Python util.pexpect_autoclose函数代码示例

def drive_APMrover2(viewerip=None):
    '''drive APMrover2 in SIL

    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

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip

    sil = util.start_SIL('APMrover2', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=50 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)

    runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Starting at lat')

    sil = util.start_SIL('APMrover2')
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/APMrover2-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

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

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_ArduCopter_scripted(testname):
    '''fly ArduCopter in SIL

    '''
    global homeloc

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += ' --wind=6,45,.3'

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'

    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    # 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, arducopter.expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def run_mission(mission_path, frame, home, viewerip=None):
  sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py')
  sim_cmd += ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
    frame, home.lat, home.lng, home.alt, home.heading)
  sim_cmd += ' --wind=6,45,.3'
  if viewerip:
    sim_cmd += ' --fgout=%s:5503' % viewerip

  sil = util.start_SIL('ArduCopter', wipe=True)
  mavproxy = util.start_MAVProxy_SIL(
    'ArduCopter',
    options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
  mavproxy.expect('Received [0-9]+ parameters')

  # setup test parameters
  mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
  mavproxy.send("param load %s/autotest/ArduCopter.parm\n" % testdir)
  mavproxy.expect('Loaded [0-9]+ parameters')
  mavproxy.send('module load mmap\n')

  # reboot with new parameters
  util.pexpect_close(mavproxy)
  util.pexpect_close(sil)

  sil = util.start_SIL('ArduCopter', height=home.alt)
  print 'Executing command %s' % (sim_cmd,)
  sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
  sim.delaybeforesend = 0
  util.pexpect_autoclose(sim)
  options = ('--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter '
             '--streamrate=5')
  if viewerip:
      options += ' --out=%s:14550' % viewerip
  mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
  mavproxy.expect('Logging to (\S+)')
  logfile = mavproxy.match.group(1)
  print 'Saving log %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'])

  mavproxy.send('module load mmap\n')
  util.expect_setup_callback(mavproxy, common.expect_callback)

  common.expect_list_clear()
  common.expect_list_extend([sim, sil, mavproxy])

  # get a mavlink connection going
  try:
    mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
  except Exception, msg:
    error("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
    raise

    def init_jsbsim(self):
        cmd = (
            "JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=data/flightgear.xml --script=%s"
            % self.script
        )
        if self.options:
            cmd += " %s" % self.options

        jsb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
        jsb.delaybeforesend = 0
        util.pexpect_autoclose(jsb)
        i = jsb.expect(["Successfully bound to socket for input on port (\d+)", "Could not bind to socket for input"])
        if i == 1:
            print ("Failed to start JSBSim - is another copy running?")
            sys.exit(1)
        jsb_out_address = self.interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
        jsb.expect("Creating UDP socket on port (\d+)")
        jsb_in_address = self.interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
        jsb.expect("Successfully connected to socket for output")
        jsb.expect("JSBSim Execution beginning")

        # setup output to jsbsim
        print ("JSBSim console on %s" % str(jsb_out_address))
        jsb_out = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        jsb_out.connect(jsb_out_address)
        jsb_console = fdpexpect.fdspawn(jsb_out.fileno(), logfile=sys.stdout)
        jsb_console.delaybeforesend = 0
        jsb_console.logfile = None

        # setup input from jsbsim
        print ("JSBSim FG FDM input on %s" % str(jsb_in_address))
        jsb_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        jsb_in.bind(jsb_in_address)
        jsb_in.setblocking(0)

        # set class data
        self.jsb = jsb
        self.jsb_in = jsb_in
        self.jsb_out = jsb_out
        self.jsb_console = jsb_console
        self.fdm = fgFDM.fgFDM()

os.chdir(util.reltopdir('Tools/autotest'))

# kill off child when we exit
atexit.register(util.pexpect_close_all)

setup_template(opts.home)

# start child
cmd = "JSBSim --realtime --suspend --nice --simulation-rate=%u --logdirectivefile=jsb_sim/fgout.xml --script=%s" % (opts.rate, opts.script)
if opts.options:
    cmd += ' %s' % opts.options

jsb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
jsb.delaybeforesend = 0
util.pexpect_autoclose(jsb)
i = jsb.expect(["Successfully bound to socket for input on port (\d+)",
                "Could not bind to socket for input"])
if i == 1:
    print("Failed to start JSBSim - is another copy running?")
    sys.exit(1)
jsb_out_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
jsb.expect("Creating UDP socket on port (\d+)")
jsb_in_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
jsb.expect("Successfully connected to socket for output")
jsb.expect("JSBSim Execution beginning")

