本文整理汇总了Python中pysim.util.pexpect_close函数的典型用法代码示例。如果您正苦于以下问题:Python pexpect_close函数的具体用法?Python pexpect_close怎么用?Python pexpect_close使用的例子?那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了pexpect_close函数的15个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于我们的系统推荐出更棒的Python代码示例。
示例1: dump_logs
def dump_logs(atype):
"""Dump DataFlash logs."""
logfile = '%s.log' % atype
print("Dumping logs for %s to %s" % (atype, logfile))
sitl = util.start_SITL(atype)
log = open(logfile, mode='w')
mavproxy = util.start_MAVProxy_SITL(atype, setup=True, logfile=log)
mavproxy.send('\n\n\n')
print("navigating menus")
mavproxy.expect(']')
mavproxy.send("logs\n")
if opts.cli:
mavproxy.interact()
return
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(sitl)
log.close()
print("Saved log for %s to %s" % (atype, logfile))
return True
开发者ID:ArmaJo,项目名称:ardupilot,代码行数:35,代码来源:dump_logs.py
示例2: apply_parameters_using_sitl
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
开发者ID:lekston,项目名称:ardupilot,代码行数:29,代码来源:common.py
示例3: get_default_params
def get_default_params(atype, binary):
"""Get default parameters."""
# use rover simulator so SITL is not starved of input
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246)
if "plane" in binary or "rover" in binary:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10, unhide_parameters=True)
mavproxy = util.start_MAVProxy_SITL(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(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = buildlogs_path('%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
print("Saved defaults for %s to %s" % (atype, dest))
return True
开发者ID:Coonat2,项目名称:ardupilot,代码行数:29,代码来源:autotest.py
示例4: close
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))
开发者ID:MnimiyUmnik,项目名称:ardupilot,代码行数:17,代码来源:common.py
示例5: fly_ArduPlane
#.........这里部分代码省略.........
expect_list_clear()
expect_list_extend([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
fail_list = []
e = 'None'
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.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Failed takeoff")
failed = True
fail_list.append("takeoff")
if not fly_left_circuit(mavproxy, mav):
print("Failed left circuit")
failed = True
fail_list.append("left_circuit")
if not axial_left_roll(mavproxy, mav, 1):
print("Failed left roll")
failed = True
fail_list.append("left_roll")
if not inside_loop(mavproxy, mav):
print("Failed inside loop")
failed = True
fail_list.append("inside_loop")
if not test_stabilize(mavproxy, mav):
print("Failed stabilize test")
failed = True
fail_list.append("stabilize")
if not test_acro(mavproxy, mav):
print("Failed ACRO test")
failed = True
fail_list.append("acro")
if not test_FBWB(mavproxy, mav):
print("Failed FBWB test")
failed = True
fail_list.append("fbwb")
if not test_FBWB(mavproxy, mav, mode='CRUISE'):
print("Failed CRUISE test")
failed = True
fail_list.append("cruise")
if not fly_RTL(mavproxy, mav):
print("Failed RTL")
failed = True
fail_list.append("RTL")
if not fly_LOITER(mavproxy, mav):
print("Failed LOITER")
failed = True
fail_list.append("LOITER")
if not fly_CIRCLE(mavproxy, mav):
print("Failed CIRCLE")
failed = True
fail_list.append("LOITER")
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
fail_list.append("mission")
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduPlane-log.bin")):
print("Failed log download")
failed = True
fail_list.append("log_download")
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
fail_list.append("timeout")
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='plane-elevrev')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
if failed:
print("FAILED: %s" % e, fail_list)
return False
return True
开发者ID:LanderU,项目名称:ardupilot,代码行数:101,代码来源:arduplane.py
示例6: fly_QuadPlane
def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
"""Fly QuadPlane in SITL.
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 use_map:
options += ' --map'
sitl = util.start_SITL(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_SITL('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([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Waiting for GPS fix")
mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
mavproxy.send('arm throttle\n')
mavproxy.expect('ARMED')
if not fly_mission(mavproxy, mav,
os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt"),
os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016-fence.txt")):
print("Failed mission")
failed = True
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='quadplane')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/QuadPlane-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True
开发者ID:CUAir,项目名称:ardupilot,代码行数:89,代码来源:quadplane.py
示例7: dive_ArduSub
def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False, speedup=10):
"""Dive ArduSub in SITL.
