本文整理汇总了Python中dronekit_sitl.SITL.launch方法的典型用法代码示例。如果您正苦于以下问题:Python SITL.launch方法的具体用法?Python SITL.launch怎么用?Python SITL.launch使用的例子?那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类dronekit_sitl.SITL
的用法示例。
在下文中一共展示了SITL.launch方法的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,您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: test_land
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def test_land(self):
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,0']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
headBefor =drone.vehicle.heading
locBefor = drone.vehicle.location.global_relative_frame
drone.take_off(25)
print drone.vehicle.location.global_relative_frame
drone.land()
print drone.vehicle.location.global_relative_frame
drone.take_off(4)
print drone.vehicle.location.global_relative_frame
drone.land()
print drone.vehicle.location.global_relative_frame
drone.take_off(2)
print drone.vehicle.location.global_relative_frame
drone.land()
print drone.vehicle.location.global_relative_frame
drone.take_off(10)
print drone.vehicle.location.global_relative_frame
drone.land()
print drone.vehicle.location.global_relative_frame
drone.vehicle.close()
sitl.stop()
示例2: test_can_arm
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def test_can_arm():
sitl = SITL()
sitl.download('copter', '3.3')
sitl.launch(copter_args, verbose=True, await_ready=True)
vehicle = dronekit.connect("tcp:127.0.0.1:5760", wait_ready=True)
# Wait for vehicle to be armable
timeout = time.time() + 10
while not vehicle.is_armable and time.time() < timeout:
time.sleep(0.35)
timed_out = time.time() >= timeout
if timed_out:
sitl.stop()
assert_false(timed_out, "Vehicle init timed out")
# Arm it
vehicle.mode = dronekit.VehicleMode("GUIDED")
vehicle.armed = True
# Confirm that it armed
timeout = time.time() + 10
while not vehicle.armed and time.time() < timeout:
time.sleep(0.35)
timed_out = time.time() >= timeout
vehicle.close()
sitl.stop()
assert_false(timed_out, "Vehicle arming timed out")
示例3: test_set_current
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def test_set_current(self):
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
sitl.launch(sitl_args, await_ready=True, restart=True)
print "Connecting to vehicle on: 'tcp:127.0.0.1:5760'"
vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
print " Battery: %s" % vehicle.battery
battery_test = Battery(vehicle.battery)
# check number negative the limit
battery_test.set_current(NEGATIVE_NUMBER)
self.assertEqual(battery_test.current, 0)
# check number positive the limit
battery_test.set_current(POSITIVE_NUMBER)
self.assertEqual(battery_test.get_current(), POSITIVE_NUMBER)
# check ZERO
battery_test.set_current(0)
self.assertEqual(battery_test.get_current(), 0)
#check char that non number
battery_test.set_current(CHARACTER)
self.assertEqual(battery_test.get_current(), 0)
#check char that number
battery_test.set_current(CHAR_NUMBER)
self.assertEqual(battery_test.get_current(), int(CHAR_NUMBER))
sitl.stop()
示例4: connection
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def connection(self,args):
args=str(args)
if args is 'sitl' or args is None:
self._log("Starting copter simulator (SITL)")
from dronekit_sitl import SITL
sitl = SITL()
self.sitl=sitl
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,0']
sitl.launch(sitl_args, await_ready=True, restart=True)
connection_string='tcp:127.0.0.1:5760'
elif args=='0':
connection_string='/dev/ttyACM0'
elif args=='1':
connection_string='/dev/ttyACM1'
else:
connection_string=str(args)
self._log('Connecting to vehicle on: %s' % connection_string)
vehicle = connect(connection_string, wait_ready=True)
# Register observers
vehicle.add_attribute_listener('location',self.location_callback)
#vehicle.add_attribute_listener('battery',self.battery_callback)
