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Tools: autotest: simplify mission loading

This commit is contained in:
Peter Barker 2018-12-20 23:05:30 +11:00 committed by Peter Barker
parent 0dce6172f2
commit 025f007f96
2 changed files with 9 additions and 20 deletions
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20
Tools/autotest/arducopter.py
View File

@ -349,14 +349,12 @@ class AutoTestCopter(AutoTest):
self.save_wp()
# save the stored mission to file
global num_wp
num_wp = self.save_mission_to_file(os.path.join(testdir,
"ch7_mission.txt"))
if not num_wp:
self.fail_list.append("save_mission_to_file")
self.progress("save_mission_to_file failed")
global num_wp
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.change_mode('AUTO')
@ -409,11 +407,7 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl()
global num_wp
num_wp = self.load_mission("copter_loiter_to_alt.txt")
if not num_wp:
self.progress("load copter_loiter_to_target failed")
raise NotAchievedException()
self.load_mission("copter_loiter_to_alt.txt")
self.mavproxy.send('switch 5\n')
self.wait_mode('LOITER')
@ -820,7 +814,6 @@ class AutoTestCopter(AutoTest):
# Fly mission #1
self.progress("# Load copter_glitch_mission")
# load the waypoint count
global num_wp
num_wp = self.load_mission("copter_glitch_mission.txt")
if not num_wp:
raise NotAchievedException("load copter_glitch_mission failed")
@ -1191,7 +1184,6 @@ class AutoTestCopter(AutoTest):
# Fly mission #1
self.progress("# Load copter_mission")
# load the waypoint count
global num_wp
num_wp = self.load_mission("copter_mission.txt")
if not num_wp:
raise NotAchievedException("load copter_mission failed")
@ -1233,7 +1225,6 @@ class AutoTestCopter(AutoTest):
# upload mission from file
self.progress("# Load copter_AVC2013_mission")
# load the waypoint count
global num_wp
num_wp = self.load_mission("copter_AVC2013_mission.txt")
if not num_wp:
raise NotAchievedException("load copter_AVC2013_mission failed")
@ -1951,8 +1942,7 @@ class AutoTestCopter(AutoTest):
def fly_nav_takeoff_delay_abstime(self):
"""make sure taking off at a specific time works"""
global num_wp
num_wp = self.load_mission("copter_nav_delay_takeoff.txt")
self.load_mission("copter_nav_delay_takeoff.txt")
self.progress("Starting mission")
@ -2179,11 +2169,7 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl()
self.set_rc(9, 2000)
# load the mission:
global num_wp
num_wp = self.load_mission("copter_payload_place.txt")
if not num_wp:
self.progress("load copter_mission failed")
raise NotAchievedException()
self.load_mission("copter_payload_place.txt")
self.progress("Waiting for location")
self.mav.location()

9
Tools/autotest/common.py
View File

@ -484,8 +484,7 @@ class AutoTest(ABC):
"""Load a mission from a file and return number of waypoints."""
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
return num_wp
return wploader.count()
def mission_directory(self):
return testdir
@ -609,10 +608,14 @@ class AutoTest(ABC):
if status_have != save_count:
raise ValueError("status have not equal to save count")
# update num_wp
wploader = mavwp.MAVWPLoader()
wploader.load(path)
num_wp = wploader.count()
if num_wp != int(status_have):
raise ValueError("num_wp=%u != status_have=%u" %
(num_wp, int(status_have)))
if num_wp == 0:
raise ValueError("No waypoints loaded?!")
return num_wp
def save_mission_to_file(self, filename):