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
"""
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, model='vectored', wipe=True, home=home, speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/sub.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send('param set FS_GCS_ENABLE 0\n')
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(sitl)
sitl = util.start_SITL(binary, model='vectored', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduSub-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([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Waiting for GPS fix")
mav.wait_gps_fix()
# wait for EKF and GPS checks to pass
mavproxy.expect('IMU0 is using GPS')
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not arm_sub(mavproxy, mav):
print("Failed to ARM")
failed = True
if not dive_manual(mavproxy, mav):
print("Failed manual dive")
failed = True
if not dive_mission(mavproxy, mav, os.path.join(testdir, "sub_mission.txt")):
print("Failed auto mission")
failed = True
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduSub-log.bin")):
print("Failed log download")
failed = True
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='sub')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
#.........这里部分代码省略.........
开发者ID:chenjiawei,项目名称:ardupilot,代码行数:101,代码来源:ardusub.py
示例8: fly_ArduCopter
def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame='+', params_file=None):
"""Fly ArduCopter in SITL.
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
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params_file is None:
params_file = "{testdir}/default_params/copter.parm"
mavproxy.send("param load %s\n" % params_file.format(testdir=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(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('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)
copy_tlog = 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")
copy_tlog = 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([sitl, mavproxy])
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a square in Stabilize mode
print("#")
print("########## Fly a square and save WPs with CH7 switch ##########")
print("#")
if not fly_square(mavproxy, mav):
failed_test_msg = "fly_square failed"
print(failed_test_msg)
failed = True
# save the stored mission to file
#.........这里部分代码省略.........
开发者ID:ArmaJo,项目名称:ardupilot,代码行数:101,代码来源:arducopter.py
示例9: fly_CopterAVC
def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
"""Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sitl = util.start_SITL(binary, wipe=True, model='heli', home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL('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/default_params/copter-heli.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(sitl)
sitl = util.start_SITL(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 use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('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([sitl, mavproxy])
if use_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 as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("Raising rotor speed")
mavproxy.send('rc 8 2000\n')
print("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew AVC mission OK")
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed"
#.........这里部分代码省略.........
开发者ID:ArmaJo,项目名称:ardupilot,代码行数:101,代码来源:arducopter.py
示例10: execute_test
def execute_test(mission):
missions = {
'throttle_failsafe':
lambda mavproxy, mav: test_throttle_failsafe(mavproxy, mav),
'battery_failsafe':
lambda mavproxy, mav: test_battery_failsafe(mavproxy, mav),
'horizontal_fence':
lambda mavproxy, mav: test_horizontal_fence(mavproxy, mav),
'square_stabilize':
lambda mavproxy, mav: test_square_stabilize(mavproxy, mav),
'stability_patch':
lambda mavproxy, mav: test_stability_patch(mavproxy, mav),
'gps_glitch_loiter':
lambda mavproxy, mav: test_gps_glitch_loiter(mavproxy, mav),
'gps_glitch_auto':
lambda mavproxy, mav: test_gps_glitch_auto(mavproxy, mav),
'loiter_ten':
lambda mavproxy, mav: test_loiter_ten(mavproxy, mav),
'simple':
lambda mavproxy, mav: test_simple(mavproxy, mav),
'super_simple':
lambda mavproxy, mav: test_super_simple(mavproxy, mav),
'circle':
lambda mavproxy, mav: test_circle(mavproxy, mav),
'copter_mission':
lambda mavproxy, mav: test_copter_mission(mavproxy, mav)
}
mission = missions[mission]
global homeloc
binary = '/experiment/source/build/sitl/bin/arducopter'
use_map = False
frame = '+'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(2)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=False, gdb=False)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %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'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
# Arm the motors
wait_ready_to_arm(mavproxy)
if not arm_motors(mavproxy, mav):
print("Failed to arm motors")
return False
# Perform mission
return mission(mavproxy, mav)
# enforce a time limit
except pexpect.TIMEOUT:
print("Failed: time out")
return False
#.........这里部分代码省略.........
