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CI: remove old mission formats
This commit is contained in:
Anthony Lamping
committed by
Daniel Agar
Daniel Agar
parent
e9c7023083
commit
4158b5e6a9
@@ -50,7 +50,6 @@ import os
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import px4tools
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import px4tools
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import sys
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import sys
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from mavros import mavlink
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from mavros import mavlink
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from mavros.mission import QGroundControlWP
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from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached
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from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached
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from mavros_test_common import MavrosTestCommon
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from mavros_test_common import MavrosTestCommon
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from pymavlink import mavutil
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from pymavlink import mavutil
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@@ -71,26 +70,12 @@ def get_last_log():
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def read_mission(mission_filename):
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def read_mission(mission_filename):
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wps = []
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wps = []
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with open(mission_filename, 'r') as f:
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with open(mission_filename, 'r') as f:
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mission_filename_ext = os.path.splitext(mission_filename)[1]
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for waypoint in read_plan_file(f):
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if mission_filename_ext == '.plan':
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wps.append(waypoint)
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for waypoint in read_plan_file(f):
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rospy.logdebug(waypoint)
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wps.append(waypoint)
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rospy.logdebug(waypoint)
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elif mission_filename_ext == '.mission':
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for waypoint in read_mission_file(f):
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wps.append(waypoint)
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rospy.logdebug(waypoint)
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elif mission_filename_ext == '.txt':
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mission = QGroundControlWP()
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for waypoint in mission.read(f):
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wps.append(waypoint)
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rospy.logdebug(waypoint)
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else:
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raise IOError("unknown mission file extension",
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mission_filename_ext)
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# set first item to current
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# set first item to current
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if wps[0]:
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if wps:
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wps[0].is_current = True
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wps[0].is_current = True
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return wps
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return wps
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@@ -122,27 +107,6 @@ def read_plan_file(f):
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else:
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else:
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raise IOError("no mission items")
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raise IOError("no mission items")
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def read_mission_file(f):
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d = json.load(f)
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if 'items' in d:
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for wp in d['items']:
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yield Waypoint(
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is_current=False,
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frame=int(wp['frame']),
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command=int(wp['command']),
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param1=float(wp['param1']),
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param2=float(wp['param2']),
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param3=float(wp['param3']),
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param4=float(wp['param4']),
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x_lat=float(wp['coordinate'][0]),
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y_long=float(wp['coordinate'][1]),
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z_alt=float(wp['coordinate'][2]),
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autocontinue=bool(wp['autoContinue']))
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else:
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raise IOError("no mission items")
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class MavrosMissionTest(MavrosTestCommon):
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class MavrosMissionTest(MavrosTestCommon):
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"""
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"""
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Run a mission
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Run a mission
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@@ -1,121 +0,0 @@
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{
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"MAV_AUTOPILOT": 12,
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"complexItems": [
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],
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"groundStation": "QGroundControl",
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"items": [
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{
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"autoContinue": true,
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"command": 22,
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"coordinate": [
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47.397739410400391,
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8.5455904006958008,
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5
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],
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"frame": 3,
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"id": 1,
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"param1": 15,
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"param2": 0,
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"param3": 0,
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"param4": 0,
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"type": "missionItem"
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},
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{
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"autoContinue": true,
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"command": 16,
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"coordinate": [
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47.397872924804688,
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8.54559326171875,
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5
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],
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"frame": 3,
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"id": 2,
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"param1": 0,
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"param2": 0,
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"param3": 0,
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"param4": 0,
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"type": "missionItem"
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},
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{
