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autotest: replace sim_*.sh with sim_vehicle.sh 

much nicer interface for developers
master
Andrew Tridgell 11 years ago
parent
8b9b4026f0
commit
42b9ba531e
6 changed files with 286 additions and 265 deletions
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  1. 3
      Tools/autotest/ArduPlane.parm
  2. 69
      Tools/autotest/sim_antennatracker.sh
  3. 43
      Tools/autotest/sim_arducopter.sh
  4. 128
      Tools/autotest/sim_arduplane.sh
  5. 25
      Tools/autotest/sim_rover.sh
  6. 283
      Tools/autotest/sim_vehicle.sh

3
Tools/autotest/ArduPlane.parm
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@ -62,3 +62,6 @@ PTCH2SRV_P 2.5 @@ -62,3 +62,6 @@ PTCH2SRV_P 2.5
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
ELEVON_OUTPUT 0
VTAIL_OUTPUT 0
SKIP_GYRO_CAL 1

69
Tools/autotest/sim_antennatracker.sh
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@ -1,69 +0,0 @@ @@ -1,69 +0,0 @@
#!/bin/bash
# home location lat, lon, alt, heading
SIMHOME="-35.363261,149.165230,584,353"
# check the instance number to allow for multiple copies of the sim running at once
INSTANCE=0
# Try to run a command in an appropriate type of terminal window
# depending on whats available
# Sigh: theres no common way of handling command line args :-(
function run_in_terminal_window()
{
if [ -x /usr/bin/konsole ]; then
/usr/bin/konsole --hold -e $*
elif [ -x /usr/bin/gnome-terminal ]; then
/usr/bin/gnome-terminal -e "$*"
elif [ -x /usr/bin/xterm ]; then
/usr/bin/xterm -hold -e $* &
else
# out of options: run in the background
$* &
fi
}
# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
while getopts ":I:" opt; do
case $opt in
I)
INSTANCE=$OPTARG
;;
\?)
# allow other args to pass on to mavproxy
break
;;
:)
echo "Option -$OPTARG requires an argument." >&2
exit 1
esac
done
shift $((OPTIND-1))
# kill existing copy if this is the '0' instance only
[ "$INSTANCE" -eq "0" ] && {
killall -q AntennaTracker.elf
}
# setup ports for this instance
MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
set -e
set -x
autotest=$(dirname $(readlink -e $0))
pushd $autotest/../../Tools/AntennaTracker
make clean sitl
tfile=$(mktemp)
echo r > $tfile
#run_in_terminal_window gdb -x $tfile --args /tmp/AntennaTracker.build/AntennaTracker.elf
run_in_terminal_window /tmp/AntennaTracker.build/AntennaTracker.elf -I$INSTANCE
#run_in_terminal_window valgrind -q /tmp/AntennaTracker.build/AntennaTracker.elf
sleep 2
rm -f $tfile
popd
mavproxy.py --master $MAVLINK_PORT $*

43
Tools/autotest/sim_arducopter.sh
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@ -1,43 +0,0 @@ @@ -1,43 +0,0 @@
#!/bin/bash
killall -q ArduCopter.elf
pkill -f sim_multicopter.py
set -e
set -x
target=sitl
frame="+"
if [ $# -gt 0 ]; then
case $1 in
+|X|quad)
target="sitl"
frame="$1"
shift
;;
octa)
target="sitl-octa"
frame="$1"
shift
;;
esac
fi
echo "Building with target $target for frame $frame"
autotest=$(dirname $(readlink -e $0))
pushd $autotest/../../ArduCopter
make clean $target
tfile=$(mktemp)
echo r > $tfile
#gnome-terminal -e "gdb -x $tfile --args /tmp/ArduCopter.build/ArduCopter.elf"
gnome-terminal -e /tmp/ArduCopter.build/ArduCopter.elf
#gnome-terminal -e "valgrind -q /tmp/ArduCopter.build/ArduCopter.elf"
sleep 2
rm -f $tfile
gnome-terminal -e "../Tools/autotest/pysim/sim_multicopter.py --frame=$frame --home=-35.362938,149.165085,584,180"
sleep 2
popd
mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 --quadcopter $*

