Python util.start_SITL函数代码示例

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 init(self):
        if self.frame is None:
            self.frame = "tracker"

        self.mavproxy_logfile = self.open_mavproxy_logfile()

        self.sitl = util.start_SITL(self.binary,
                                    wipe=True,
                                    model=self.frame,
                                    home=self.home,
                                    speedup=self.speedup,
                                    valgrind=self.valgrind,
                                    gdb=self.gdb,
                                    gdbserver=self.gdbserver,
                                    breakpoints=self.breakpoints,
                                    )
        self.mavproxy = util.start_MAVProxy_SITL(
            'AntennaTracker', options=self.mavproxy_options())
        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
        self.logfile = self.mavproxy.match.group(1)
        self.progress("LOGFILE %s" % self.logfile)
        self.try_symlink_tlog()

        self.mavproxy.expect('Received [0-9]+ parameters')

        util.expect_setup_callback(self.mavproxy, self.expect_callback)

        self.expect_list_clear()
        self.expect_list_extend([self.sitl, self.mavproxy])

        self.progress("Started simulator")

        self.get_mavlink_connection_going()

        self.progress("Ready to start testing!")

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 init(self):
        if self.frame is None:
            self.frame = 'vectored'

        self.sitl = util.start_SITL(self.binary,
                                    model=self.frame,
                                    home=self.home,
                                    speedup=self.speedup,
                                    valgrind=self.valgrind,
                                    gdb=self.gdb,
                                    gdbserver=self.gdbserver,
                                    breakpoints=self.breakpoints,
                                    wipe=True)
        self.mavproxy = util.start_MAVProxy_SITL(
            'ArduSub', options=self.mavproxy_options())
        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
        logfile = self.mavproxy.match.group(1)
        self.progress("LOGFILE %s" % logfile)

        buildlog = self.buildlogs_path("ArduSub-test.tlog")
        self.progress("buildlog=%s" % buildlog)
        if os.path.exists(buildlog):
            os.unlink(buildlog)
        try:
            os.link(logfile, buildlog)
        except Exception:
            pass

        self.progress("WAITING FOR PARAMETERS")
        self.mavproxy.expect('Received [0-9]+ parameters')

        util.expect_setup_callback(self.mavproxy, self.expect_callback)

        self.expect_list_clear()
        self.expect_list_extend([self.sitl, self.mavproxy])

        self.progress("Started simulator")

        # get a mavlink connection going
        connection_string = '127.0.0.1:19550'
        try:
            self.mav = mavutil.mavlink_connection(connection_string,
                                                  robust_parsing=True)
        except Exception as msg:
            self.progress("Failed to start mavlink connection on %s: %s" %
                          (connection_string, msg,))
            raise
        self.mav.message_hooks.append(self.message_hook)
        self.mav.idle_hooks.append(self.idle_hook)
        self.hasInit = True

        self.apply_defaultfile_parameters()

        self.progress("Ready to start testing!")

    def init(self):
        if self.frame is None:
            self.frame = 'quadplane'

        defaults_file = os.path.join(testdir, 'default_params/quadplane.parm')
        self.sitl = util.start_SITL(self.binary,
                                    wipe=True,
                                    model=self.frame,
                                    home=self.home,
                                    speedup=self.speedup,
                                    defaults_file=defaults_file,
                                    valgrind=self.valgrind,
                                    gdb=self.gdb,
                                    gdbserver=self.gdbserver)
        self.mavproxy = util.start_MAVProxy_SITL(
            'QuadPlane', options=self.mavproxy_options())
        self.mavproxy.expect('Telemetry log: (\S+)')
        logfile = self.mavproxy.match.group(1)
        self.progress("LOGFILE %s" % logfile)

        buildlog = self.buildlogs_path("QuadPlane-test.tlog")
        self.progress("buildlog=%s" % buildlog)
        if os.path.exists(buildlog):
            os.unlink(buildlog)
        try:
            os.link(logfile, buildlog)
        except Exception:
            pass

        self.mavproxy.expect('Received [0-9]+ parameters')

        util.expect_setup_callback(self.mavproxy, self.expect_callback)

        self.expect_list_clear()
        self.expect_list_extend([self.sitl, self.mavproxy])

        self.progress("Started simulator")

        # get a mavlink connection going
        connection_string = '127.0.0.1:19550'
        try:
            self.mav = mavutil.mavlink_connection(connection_string,
                                                  robust_parsing=True)
        except Exception as msg:
            self.progress("Failed to start mavlink connection on %s: %s" %
                          (connection_string, msg))
            raise
        self.mav.message_hooks.append(self.message_hook)
        self.mav.idle_hooks.append(self.idle_hook)
        self.hasInit = True
        self.progress("Ready to start testing!")

    def init(self):
        super(AutoTestQuadPlane, self).init(os.path.realpath(__file__))
        if self.frame is None:
            self.frame = 'quadplane'

        self.mavproxy_logfile = self.open_mavproxy_logfile()

        vinfo = vehicleinfo.VehicleInfo()
        defaults_file = vinfo.options["ArduPlane"]["frames"][self.frame]["default_params_filename"]
        defaults_filepath = os.path.join(testdir, defaults_file)

        self.sitl = util.start_SITL(self.binary,
                                    wipe=True,
                                    model=self.frame,
                                    home=self.home,
                                    speedup=self.speedup,
                                    defaults_file=defaults_filepath,
                                    valgrind=self.valgrind,
                                    gdb=self.gdb,
                                    gdbserver=self.gdbserver,
                                    breakpoints=self.breakpoints,
                                    )
        self.mavproxy = util.start_MAVProxy_SITL(
            'QuadPlane',
            logfile=self.mavproxy_logfile,
            options=self.mavproxy_options())
        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
        self.logfile = self.mavproxy.match.group(1)
        self.progress("LOGFILE %s" % self.logfile)
        self.try_symlink_tlog()

        self.mavproxy.expect('Received [0-9]+ parameters')

        util.expect_setup_callback(self.mavproxy, self.expect_callback)

        self.expect_list_clear()
        self.expect_list_extend([self.sitl, self.mavproxy])

        self.progress("Started simulator")

        self.get_mavlink_connection_going()

        self.progress("Ready to start testing!")