#vehicle.add_attribute_listener('heading',self.heading_callback)
return vehicle
示例5: initializeDrone
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def initializeDrone(connectionString, isSimulator):
if isSimulator:
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = [
'-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353'
]
sitl.launch(sitl_args, await_ready=True, restart=True)
print "Connecting to vehicle on: 'tcp:127.0.0.1:5760'"
vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
# print information about vehicle
print "Global Location: %s" % vehicle.location.global_frame
print "Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
print "Local Location: %s" % vehicle.location.local_frame #NED
print "Attitude: %s" % vehicle.attitude
print "Velocity: %s" % vehicle.velocity
print "GPS: %s" % vehicle.gps_0
print "Groundspeed: %s" % vehicle.groundspeed
print "Airspeed: %s" % vehicle.airspeed
print "Battery: %s" % vehicle.battery
print "EKF OK?: %s" % vehicle.ekf_ok
print "Last Heartbeat: %s" % vehicle.last_heartbeat
print "Rangefinder: %s" % vehicle.rangefinder
print "Rangefinder distance: %s" % vehicle.rangefinder.distance
print "Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print "Heading: %s" % vehicle.heading
print "Is Armable?: %s" % vehicle.is_armable
print "System status: %s" % vehicle.system_status.state
print "Mode: %s" % vehicle.mode.name # settable
print "Armed: %s" % vehicle.armed
else:
# Connect to the Vehicle
print 'Connecting to vehicle;'
vehicle = connect(connectionString, wait_ready=True)
# print information about vehicle
print "Global Location: %s" % vehicle.location.global_frame
print "Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
print "Local Location: %s" % vehicle.location.local_frame #NED
print "Attitude: %s" % vehicle.attitude
print "Velocity: %s" % vehicle.velocity
print "GPS: %s" % vehicle.gps_0
print "Groundspeed: %s" % vehicle.groundspeed
print "Airspeed: %s" % vehicle.airspeed
print "Battery: %s" % vehicle.battery
print "EKF OK?: %s" % vehicle.ekf_ok
print "Last Heartbeat: %s" % vehicle.last_heartbeat
print "Rangefinder: %s" % vehicle.rangefinder
print "Rangefinder distance: %s" % vehicle.rangefinder.distance
print "Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print "Heading: %s" % vehicle.heading
print "Is Armable?: %s" % vehicle.is_armable
print "System status: %s" % vehicle.system_status.state
print "Mode: %s" % vehicle.mode.name # settable
print "Armed: %s" % vehicle.armed
示例6: test_sitl
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def test_sitl():
sitl = SITL()
sitl.download('copter', '3.3')
sitl.launch(copter_args)
sitl.block_until_ready()
assert_equals(sitl.poll(), None, 'SITL should still be running.')
assert_equals(sitl.using_sim, False, 'SITL for copter-3.3 should not be using pysim')
sitl.stop()
assert sitl.poll() != None, 'SITL should stop running after kill.'
# Test "relaunch"
sitl.launch(copter_args)
try:
sitl.launch(copter_args)
assert False, 'SITL should fail to launch() again when running'
except:
pass
try:
sitl.launch(copter_args, restart=True)
except:
assert False, 'SITL should succeed in launch() when restart=True'
sitl.stop()
示例7: test_take_off
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def test_take_off(self):
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,0']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
headBefor =drone.vehicle.heading
locBefor = drone.vehicle.location.global_relative_frame
drone.take_off(3)
headAfter = drone.vehicle.heading
locAfter = drone.vehicle.location.global_relative_frame
self.assertTrue( round(locAfter.alt-locBefor.alt)==3 and ((headBefor+5)%360<headAfter or(headBefor-5)%360 >headAfter))
drone.vehicle.close()
sitl.stop()
示例8: start_default_sitl