128
Tools/autotest/sim_arduplane.sh
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@ -1,128 +0,0 @@ @@ -1,128 +0,0 @@
#!/bin/bash
# home location lat, lon, alt, heading
SIMHOME="-35.363261,149.165230,584,353"
TRACKER_HOME="-35.362734,149.165300,586,270"
# check the instance number to allow for multiple copies of the sim running at once
INSTANCE=0
USE_VALGRIND=0
USE_GDB=0
CLEAN_BUILD=0
START_ANTENNA_TRACKER=0
# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
while getopts ":I:VGcT" opt; do
case $opt in
I)
INSTANCE=$OPTARG
;;
V)
USE_VALGRIND=1
;;
T)
START_ANTENNA_TRACKER=1
;;
G)
USE_GDB=1
;;
c)
CLEAN_BUILD=1
;;
\?)
# allow other args to pass on to mavproxy
break
;;
:)
echo "Option -$OPTARG requires an argument." >&2
exit 1
esac
done
shift $((OPTIND-1))
# kill existing copy if this is the '0' instance only
kill_tasks()
{
[ "$INSTANCE" -eq "0" ] && {
killall -q JSBSim lt-JSBSim ArduPlane.elf AntennaTracker.elf
pkill -f runsim.py
pkill -f sim_tracker.py
}
}
kill_tasks
trap kill_tasks SIGINT
# setup ports for this instance
MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
SIMIN_PORT="127.0.0.1:"$((5502+10*$INSTANCE))
SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE))
FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE))
set -e
set -x
autotest=$(dirname $(readlink -e $0))
pushd $autotest/../../ArduPlane
if [ $CLEAN_BUILD == 1 ]; then
make clean
fi
make sitl -j4 || {
make clean
make sitl -j4
}
popd
if [ $START_ANTENNA_TRACKER == 1 ]; then
pushd $autotest/../AntennaTracker
if [ $CLEAN_BUILD == 1 ]; then
make clean
fi
make sitl -j4 || {
make clean
make sitl -j4
}
TRACKER_INSTANCE=1
TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE))
TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE))
TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1"
$autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
$autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT || exit 1
popd
fi
cmd="/tmp/ArduPlane.build/ArduPlane.elf -I$INSTANCE"
if [ $USE_VALGRIND == 1 ]; then
echo "Using valgrind"
$autotest/run_in_terminal_window.sh "ardupilot (valgrind)" valgrind $cmd || exit 1
elif [ $USE_GDB == 1 ]; then
echo "Using gdb"
tfile=$(mktemp)
echo r > $tfile
$autotest/run_in_terminal_window.sh "ardupilot (gdb)" gdb -x $tfile --args $cmd || exit 1
else
$autotest/run_in_terminal_window.sh "ardupilot" $cmd || exit 1
fi
sleep 2
rm -f $tfile
$autotest/run_in_terminal_window.sh "JSBSim" $autotest/jsbsim/runsim.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT || exit 1
sleep 2
# if you wanted to forward packets out a serial link for testing
# andropilot, then add --out /dev/serial/by-id/usb-FTDI* to your
# command line along with a baudrate. You might also like to add --map
# and --console
# for example:
# sim_arduplane.sh --out /dev/serial/by-id/usb-FTDI* --baudrate 57600 --map --console
# mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
options="--master $MAVLINK_PORT --sitl $SIMOUT_PORT --out 127.0.0.1:14550 --out 127.0.0.1:14551"
if [ $START_ANTENNA_TRACKER == 1 ]; then
mavproxy.py $options --load-module=tracker --cmd="set moddebug 1; tracker set port $TRACKER_UARTA" $*
else
mavproxy.py $options $*
fi

25
Tools/autotest/sim_rover.sh
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@ -1,25 +0,0 @@ @@ -1,25 +0,0 @@
#!/bin/bash
set -x
killall -q APMrover2.elf
pkill -f sim_rover.py
set -e
autotest=$(dirname $(readlink -e $0))
pushd $autotest/../../APMrover2
make clean sitl
tfile=$(mktemp)
(
echo r
) > $tfile
#gnome-terminal -e "gdb -x $tfile --args /tmp/APMrover2.build/APMrover2.elf"
gnome-terminal -e "nice /tmp/APMrover2.build/APMrover2.elf"
#gnome-terminal -e "valgrind --db-attach=yes -q /tmp/APMrover2.build/APMrover2.elf"
sleep 2
rm -f $tfile
gnome-terminal -e "nice ../Tools/autotest/pysim/sim_rover.py --home=40.071374969556928,-105.22978898137808,1583.702759,246 --rate=400"
sleep 2
popd
mavproxy.py --aircraft=test --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 $*