    def init(self):
        super(AutoTestSub, self).init(os.path.realpath(__file__))
        if self.frame is None:
            self.frame = 'vectored'

        self.mavproxy_logfile = self.open_mavproxy_logfile()

        self.sitl = util.start_SITL(self.binary,
                                    model=self.frame,
                                    home=self.sitl_home(),
                                    speedup=self.speedup,
                                    valgrind=self.valgrind,
                                    gdb=self.gdb,
                                    gdbserver=self.gdbserver,
                                    breakpoints=self.breakpoints,
                                    wipe=True)
        self.mavproxy = util.start_MAVProxy_SITL(
            'ArduSub',
            logfile=self.mavproxy_logfile,
            options=self.mavproxy_options())
        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
        self.logfile = self.mavproxy.match.group(1)
        self.progress("LOGFILE %s" % self.logfile)
        self.try_symlink_tlog()

        self.progress("WAITING FOR PARAMETERS")
        self.mavproxy.expect('Received [0-9]+ parameters')

        util.expect_setup_callback(self.mavproxy, self.expect_callback)

        self.expect_list_clear()
        self.expect_list_extend([self.sitl, self.mavproxy])

        self.progress("Started simulator")

        self.get_mavlink_connection_going()

        self.apply_defaultfile_parameters()

        # FIXME:
        self.set_parameter("FS_GCS_ENABLE", 0)

        self.progress("Ready to start testing!")

    def init(self):
        if self.frame is None:
            self.frame = 'plane-elevrev'

        self.mavproxy_logfile = self.open_mavproxy_logfile()

        defaults_file = os.path.join(testdir,
                                     'default_params/plane-jsbsim.parm')
        self.sitl = util.start_SITL(self.binary,
                                    wipe=True,
                                    model=self.frame,
                                    home=self.home,
                                    speedup=self.speedup,
                                    defaults_file=defaults_file,
                                    valgrind=self.valgrind,
                                    gdb=self.gdb,
                                    gdbserver=self.gdbserver,
                                    breakpoints=self.breakpoints)
        self.mavproxy = util.start_MAVProxy_SITL(
            'ArduPlane', options=self.mavproxy_options())
        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
        self.logfile = self.mavproxy.match.group(1)
        self.progress("LOGFILE %s" % self.logfile)
        self.try_symlink_tlog()

        self.mavproxy.expect('Received [0-9]+ parameters')

        util.expect_setup_callback(self.mavproxy, self.expect_callback)

        self.expect_list_clear()
        self.expect_list_extend([self.sitl, self.mavproxy])

        self.progress("Started simulator")

        self.get_mavlink_connection_going()

        self.hasInit = True
        self.progress("Ready to start testing!")

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("Failed takeoff")
            failed = True

    except pexpect.TIMEOUT as e:
        print("Failed with timeout")


    # try to run a mission?
    # "ArduPlane-Missions/CMAC-bigloop.txt"
    fly_mission(mavproxy, mav, "missions/{}".format(mission))

    # shutdown
    mav.close()
    util.pexpect_close(mavproxy)
    util.pexpect_close(sitl)

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 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 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 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 init(self):
        if self.frame is None:
            self.frame = '+'

        if self.frame == 'heli':
            self.log_name = "HeliCopter"
            self.home = "%f,%f,%u,%u" % (AVCHOME.lat,
                                         AVCHOME.lng,
                                         AVCHOME.alt,
                                         AVCHOME.heading)

        self.apply_parameters_using_sitl()

        self.sitl = util.start_SITL(self.binary,
                                    model=self.frame,
                                    home=self.home,
                                    speedup=self.speedup,
                                    valgrind=self.valgrind,
                                    gdb=self.gdb,
                                    gdbserver=self.gdbserver)
        self.mavproxy = util.start_MAVProxy_SITL(
            'ArduCopter', options=self.mavproxy_options())
        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
        self.logfile = self.mavproxy.match.group(1)
        self.progress("LOGFILE %s" % self.logfile)

        self.buildlog = self.buildlogs_path(self.log_name + "-test.tlog")
        self.progress("buildlog=%s" % self.buildlog)
        self.copy_tlog = False
        if os.path.exists(self.buildlog):
            os.unlink(self.buildlog)
        try:
            os.link(self.logfile, self.buildlog)
        except Exception:
            self.progress("WARN: Failed to create symlink: %s => %s, "
                          "will copy tlog manually to target location" %
                          (self.logfile, self.buildlog))
            self.copy_tlog = True

        self.mavproxy.expect('Received [0-9]+ parameters')

        util.expect_setup_callback(self.mavproxy, self.expect_callback)

        self.expect_list_clear()
        self.expect_list_extend([self.sitl, self.mavproxy])

        self.progress("Started simulator")

        # get a mavlink connection going
        connection_string = '127.0.0.1:19550'
        try:
            self.mav = mavutil.mavlink_connection(connection_string,
                                                  robust_parsing=True)
        except Exception as msg:
            self.progress("Failed to start mavlink connection on %s: %s" %
                          (connection_string, msg,))
            raise
        self.mav.message_hooks.append(self.message_hook)
        self.mav.idle_hooks.append(self.idle_hook)
        self.hasInit = True
        self.progress("Ready to start testing!")