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def start_default_sitl(lat=None, lon=None):
print "Starting copter simulator (SITL)"
from dronekit_sitl import SITL
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
if ((lat is not None and lon is None) or
(lat is None and lon is not None)):
print("Supply both lat and lon, or neither")
exit(1)
sitl_args = ['-I0', '--model', 'quad', ]
if lat is not None:
sitl_args.append('--home=%f,%f,584,353' % (lat,lon,))
sitl.launch(sitl_args, await_ready=True, restart=True)
connection_string='tcp:127.0.0.1:5760'
return (sitl, connection_string)
示例9: test_preserve_eeprom
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def test_preserve_eeprom():
# Start an SITL instance and change COMPASS_USE
sitl = SITL()
sitl.download('copter', '3.3')
sitl.launch(copter_args, verbose=True, await_ready=True, use_saved_data=False)
connection_string = sitl.connection_string()
vehicle = dronekit.connect(connection_string, wait_ready=True)
new_compass_use = 10
print("Changing COMPASS_USE to {0}".format(new_compass_use))
while vehicle.parameters["COMPASS_USE"] != new_compass_use:
vehicle.parameters["COMPASS_USE"] = new_compass_use
time.sleep(0.1)
print("Changed COMPASS_USE to {0}".format(new_compass_use))
time.sleep(5) # give parameters time to write
sitl.stop()
vehicle.close()
# Now see if it persisted
sitl.launch(copter_args, await_ready=True, use_saved_data=True)
vehicle = dronekit.connect(connection_string, wait_ready=True)
assert_equals(new_compass_use, vehicle.parameters["COMPASS_USE"])
vehicle.close()
sitl.stop()
示例10: test_preserve_eeprom
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def test_preserve_eeprom():
# Start an SITL instance and change SYSID_THISMAV
print "test"
sitl = SITL()
sitl.download('copter', '3.3')
new_sysid = 10
working_dir = tempfile.mkdtemp()
sitl.launch(copter_args, verbose=True, await_ready=True, use_saved_data=True, wd=working_dir)
vehicle = dronekit.connect("tcp:127.0.0.1:5760", wait_ready=True)
print "Changing SYSID_THISMAV to {0}".format(new_sysid)
while vehicle.parameters["SYSID_THISMAV"] != new_sysid:
vehicle.parameters["SYSID_THISMAV"] = new_sysid
time.sleep(0.1)
time.sleep(6) # Allow time for the parameter to go back to EEPROM
print "Changed SYSID_THISMAV to {0}".format(new_sysid)
vehicle.close()
sitl.stop()
# Now see if it persisted
sitl.launch(copter_args, await_ready=True, use_saved_data=True, wd=working_dir)
vehicle = dronekit.connect("tcp:127.0.0.1:5760", wait_ready=True)
assert_equals(new_sysid, vehicle.parameters["SYSID_THISMAV"])
vehicle.close()
sitl.stop()
示例11: SITL
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
from dronekit_sitl import SITL
import dronekit
import time
from dronekit_sitl import version_list
from dronekit_sitl import download
import sys
copter_args = ['-S', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
sitl = SITL()
sitl.launch(copter_args, await_ready=True, use_saved_data=True)
vehicle = dronekit.connect(connection_string, wait_ready=True)
print vehicle.parameters["COMPASS_USE"]
vehicle.close()
sitl.stop()
sys.exit(0)
sitl = SITL()
sitl.stop()
sitl.download('copter', '3.3')
sitl.launch(copter_args, verbose=True, await_ready=True, use_saved_data=False)
sitl.stop()
sys.exit(0)
versions = version_list()
models = list(versions.keys())
print models.sort()
download('copter','3.3', None)
示例12: setup_sitl
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def setup_sitl():
global sitl
sitl = SITL('copter', '3.3-rc5')
sitl.launch(sitl_args, await_ready=True, restart=True)
示例13: connect2FCU
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def connect2FCU(self):
connection_string = self.args.connect
sitl=None
if not self.args.connect:
print "The connect string was not specified. Running SITL!"
