.progress("RTL Complete")
# return True
# return False
#
# @abc.abstractmethod
# def test_mission(self, filename):
# pass
@abc.abstractmethod
def autotest(self):
"""Autotest used by ArduPilot autotest CI."""
pass