283
Tools/autotest/sim_vehicle.sh
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@ -0,0 +1,283 @@ @@ -0,0 +1,283 @@
#!/bin/bash
# home location lat, lon, alt, heading
LOCATION="CMAC"
TRACKER_LOCATION="CMAC_PILOTSBOX"
VEHICLE=""
BUILD_TARGET="sitl"
FRAME=""
# check the instance number to allow for multiple copies of the sim running at once
INSTANCE=0
USE_VALGRIND=0
USE_GDB=0
USE_GDB_STOPPED=0
CLEAN_BUILD=0
START_ANTENNA_TRACKER=0
WIPE_EEPROM=0
usage()
{
cat <<EOF
Usage: sim_vehicle.sh [options] [mavproxy_options]
Options:
-v VEHICLE vehicle type (ArduPlane, ArduCopter or APMrover2)
vehicle type defaults to working directory
-I INSTANCE instance of simulator (default 0)
-V enable valgrind for memory access checking (very slow!)
-G use gdb for debugging ardupilot
-g use gdb for debugging ardupilot, but don't auto-start
-T start an antenna tracker instance
-t set antenna tracker start location
-L select start location from Tools/autotest/locations.txt
-c do a make clean before building
-w wipe EEPROM and reload parameters
-f FRAME set aircraft frame type
for copters can choose +, X, quad or octa
for planes can choose elevon or vtail
mavproxy_options:
--map start with a map
--console start with a status console
--out DEST start MAVLink output to DEST
Note:
eeprom.bin in the starting directory contains the parameters for your
simulated vehicle. Always start from the same directory. It is recommended that
you start in the main vehicle directory for the vehicle you are simulating,
for example, start in the ArduPlane directory to simulate ArduPlane
EOF
}
# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
while getopts ":I:VgGcTL:v:hwf:" opt; do
case $opt in
v)
VEHICLE=$OPTARG
;;
I)
INSTANCE=$OPTARG
;;
V)
USE_VALGRIND=1
;;
T)
START_ANTENNA_TRACKER=1
;;
G)
USE_GDB=1
;;
g)
USE_GDB=1
USE_GDB_STOPPED=1
;;
L)
LOCATION="$OPTARG"
;;
f)
FRAME="$OPTARG"
;;
t)
TRACKER_LOCATION="$OPTARG"
;;
c)
CLEAN_BUILD=1
;;
w)
WIPE_EEPROM=1
;;
h)
usage
exit 0
;;
\?)
# allow other args to pass on to mavproxy
break
;;
:)
echo "Option -$OPTARG requires an argument." >&2
usage
exit 1
esac
done
shift $((OPTIND-1))
# kill existing copy if this is the '0' instance only
kill_tasks()
{
[ "$INSTANCE" -eq "0" ] && {
killall -q JSBSim lt-JSBSim ArduPlane.elf ArduCopter.elf APMrover2.elf AntennaTracker.elf
pkill -f runsim.py
pkill -f sim_tracker.py
pkill -f sim_rover.py
pkill -f sim_multicopter.py
}
}
kill_tasks
trap kill_tasks SIGINT
# setup ports for this instance
MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
SIMIN_PORT="127.0.0.1:"$((5502+10*$INSTANCE))
SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE))
FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE))
set -x
[ -z "$VEHICLE" ] && {
VEHICLE=$(basename $PWD)
}
EXTRA_PARM=""
EXTRA_SIM=""
# modify build target based on copter frame type
case $FRAME in
+|quad)
BUILD_TARGET="sitl"
EXTRA_SIM="--frame=quad"
;;
X)
BUILD_TARGET="sitl"
EXTRA_PARM="param set FRAME 1;"
EXTRA_SIM="--frame=X"
;;
octa)
BUILD_TARGET="sitl-octa"
EXTRA_SIM="--frame=octa"
;;
elevon*)
EXTRA_PARM="param set ELEVON_OUTPUT 4;"
EXTRA_SIM="--elevon"
;;