# setup output to jsbsim
print("JSBSim console on %s" % str(jsb_out_address))
jsb_out = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
jsb_out.connect(jsb_out_address)

def fly_ArduPlane(viewerip=None, map=False):
    '''fly ArduPlane in SIL

    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 map:
        options += ' --map'

    sil = util.start_SIL('ArduPlane', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    mavproxy.send("param fetch\n")

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
#    util.reltopdir("Tools/autotest/sim_arduplane_hil.sh")
#    cmd += " --home=%s --wind=%s --script='%s/jsbsim/SW13_test.xml' "% (HOME_LOCATION, WIND, testdir)
    #Original
    cmd += " --home=%s --wind=%s"% (HOME_LOCATION, WIND)
    if viewerip:
        cmd += " --fgout=%s:5503" % viewerip

    runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Simulator ready to fly')

    sil = util.start_SIL('ArduPlane')
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-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([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_CopterAVC(viewerip=None, map=False):
    '''fly ArduCopter in SIL for AVC2013 mission
    '''
    global homeloc

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    if viewerip:
        sim_cmd += ' --fgout=%s:5503' % viewerip

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/CopterAVC.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\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)
    os.link(logfile, buildlog)

    # 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([sim, sil, mavproxy])

    if 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, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_ArduCopter(viewerip=None, map=False):
    '''fly ArduCopter in SIL

    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

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += ' --wind=6,45,.3'
    if viewerip:
        sim_cmd += ' --fgout=%s:5503' % viewerip

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/copter_params.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
    print("buildlog=%s" % buildlog)
    copyTLog = 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" )
        copyTLog = 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([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_ArduCopter(viewerip=None, map=False):
    """fly ArduCopter in SIL

    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

    if TARGET != "sitl":
        util.build_SIL("ArduCopter", target=TARGET)

    sim_cmd = util.reltopdir(
        "Tools/autotest/pysim/sim_multicopter.py"
    ) + " --frame=%s --rate=400 --home=%f,%f,%u,%u" % (FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += " --wind=6,45,.3"
    if viewerip:
        sim_cmd += " --fgout=%s:5503" % viewerip

    sil = util.start_SIL("ArduCopter", wipe=True)
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options="--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter")
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param set SYSID_THISMAV %u\n" % random.randint(100, 200))
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL("ArduCopter", height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = "--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += " --map"
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options=options)
    mavproxy.expect("Logging to (\S+)")
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-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([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection("127.0.0.1:19550", robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_ArduPlane(viewerip=None):
    """fly ArduPlane in SIL

    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 expect_list, homeloc

    options = "--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip

    sil = util.start_SIL("ArduPlane", wipe=True)
    mavproxy = util.start_MAVProxy_SIL("ArduPlane", options=options)
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL("ArduPlane")
    mavproxy = util.start_MAVProxy_SIL("ArduPlane", options=options)
    mavproxy.expect("Logging to (\S+)")
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

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

    util.expect_setup_callback(mavproxy, expect_callback)

    fg_scenery = os.getenv("FG_SCENERY")
    if not fg_scenery:
        raise RuntimeError("You must set the FG_SCENERY environment variable")

