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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Moved to integrationtests
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sander
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#!/usr/bin/env python
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################################################################################################
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# @File MissionCheck.py
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# Automated mission loading, execution and monitoring
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# for Continuous Integration
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#
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# @author Sander Smeets <sander@droneslab.com>
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#
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# Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics.
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################################################################################################
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################################################################################################
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# Settings
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################################################################################################
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connection_string = '127.0.0.1:14540'
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import_mission_filename = 'VTOL_TAKEOFF.mission'
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max_execution_time = 200
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alt_acceptance_radius = 5
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################################################################################################
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# Init
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################################################################################################
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# Import DroneKit-Python
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from dronekit import connect, Command
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from pymavlink import mavutil
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import time, sys, argparse
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parser = argparse.ArgumentParser()
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parser.add_argument("-c", "--connect", help="connection string")
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parser.add_argument("-f", "--filename", help="mission filename")
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parser.add_argument("-t", "--timeout", help="execution timeout", type=float)
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parser.add_argument("-a", "--altrad", help="altitude acceptance radius", type=float)
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args = parser.parse_args()
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if args.connect:
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connection_string = args.connect
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if args.filename:
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import_mission_filename = args.filename
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if args.timeout:
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max_execution_time = args.timeout
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if args.altrad:
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alt_acceptance_radius = args.altrad
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mission_failed = False
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MAV_MODE_AUTO = 4
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# start time counter
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start_time = time.time()
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elapsed_time = time.time() - start_time
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# Connect to the Vehicle
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print "Connecting"
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vehicle = connect(connection_string, wait_ready=True)
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while not vehicle.system_status.state == "STANDBY" or vehicle.gps_0.fix_type < 3:
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if time.time() - start_time > 20:
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print "FAILED: SITL did not reach standby with GPS fix within 20 seconds"
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sys.exit(98)
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print "Waiting for vehicle to initialise... %s " % vehicle.system_status.state
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time.sleep(1)
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# Display basic vehicle state
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print " Type: %s" % vehicle._vehicle_type
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print " Armed?: %s" % vehicle.armed
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print " System status: %s" % vehicle.system_status.state
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print " GPS: %s" % vehicle.gps_0
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print " Alt: %s" % vehicle.location.global_relative_frame.alt
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################################################################################################
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# Functions
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################################################################################################
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def readmission(aFileName):
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"""
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Load a mission from a file into a list. The mission definition is in the Waypoint file
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format (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
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This function is used by upload_mission().
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"""
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cmds = vehicle.commands
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missionlist=[]
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with open(aFileName) as f:
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for i, line in enumerate(f):
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if i==0:
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if not line.startswith('QGC WPL 110'):
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raise Exception('File is not supported WP version')
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else:
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linearray=line.split('\t')
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ln_index=int(linearray[0])
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ln_currentwp=int(linearray[1])
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ln_frame=int(linearray[2])
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ln_command=int(linearray[3])
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ln_param1=float(linearray[4])
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ln_param2=float(linearray[5])
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ln_param3=float(linearray[6])
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ln_param4=float(linearray[7])
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ln_param5=float(linearray[8])
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ln_param6=float(linearray[9])
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ln_param7=float(linearray[10])
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ln_autocontinue=int(linearray[11].strip())
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cmd = Command( 0, 0, 0, ln_frame, ln_command, ln_currentwp, ln_autocontinue, ln_param1, ln_param2, ln_param3, ln_param4, ln_param5, ln_param6, ln_param7)
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missionlist.append(cmd)
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return missionlist
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def upload_mission(aFileName):
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"""
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Upload a mission from a file.
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"""
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#Read mission from file
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missionlist = readmission(aFileName)
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#Clear existing mission from vehicle
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cmds = vehicle.commands
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cmds.clear()
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#Add new mission to vehicle
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for command in missionlist:
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cmds.add(command)
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print ' Uploaded mission with %s items' % len(missionlist)
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vehicle.commands.upload()
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return missionlist
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def download_mission():
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"""
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Downloads the current mission and returns it in a list.
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It is used in save_mission() to get the file information to save.