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"autoContinue": true,
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"command": 16,
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"coordinate": [
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47.397872924804688,
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8.5453414916992188,
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5
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],
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"frame": 3,
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"id": 3,
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"param1": 0,
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"param2": 0,
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"param3": 0,
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"param4": 0,
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"type": "missionItem"
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},
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{
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"autoContinue": true,
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"command": 16,
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"coordinate": [
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47.397739410400391,
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8.5453367233276367,
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5
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],
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"frame": 3,
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"id": 4,
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"param1": 0,
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"param2": 0,
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"param3": 0,
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"param4": 0,
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"type": "missionItem"
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},
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{
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"autoContinue": true,
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"command": 16,
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"coordinate": [
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47.397739410400391,
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8.5455904006958008,
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5
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],
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"frame": 3,
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"id": 5,
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"param1": 0,
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"param2": 0,
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"param3": 0,
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"param4": 0,
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"type": "missionItem"
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},
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{
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"autoContinue": true,
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"command": 21,
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"coordinate": [
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47.397739410400391,
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8.5455913543701172,
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5
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],
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"frame": 3,
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"id": 6,
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"param1": 0,
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"param2": 0,
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"param3": 0,
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"param4": 0,
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"type": "missionItem"
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}
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],
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"plannedHomePosition": {
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"autoContinue": true,
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"command": 16,
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"coordinate": [
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47.397806167602539,
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8.5454649925231934,
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0
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],
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"frame": 0,
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"id": 0,
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"param1": 0,
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"param2": 0,
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"param3": 0,
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"param4": 0,
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"type": "missionItem"
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},
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"version": "1.0"
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}
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@@ -1,4 +0,0 @@
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# New style transitions, takeoff not at home
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QGC WPL 110
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0 1 3 84 15.0 0 0 0 47.397731862593744 8.543269295853861 15.0 1
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1 0 3 85 0.0 0.0 -0.0 0.0 47.39651890962795 8.5433217125134888 0.0 1
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@@ -1,5 +0,0 @@
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# New style transitions, takeoff at home
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QGC WPL 110
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0 1 3 84 15.0 0 0 0 47.397746387399621 8.5455920888607579 12.0 1
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1 0 3 16 0.0 0.0 0.0 0.0 47.399093548895856 8.5455438069836305 12.0 1
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2 0 3 85 0.0 0.0 -0.0 0.0 47.39903545 8.5432263800000001 0.0 1
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@@ -1,8 +0,0 @@
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# Old style transitions, takeoff and landing WPs away from home and last WP
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QGC WPL 110
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0 1 3 22 15.0 0 0 0 47.398046406687619 8.5458366721115908 12.0 1
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1 0 2 3000 4 0.0 0.0 0.0 47.398033142089844 8.5457897186279297 12.0 1
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2 0 3 16 0 0.0 0.0 0.0 47.399269104003906 8.5455722808837891 12.0 1
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3 0 3 16 0 0.0 0.0 0.0 47.399281145681528 8.547910568913295 12.0 1
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4 0 2 3000 3 0.0 0.0 0.0 47.397785186767578 8.545262336730957 12.0 1
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5 0 3 21 25.0 0.0 0.0 0.0 47.398884865088675 8.547918116539563 12.0 1
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@@ -1,8 +0,0 @@
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# Old style transitions, takeoff WP at home location, landing WP at last WP location
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QGC WPL 110
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0 1 3 22 15.0 0 0 0 47.397740722711738 8.5455944102696719 12.0 1
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1 0 2 3000 4 0.0 0.0 0.0 47.397732380000001 8.5458224099999995 12.0 1
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2 0 3 16 0 0.0 0.0 0.0 47.397749067235559 8.5429755110031351 12.0 1
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3 0 3 16 0 0.0 0.0 0.0 47.399213119631852 8.5430124879018479 12.0 1
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4 0 2 3000 3 0.0 0.0 0.0 47.399158900000003 8.5429077299999996 12.0 1
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5 0 3 21 25.0 0.0 0.0 0.0 47.399211883544922 8.5430123448444419 12.0 1
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@@ -1,5 +0,0 @@
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# Old style transitions, takeoff with normal WP
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QGC WPL 110
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0 1 3 16 15.0 0 0 0 47.398157669127094 8.5460336317115377 12.0 1
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1 0 2 3000 4 0.0 0.0 0.0 47.398033142089844 8.5457897186279297 12.0 1
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2 0 3 16 0 0.0 0.0 0.0 47.399269104003906 8.5455722808837891 12.0 1
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