    fgear_options = (
        """
    --generic=socket,in,25,,5502,udp,MAVLink \
    --generic=socket,out,50,,5501,udp,MAVLink \
    --aircraft=Rascal110-JSBSim \
    --control=mouse \
    --disable-intro-music \
    --airport=YKRY \
    --lat=-35.362851 \
    --lon=149.165223 \
    --heading=350 \
    --altitude=0 \
    --geometry=650x550 \
    --jpg-httpd=5502 \
    --disable-anti-alias-hud \
    --disable-hud-3d \
    --disable-enhanced-lighting \
    --disable-distance-attenuation \
    --disable-horizon-effect \
    --shading-flat \
    --disable-textures \
    --timeofday=noon \
    --fdm=jsb \
    --disable-sound \
    --disable-fullscreen \
    --disable-random-objects \
    --disable-ai-models \
    --shading-flat \
    --fog-disable \
    --disable-specular-highlight \
    --disable-skyblend \
    --fg-scenery=%s \
    --disable-anti-alias-hud \
    [email protected] \
"""
        % fg_scenery
    )
    # start fgear
    if os.getenv("DISPLAY"):
        cmd = "fgfs %s" % fgear_options
        fgear = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
    else:
        cmd = "xvfb-run --server-num=42 -s '-screen 0 800x600x24' fgfs --enable-wireframe %s" % fgear_options
        util.kill_xvfb(42)
        fgear = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
        fgear.xvfb_server_num = 42
    util.pexpect_autoclose(fgear)
    fgear.expect("creating 3D noise", timeout=30)

    expect_list.extend([fgear, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection("127.0.0.1:19550", robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
#.........这里部分代码省略.........

    def setup_class(cls):
    	#Set this to False to enable logging.
    	DEBUG = False
    	CONSOLE = False

    	cls.TIMEOUT=5
        cls.DELAY=2

        cls.resource_path = os.path.join(os.path.join(os.path.dirname(os.path.abspath(__file__)), 'TestGroupLib/'), 'Resources/')
        
        #start MAVLink, etc
        try:
            os.remove('eeprom.bin')
        except OSError:
            pass

        try:
            os.remove('jsb_pipe')
            os.remove('mavproxy_pipe')
        except Exception:
            pass

        util.run_cmd('mkfifo mavproxy_pipe')
        util.run_cmd('mkfifo jsb_pipe')

        if DEBUG:
        	util.run_cmd('xterm -e tail -f jsb_pipe &')
        	util.run_cmd('xterm -e tail -f mavproxy_pipe &')

        util.run_cmd('echo "INITIALIZED MAVPROXY PIPE" > mavproxy_pipe &')
        util.run_cmd('echo "INITIALIZED JSBSIM PIPE" > jsb_pipe &')
        
        cls.homeloc = None
        HOME_LOCATION='35.7168007,-120.7644466,275,295' #McMillan Lat/Lon/Alt/Heading
        WIND="0,180,0.0" # speed,direction,variance
        options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=100 '
        
        #Start SITL
        cls.sil = util.start_SIL('ArduPlane', wipe=True)
        cls.mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
        cls.mavproxy.expect('Received [0-9]+ parameters')
        
        #Load SITL params
        cls.mavproxy.send("param load %ssitl.parm\n" % cls.resource_path)
        cls.mavproxy.expect('Loaded [0-9]+ parameters')
        
        #Fetch list of params
        cls.mavproxy.send("param fetch\n")
        
        #TODO: Optimize this. Is it necessary to start and close it?
        util.pexpect_close(cls.mavproxy)
        util.pexpect_close(cls.sil)
        
        #Start JSBSim simulation
        cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
        cmd += " --home=%s --wind=%s" % (HOME_LOCATION, WIND)
        #cls.runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
        cls.runsim = pexpect.spawn(cmd, logfile=file('jsb_pipe', 'w+', 0), timeout=10)
        cls.runsim.delaybeforesend = 0
        util.pexpect_autoclose(cls.runsim)
        cls.runsim.expect('Simulator ready to fly.')
        cls.sil = util.start_SIL('ArduPlane', valgrind=True)
        options += ' --map'
        if CONSOLE:
        	options += ' --console'
        cls.mavproxy = util.start_MAVProxy_SIL('ArduPlane', 
            logfile=file('mavproxy_pipe', 'w+', 0), options=options)
        
        #TODO: Make these easier to find
        cls.mavproxy.expect('Logging to (\S+)')
        logfile = cls.mavproxy.match.group(1)
        print("LOGFILE %s" % logfile)
        
        #TODO: Make these easier to find
        buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
        print("buildlog=%s" % buildlog)
        if os.path.exists(buildlog):
            os.unlink(buildlog)
        try:
            os.link(logfile, buildlog)
        except Exception:
            pass
            
        cls.mavproxy.expect('Received [0-9]+ parameters')
        
        util.expect_setup_callback(cls.mavproxy, expect_callback)
        
        expect_list_clear()
        expect_list_extend([cls.runsim, cls.sil, cls.mavproxy])
        
        print("Started simulator.")
        