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"""
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print " Download mission from vehicle"
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missionlist=[]
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cmds = vehicle.commands
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cmds.download()
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cmds.wait_ready()
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for cmd in cmds:
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missionlist.append(cmd)
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return missionlist
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def save_mission(aFileName):
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"""
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Save a mission in the Waypoint file format
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(http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
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"""
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print "\nSave mission from Vehicle to file: %s" % aFileName
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#Download mission from vehicle
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missionlist = download_mission()
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#Add file-format information
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output='QGC WPL 110\n'
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#Add home location as 0th waypoint
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home = vehicle.home_location
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output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n\n\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
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#Add commands
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for cmd in missionlist:
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commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)
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output+=commandline
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with open(aFileName, 'w') as file_:
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print " Write mission to file"
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file_.write(output)
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def printfile(aFileName):
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"""
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Print a mission file to demonstrate "round trip"
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"""
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print "\nMission file: %s" % aFileName
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with open(aFileName) as f:
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for line in f:
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print ' %s' % line.strip()
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################################################################################################
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# Listeners
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################################################################################################
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current_sequence = -1
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current_sequence_changed = False
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current_landed_state = -1
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home_position_set = False
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#Create a message listener for mission sequence number
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@vehicle.on_message('MISSION_CURRENT')
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def listener(self, name, mission_current):
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global current_sequence, current_sequence_changed
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if (current_sequence <> mission_current.seq):
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current_sequence = mission_current.seq;
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current_sequence_changed = True
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print 'current mission sequence: %s' % mission_current.seq
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#Create a message listener for mission sequence number
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@vehicle.on_message('EXTENDED_SYS_STATE')
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def listener(self, name, extended_sys_state):
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global current_landed_state
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if (current_landed_state <> extended_sys_state.landed_state):
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current_landed_state = extended_sys_state.landed_state;
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#Create a message listener for home position fix
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@vehicle.on_message('HOME_POSITION')
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def listener(self, name, home_position):
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global home_position_set
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home_position_set = True
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################################################################################################
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# Start mission test
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################################################################################################
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while not home_position_set:
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if time.time() - start_time > 30:
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print "FAILED: getting home position 30 seconds"
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sys.exit(98)
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print "Waiting for home position..."
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time.sleep(1)
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#Upload mission from file
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missionlist = upload_mission(import_mission_filename)
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time.sleep(2)
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# set mission mode the hard way
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vehicle._master.mav.command_long_send(vehicle._master.target_system, vehicle._master.target_component,
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mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
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MAV_MODE_AUTO,
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0, 0, 0, 0, 0, 0)
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time.sleep(1)
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# Arm vehicle
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vehicle.armed = True
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while not vehicle.system_status.state == "ACTIVE":
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if time.time() - start_time > 30:
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print "FAILED: vehicle did not arm within 30 seconds"
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sys.exit(98)
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print "Waiting for vehicle to arm..."
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time.sleep(1)
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# Wait for completion of mission items
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while (current_sequence < len(missionlist)-1 and elapsed_time < max_execution_time):
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time.sleep(.2)
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if current_sequence > 0 and current_sequence_changed:
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if missionlist[current_sequence-1].z - alt_acceptance_radius > vehicle.location.global_relative_frame.alt or missionlist[current_sequence-1].z + alt_acceptance_radius < vehicle.location.global_relative_frame.alt:
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print "waypoint %s out of bounds altitude %s gps altitude: %s" % (current_sequence, missionlist[current_sequence-1].z, vehicle.location.global_relative_frame.alt)
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mission_failed = True
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current_sequence_changed = False
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elapsed_time = time.time() - start_time
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if elapsed_time < max_execution_time:
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print "Mission items have been executed"
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# wait for the vehicle to have landed
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while (current_landed_state != 1 and elapsed_time < max_execution_time):
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time.sleep(1)
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elapsed_time = time.time() - start_time
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if elapsed_time < max_execution_time:
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print "Vehicle has landed"
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# Disarm vehicle
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vehicle.armed = False
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# count elapsed time
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elapsed_time = time.time() - start_time
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# Close vehicle object before exiting script
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vehicle.close()
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time.sleep(2)
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# Validate time constraint
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if elapsed_time <= max_execution_time and not mission_failed:
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print "Mission succesful time elapsed %s" % elapsed_time
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sys.exit(0)
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if elapsed_time > max_execution_time:
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print "Mission FAILED to execute within %s seconds" % max_execution_time
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sys.exit(99)
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if mission_failed:
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print "Mission FAILED out of bounds"
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sys.exit(100)
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print "Mission FAILED something strange happened"
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sys.exit(101)
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@@ -0,0 +1,5 @@
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QGC WPL 110
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1 0 3 84 0.0 0.0 -0.0 0.0 47.3975105286 8.55026626587 10.0 1
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1 0 3 16 0.0 0.0 -0.0 0.0 47.395450592 8.55018424988 10.0 1
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2 0 3 16 0.0 0.0 -0.0 0.0 47.3954582214 8.54566764832 10.0 1
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3 0 3 85 0.0 0.0 -0.0 0.0 47.3977355957 8.54561138153 10.0 1
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