vtail)
EXTRA_PARM="param set VTAIL_OUTPUT 4;"
EXTRA_SIM="--vtail"
;;
"")
;;
*)
echo "Unknown frame type $FRAME"
usage
exit 1
;;
esac
autotest=$(dirname $(readlink -e $0))
pushd $autotest/../../$VEHICLE || {
echo "Failed to change to vehicle directory for $VEHICLE"
usage
exit 1
}
if [ $CLEAN_BUILD == 1 ]; then
make clean
fi
make $BUILD_TARGET -j4 || {
make clean
make $BUILD_TARGET -j4
}
popd
# get the location information
SIMHOME=$(cat $autotest/locations.txt | grep -i "^$LOCATION=" | cut -d= -f2)
[ -z "$SIMHOME" ] && {
echo "Unknown location $LOCATION"
usage
exit 1
}
echo "Starting up at $LOCATION : $SIMHOME"
TRACKER_HOME=$(cat $autotest/locations.txt | grep -i "^$TRACKER_LOCATION=" | cut -d= -f2)
[ -z "$TRACKER_HOME" ] && {
echo "Unknown tracker location $TRACKER_LOCATION"
usage
exit 1
}
if [ $START_ANTENNA_TRACKER == 1 ]; then
pushd $autotest/../AntennaTracker
if [ $CLEAN_BUILD == 1 ]; then
make clean
fi
make sitl -j4 || {
make clean
make sitl -j4
}
TRACKER_INSTANCE=1
TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE))
TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE))
TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1"
$autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
$autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT || exit 1
popd
fi
cmd="/tmp/$VEHICLE.build/$VEHICLE.elf -I$INSTANCE"
if [ $WIPE_EEPROM == 1 ]; then
cmd="$cmd -w"
fi
case $VEHICLE in
ArduPlane)
RUNSIM="nice $autotest/jsbsim/runsim.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
PARMS="ArduPlane.parm"
if [ $WIPE_EEPROM == 1 ]; then
cmd="$cmd -PFORMAT_VERSION=13 -PSKIP_GYRO_CAL=1 -PRC3_MIN=1000 -PRC3_TRIM=1000"
fi
;;
ArduCopter)
RUNSIM="nice $autotest/pysim/sim_multicopter.py --home=$SIMHOME $EXTRA_SIM"
PARMS="copter_params.parm"
;;
APMrover2)
RUNSIM="nice $autotest/pysim/sim_rover.py --home=$SIMHOME --rate=400 $EXTRA_SIM"
PARMS="Rover.parm"
;;
*)
echo "Unknown vehicle simulation type $VEHICLE - please specify vehicle using -v VEHICLE_TYPE"
usage
exit 1
;;
esac
if [ $USE_VALGRIND == 1 ]; then
echo "Using valgrind"
$autotest/run_in_terminal_window.sh "ardupilot (valgrind)" valgrind $cmd || exit 1
elif [ $USE_GDB == 1 ]; then
echo "Using gdb"
tfile=$(mktemp)
[ $USE_GDB_STOPPED == 0 ] && {
echo r > $tfile
}
$autotest/run_in_terminal_window.sh "ardupilot (gdb)" gdb -x $tfile --args $cmd || exit 1
else
$autotest/run_in_terminal_window.sh "ardupilot" $cmd || exit 1
fi
trap kill_tasks SIGINT
sleep 2
rm -f $tfile
$autotest/run_in_terminal_window.sh "Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
sleep 2
# mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
options="--master $MAVLINK_PORT --sitl $SIMOUT_PORT --out 127.0.0.1:14550 --out 127.0.0.1:14551"
extra_cmd1=""
if [ $WIPE_EEPROM == 1 ]; then
extra_cmd="param forceload $autotest/$PARMS; $EXTRA_PARM; param fetch"
fi
if [ $START_ANTENNA_TRACKER == 1 ]; then
options="$options --load-module=tracker"
extra_cmd="$extra_cmd module load map; tracker set port $TRACKER_UARTA; tracker start;"
fi
mavproxy.py $options --cmd="$extra_cmd" $*
kill_tasks
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