开发者ID:JamMarHer,项目名称:RepairBox,代码行数:101,代码来源:test-harness.py
示例11: drive_APMrover2
def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
"""Drive APMrover2 in SITL.
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
if frame is None:
frame = 'rover'
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('APMrover2')
progress("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["APMrover2"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
set_parameter(mavproxy, 'LOG_REPLAY', 1)
set_parameter(mavproxy, 'LOG_DISARMED', 1)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='rover', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)\r\n')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
progress("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([sitl, mavproxy])
progress("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
progress("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
progress("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
progress("Setting up RC parameters")
set_rc_default(mavproxy)
set_rc(mavproxy, mav, 8, 1800)
progress("Waiting for GPS fix")
mav.wait_gps_fix()
homeloc = mav.location()
progress("Home location: %s" % homeloc)
mavproxy.send('switch 6\n') # Manual mode
wait_mode(mav, 'MANUAL')
progress("Waiting reading for arm")
wait_ready_to_arm(mav)
if not arm_vehicle(mavproxy, mav):
progress("Failed to ARM")
failed = True
progress("#")
progress("########## Drive an RTL mission ##########")
progress("#")
# Drive a square in learning mode
if not drive_rtl_mission(mavproxy, mav):
progress("Failed RTL mission")
failed = True
#.........这里部分代码省略.........
开发者ID:BrendanSmith,项目名称:ardupilot,代码行数:101,代码来源:apmrover2.py
示例12: fly_CopterAVC
def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
"""Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc
if frame is None:
frame = 'heli'
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('ArduCopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
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(sitl)
sitl = util.start_SITL(binary, model='heli', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)\r\n')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
progress("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([sitl, mavproxy])
if use_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 as msg:
progress("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
failed_test_msg = "None"
try:
mav.wait_heartbeat()
set_rc_default(mavproxy)
set_rc(mavproxy, mav, 3, 1000)
homeloc = mav.location()
progress("Lowering rotor speed")
set_rc(mavproxy, mav, 8, 1000)
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
wait_ready_to_arm(mav)
# Arm
progress("# Arm motors")
if not arm_vehicle(mavproxy, mav):
failed_test_msg = "arm_motors failed"
progress(failed_test_msg)
failed = True
progress("Raising rotor speed")
set_rc(mavproxy, mav, 8, 2000)
progress("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
progress(failed_test_msg)
#.........这里部分代码省略.........
开发者ID:FantasyJXF,项目名称:ardupilot,代码行数:101,代码来源:arducopter.py
示例13: test
def test(mission):
global homeloc
assert mission in ['good1','good2','good3','bad1','bad2']
binary = '/experiment/source/build/sitl/bin/ardurover'
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model='rover', home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
print("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/rover.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(2)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='rover', home=home, speedup=10, gdb=False)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
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)
# Perform mission
return arm_rover(mavproxy, mav) and \
drive_mission(mavproxy, mav, mission)
# enforce a time limit
except pexpect.TIMEOUT:
print("Failed: time out")
return False
finally:
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
开发者ID:JamMarHer,项目名称:RepairBox,代码行数:71,代码来源:test-harness.py
示例14: drive_APMrover2
def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False):
"""Drive APMrover2 in SITL.
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
if frame is None:
frame = 'rover'
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
print("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["APMrover2"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
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)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='rover', home=home, speedup=10, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('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([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
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 disarm_rover(mavproxy, mav):
print("Failed to DISARM")
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):
#.........这里部分代码省略.........
开发者ID:LanderU,项目名称:ardupilot,代码行数:101,代码来源:apmrover2.py
示例15: fly
def fly(mission):
"""Fly ArduPlane in SITL.
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
binary = '/experiment/source/build/sitl/bin/arduplane'
valgrind = False
use_map = False
gdb = False
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
sitl = util.start_SITL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
valgrind=valgrind, gdb=gdb,
defaults_file=os.path.join(testdir, 'default_params/plane-jsbsim.parm'))
mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
expect_list_clear()
expect_list_extend([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
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.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Fai
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