        #Get a mavlink connection started.
        try:
            cls.mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
        except Exception, msg:
            print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
            raise

def fly_CopterAVC(viewerip=None, map=False):
    """fly ArduCopter in SIL for AVC2013 mission
    """
    global homeloc

    if TARGET != "sitl":
        util.build_SIL("ArduCopter", target=TARGET)

    sim_cmd = util.reltopdir("Tools/autotest/pysim/sim_multicopter.py") + " --frame=%s --home=%f,%f,%u,%u" % (
        FRAME,
        AVCHOME.lat,
        AVCHOME.lng,
        AVCHOME.alt,
        AVCHOME.heading,
    )
    if viewerip:
        sim_cmd += " --fgout=%s:5505" % viewerip
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)

    sil = util.start_SIL("ArduCopter", wipe=True)
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options="--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter")
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/copter_AVC2013_params.parm\n" % testdir)
    # mavproxy.send("param load %s/copter_params.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL("ArduCopter", height=HOME.alt)

    options = "--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += " --map"
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options=options)
    mavproxy.expect("Logging to (\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([sim, sil, mavproxy])

    if 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, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def drive_APMrover2(viewerip=None, map=False, console=False):
    '''drive APMrover2 in SIL

    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
    '''
    sim_mode='HOLD' #config mode 4 system tests (AUTO | HOLD | GUIDED)
    loop_mode='SIL' #HIL or SIL mode (HIL | SIL)

    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --out=192.168.1.61:14501 --out=127.0.0.1:6601 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += ' --map'
    if console:
        options += ' --console'    

    if loop_mode == 'SIL':
        sil = util.start_SIL('APMrover2', wipe=True)
        mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)

    if loop_mode == 'HIL':
        sil = util.start_HIL('APMrover2', wipe=True)
        mavproxy = util.start_MAVProxy_HIL('APMrover2', options=options)       

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

    # setup test parameters
#    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.send("param load %s/Rover-def.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=50 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)

    runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Starting at lat')

    if loop_mode == 'SIL':
        sil = util.start_SIL('APMrover2')
        mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)

    if loop_mode == 'HIL':
        sil = util.start_HIL('APMrover2')
        mavproxy = util.start_MAVProxy_HIL('APMrover2', options=options)       

    mavproxy.expect('Logging to (\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([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_ArduCopter(viewerip=None):
    '''fly ArduCopter in SIL

    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 expect_list, homeloc

    hquad_cmd = util.reltopdir('../HILTest/hil_quad.py') + ' --fgrate=200 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    if viewerip:
        hquad_cmd += ' --fgout=192.168.2.15:9123'

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter')
    mavproxy.expect('Please Run Setup')

    # we need to restart it after eeprom erase
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    sil = util.start_SIL('ArduCopter')
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    hquad = pexpect.spawn(hquad_cmd, logfile=sys.stdout, timeout=10)
    util.pexpect_autoclose(hquad)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=1'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    mavproxy.expect('Received [0-9]+ parameters')
    mavproxy.expect("Ready to FLY")

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list.extend([hquad, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

from optparse import OptionParser
parser = OptionParser("runFG.py [options]")
parser.add_option("--simin", help="SITL input (IP:port)")
parser.add_option("--simout",  help="SITL output (IP:port)")
parser.add_option("--options", type='string', help='flightgear startup options')
(opts, args) = parser.parse_args()

os.chdir(util.reltopdir('Tools/autotest'))
atexit.register(util.pexpect_close_all)

setup_initial([0,0,0,0]);

cmd = "fgfs --model-hz=1000 --enable-freeze"
fg = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
fg.delaybeforesend = 0
util.pexpect_autoclose(fg)
i = fg.expect(["Successfully bound to socket for input on port (\d+)",
                "Could not bind to socket for input"])
if i == 1:
    print("Failed to start FlightGear - is another copy running?")
    sys.exit(1)
jsb_out_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))

# socket addresses
sim_out_address = interpret_address(opts.simout)
sim_in_address  = interpret_address(opts.simin)

# setup input from SITL sim
sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sim_in.bind(sim_in_address)
sim_in.setblocking(0)