from dronekit_sitl import SITL
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
sitl.launch(sitl_args, await_ready=True, restart=True)
connection_string = 'tcp:127.0.0.1:5760'
# Connect to the Vehicle.
# Set `wait_ready=True` to ensure default attributes are populated before `connect()` returns.
print "\nConnecting to vehicle on: %s" % connection_string
vehicle = connect(connection_string, wait_ready=True)
vehicle.wait_ready('autopilot_version')
# Get all vehicle attributes (state)
print "======================================================="
print " Autopilot Firmware version: %s" % vehicle.version
print " Major version number: %s" % vehicle.version.major
print " Minor version number: %s" % vehicle.version.minor
print " Patch version number: %s" % vehicle.version.patch
print " Release type: %s" % vehicle.version.release_type()
print " Release version: %s" % vehicle.version.release_version()
print " Stable release?: %s" % vehicle.version.is_stable()
'''
print " Autopilot capabilities"
print " Supports MISSION_FLOAT message type: %s" % vehicle.capabilities.mission_float
print " Supports PARAM_FLOAT message type: %s" % vehicle.capabilities.param_float
print " Supports MISSION_INT message type: %s" % vehicle.capabilities.mission_int
print " Supports COMMAND_INT message type: %s" % vehicle.capabilities.command_int
print " Supports PARAM_UNION message type: %s" % vehicle.capabilities.param_union
print " Supports ftp for file transfers: %s" % vehicle.capabilities.ftp
print " Supports commanding attitude offboard: %s" % vehicle.capabilities.set_attitude_target
print " Supports commanding position and velocity targets in local NED frame: %s" % vehicle.capabilities.set_attitude_target_local_ned
print " Supports set position + velocity targets in global scaled integers: %s" % vehicle.capabilities.set_altitude_target_global_int
print " Supports terrain protocol / data handling: %s" % vehicle.capabilities.terrain
print " Supports direct actuator control: %s" % vehicle.capabilities.set_actuator_target
print " Supports the flight termination command: %s" % vehicle.capabilities.flight_termination
print " Supports mission_float message type: %s" % vehicle.capabilities.mission_float
print " Supports onboard compass calibration: %s" % vehicle.capabilities.compass_calibration
print " Global Location: %s" % vehicle.location.global_frame
print " Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
print " Local Location: %s" % vehicle.location.local_frame
print " Attitude: %s" % vehicle.attitude
print " Velocity: %s" % vehicle.velocity
print " GPS: %s" % vehicle.gps_0
print " Gimbal status: %s" % vehicle.gimbal
print " Battery: %s" % vehicle.battery
print " EKF OK?: %s" % vehicle.ekf_ok
print " Last Heartbeat: %s" % vehicle.last_heartbeat
print " Rangefinder: %s" % vehicle.rangefinder
print " Rangefinder distance: %s" % vehicle.rangefinder.distance
print " Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print " Heading: %s" % vehicle.heading
print " Is Armable?: %s" % vehicle.is_armable
print " System status: %s" % vehicle.system_status.state
print " Groundspeed: %s" % vehicle.groundspeed # settable
print " Airspeed: %s" % vehicle.airspeed # settable
print " Mode: %s" % vehicle.mode.name # settable
print " Armed: %s" % vehicle.armed # settable
'''
print "======================================================="
return vehicle, sitl
示例14: Vehicle
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
class Vehicle():
#######################################
# Constructor
#######################################
def __init__(self , connectionString,mode):
if mode =='r': #run on vihcle
print 'Connecting to vehicle on: %s' % connectionString
self.vehicle = connect(connectionString, baud=57600)
if mode =='s': #run on simultor
self.sitl = SITL()
self.sitl.download('copter', '3.3', verbose=True)
self.sitl_args = ['-I0','--gimbal' ,'--model', 'quad', '--home=31.7396,35.1956,3,-1']
self.sitl.launch(self.sitl_args, await_ready=True, restart=True)
self.vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
#######################################
# Arm And TakeOff
#######################################
def arm_and_takeoff(self,takeOffAltitude):
self.vehicle_pre_arm_check() # chack if the vehicle is armable
print "Basic pre-arm checks"
# Don't let the user try to arm until autopilot is ready
while not self.vehicle.is_armable:
print " Waiting for vehicle to initialise..."
