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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/autotest/run_mission.py
Views: 1798
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#!/usr/bin/env python3

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'''

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Run a mission in SITL

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AP_FLAKE8_CLEAN

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'''

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import vehicle_test_suite

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import os

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import sys

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import argparse

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from pysim import util

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class RunMission(vehicle_test_suite.TestSuite):

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    def __init__(self, vehicle_binary, model, mission_filepath, speedup=None, sim_rate_hz=None):

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        super(RunMission, self).__init__(vehicle_binary)

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        self.mission_filepath = mission_filepath

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        self.model = model

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        self.speedup = speedup

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        self.sim_rate_hz = sim_rate_hz

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        if self.speedup is None:

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            self.speedup = 100

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    def vehicleinfo_key(self):

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        '''magically guess vehicleinfo_key from filepath'''

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        path = self.binary.lower()

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        if "plane" in path:

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            return "ArduPlane"

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        if "copter" in path:

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            return "ArduCopter"

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        raise ValueError("Can't determine vehicleinfo_key from binary path")

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    def run(self):

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        self.start_SITL(

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            binary=self.binary,

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            model=self.model,

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            sitl_home=self.sitl_home_string_from_mission_filepath(self.mission_filepath),

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            speedup=self.speedup,

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            sim_rate_hz=self.sim_rate_hz,

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            defaults_filepath=self.model_defaults_filepath(self.model),

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        )

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        self.get_mavlink_connection_going()

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        # hack; Plane defaults are annoying... we should do better

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        # here somehow.

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        if self.vehicleinfo_key() == "ArduPlane":

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            self.set_parameter("RTL_AUTOLAND", 1)

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        self.load_mission_from_filepath(self.mission_filepath, strict=False)

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        self.change_mode('AUTO')

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        self.set_streamrate(1)

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        self.wait_ready_to_arm()

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        self.arm_vehicle()

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        self.wait_disarmed(timeout=600)

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        self.stop_SITL()

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if __name__ == "__main__":

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    ''' main program '''

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    os.environ['PYTHONUNBUFFERED'] = '1'

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    if sys.platform != "darwin":

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        os.putenv('TMPDIR', util.reltopdir('tmp'))

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    parser = argparse.ArgumentParser("run_mission.py")

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    parser.add_argument(

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        'vehicle_binary',

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        type=str,

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        help='vehicle binary to use'

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    )

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    parser.add_argument(

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        'model',

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        type=str,

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        help='vehicle model to use'

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    )

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    parser.add_argument(

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        'mission_filepath',

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        type=str,

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        help='mission file path'

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    )

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    parser.add_argument(

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        '--speedup',

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        type=int,

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        help='simulation speedup',

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        default=None,

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    )

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    parser.add_argument(

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        '--sim-rate-hz',

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        type=int,

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        help='simulation physics rate',

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        default=None,

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    )

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    args = parser.parse_args()

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    x = RunMission(

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        args.vehicle_binary,

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        args.model,

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        args.mission_filepath,

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        speedup=args.speedup,

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        sim_rate_hz=args.sim_rate_hz

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    )

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    x.run()

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