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

    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 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

    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))

#.........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

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

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.........

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.........

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.........

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.........

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.........

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.........

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)

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.........

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