time.sleep(1)
self.vehicle_arm() # Arm vehicle
self.vehicle_arming_check() # Wait for the drone to arm
time.sleep(1) # Sleep for Sec
self.vehicle_take_off(takeOffAltitude) # TakeOff
#self.print_vehicle_full_state_info() # Print the vehicle status
#######################################################################################################################################################################
#######################################################################################################################################################################
#######################################################################################################################################################################
##############################################
# SETTERS #
##############################################
def air_speed(self,speed):
self.vehicle.airspeed = speed
def rtl(self):
self.vehicle.mode = VehicleMode("RTL")
def closeVec(self):
self.vehicle.close()
def set_mode(self,mode):
self.vehicle.mode=mode
def set_armed(self,bool):
self.vehicle.armed =bool
def gimbal_rotate(self,pitch=0,roll=0,yaw=0):
self.vehicle.gimbal.rotate(pitch,roll,yaw)
def set_groundspeed(self,speed):
self.vehicle.groundspeed= speed
return
##############################################
# GETTERS #
##############################################
def get_location(self): return self.vehicle.location.global_frame
def get_location_latitude(self): return self.vehicle.location.lat
def get_location_longitude(self): return self.vehicle.location.lon
def get_location_altitude(self): return self.vehicle.location.alt
def get_location_global_frame(self): return self.vehicle.location.global_frame
def get_location_global_relative(self): return self.vehicle.location.global_relative_frame
def get_location_local_frame(self): return self.vehicle.location.local_frame
def get_attitude(self): return self.vehicle.attitude
def get_gimbal(self): return self.vehicle.gimbal
def get_velocity(self): return self.vehicle.velocity
def get_gps(self): return self.vehicle.gps_0
#.........这里部分代码省略.........
示例15: test_move_left
# 需要导入模块: from dronekit_sitl import SITL [as 别名]
# 或者: from dronekit_sitl.SITL import launch [as 别名]
def test_move_left(self):
""""
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,0']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
drone.take_off(2)
print drone.vehicle.location.global_relative_frame
drone.move_left(2)
print drone.vehicle.location.global_relative_frame
drone.land()
drone.vehicle.close()
sitl.stop()
"""""
""""
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,45']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
drone.take_off(2)
print drone.vehicle.location.global_relative_frame
drone.move_left(2)
print drone.vehicle.location.global_relative_frame
drone.land()
drone.vehicle.close()
sitl.stop()
#self.assertTrue(True)
"""
""""
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,90']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
drone.take_off(2)
print drone.vehicle.location.global_relative_frame
drone.move_left(2)
print drone.vehicle.location.global_relative_frame
drone.land()
drone.vehicle.close()
sitl.stop()
#self.assertTrue(True)
"""
""""
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,135']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
drone.take_off(2)
print drone.vehicle.location.global_relative_frame
drone.move_left(2)
print drone.vehicle.location.global_relative_frame
drone.land()
drone.vehicle.close()
sitl.stop()
#self.assertTrue(True)
"""
""""
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,180']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
drone.take_off(2)
print drone.vehicle.location.global_relative_frame
drone.move_left(2)
print drone.vehicle.location.global_relative_frame
drone.land()
drone.vehicle.close()
sitl.stop()
#self.assertTrue(True)
"""
""""
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,225']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
drone.take_off(2)
print drone.vehicle.location.global_relative_frame
drone.move_left(2)
print drone.vehicle.location.global_relative_frame
drone.land()
drone.vehicle.close()
sitl.stop()
#self.assertTrue(True)
"""
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=31.768923,35.193595,0,270']
sitl.launch(sitl_args, await_ready=True, restart=True)
drone = Drone('tcp:127.0.0.1:5760')
drone.take_off(2)
print drone.vehicle.location.global_relative_frame
drone.move_left(2)
print drone.vehicle.location.global_relative_frame
#.........这里部分代码省略.........