mirror of https://github.com/ArduPilot/ardupilot
autotest: fix frsky passthrough test
Mainly through polling much faster, but also allowing for statustexts in different orders from frsky/statustext
This commit is contained in:
Peter Barker
Peter Barker
parent
618282e996
commit
073a9e3390
|
|
@ -2116,8 +2116,8 @@ class AutoTestCopter(AutoTest):
|
|||
|
||||
self.reboot_sitl()
|
||||
# Test UAVCAN GPS ordering working
|
||||
gps1_det_text = self.wait_statustext("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
|
||||
gps2_det_text = self.wait_statustext("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
|
||||
gps1_det_text = self.wait_text("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
|
||||
gps2_det_text = self.wait_text("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
|
||||
gps1_nodeid = int(gps1_det_text.split('-')[1])
|
||||
gps2_nodeid = int(gps2_det_text.split('-')[1])
|
||||
if gps1_nodeid is None or gps2_nodeid is None:
|
||||
|
|
@ -2145,11 +2145,11 @@ class AutoTestCopter(AutoTest):
|
|||
gps1_det_text = None
|
||||
gps2_det_text = None
|
||||
try:
|
||||
gps1_det_text = self.wait_statustext("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
|
||||
gps1_det_text = self.wait_text("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
|
||||
except AutoTestTimeoutException:
|
||||
pass
|
||||
try:
|
||||
gps2_det_text = self.wait_statustext("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
|
||||
gps2_det_text = self.wait_text("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
|
||||
except AutoTestTimeoutException:
|
||||
pass
|
||||
|
||||
|
|
|
|||
|
|
@ -968,8 +968,8 @@ class FRSkySPort(FRSky):
|
|||
return ret
|
||||
|
||||
def check_poll(self):
|
||||
self.progress("check poll")
|
||||
now = self.get_time()
|
||||
# self.progress("check poll (%u)" % now)
|
||||
|
||||
# sometimes ArduPilot will not respond to a poll - for
|
||||
# example, if you poll an unhealthy RPM sensor then we will
|
||||
|
|
@ -4114,6 +4114,13 @@ class AutoTest(ABC):
|
|||
return
|
||||
context.collections[msg_type] = []
|
||||
|
||||
def context_collection(self, msg_type):
|
||||
'''return messages in collection'''
|
||||
context = self.context_get()
|
||||
if msg_type not in context.collections:
|
||||
raise NotAchievedException("Not collecting (%s)" % str(msg_type))
|
||||
return context.collections[msg_type]
|
||||
|
||||
def context_clear_collection(self, msg_type):
|
||||
'''clear collection of message type msg_type'''
|
||||
context = self.context_get()
|
||||
|
|
@ -4671,7 +4678,7 @@ class AutoTest(ABC):
|
|||
#################################################
|
||||
def delay_sim_time(self, seconds_to_wait):
|
||||
"""Wait some second in SITL time."""
|
||||
self.drain_mav_unparsed()
|
||||
self.drain_mav()
|
||||
tstart = self.get_sim_time()
|
||||
tnow = tstart
|
||||
self.progress("Delaying %f seconds" % (seconds_to_wait,))
|
||||
|
|
@ -5386,7 +5393,7 @@ Also, ignores heartbeats not from our target system'''
|
|||
|
||||
def wait_ekf_flags(self, required_value, error_bits, timeout=30):
|
||||
self.progress("Waiting for EKF value %u" % required_value)
|
||||
self.drain_mav_unparsed()
|
||||
self.drain_mav()
|
||||
last_print_time = 0
|
||||
tstart = self.get_sim_time()
|
||||
while timeout is None or self.get_sim_time_cached() < tstart + timeout:
|
||||
|
|
@ -5440,22 +5447,28 @@ Also, ignores heartbeats not from our target system'''
|
|||
raise AutoTestTimeoutException("Failed to get EKF.flags=%u disabled" % not_required_value)
|
||||
|
||||
def wait_text(self, *args, **kwargs):
|
||||
return self.wait_statustext(*args, **kwargs)
|
||||
'''wait for text to appear from vehicle, return that text'''
|
||||
statustext = self.wait_statustext(*args, **kwargs)
|
||||
if statustext is None:
|
||||
return None
|
||||
return statustext.text
|
||||
|
||||
def statustext_in_collections(self, text, regex=False):
|
||||
'''searches for text in STATUSTEXT collection, returns message if found'''
|
||||
c = self.context_get()
|
||||
if "STATUSTEXT" not in c.collections:
|
||||
raise NotAchievedException("Asked to check context but it isn't collecting!")
|
||||
for statustext in [x.text for x in c.collections["STATUSTEXT"]]:
|
||||
for x in c.collections["STATUSTEXT"]:
|
||||
self.progress(" statustext=%s vs text=%s" % (x.text, text))
|
||||
if regex:
|
||||
if re.match(text, statustext):
|
||||
return statustext
|
||||
elif text.lower() in statustext.lower():
|
||||
return statustext
|
||||
if re.match(text, x.text):
|
||||
return x
|
||||
elif text.lower() in x.text.lower():
|
||||
return x
|
||||
return None
|
||||
|
||||
def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False, wallclock_timeout=False):
|
||||
"""Wait for a specific STATUSTEXT."""
|
||||
"""Wait for a specific STATUSTEXT, return that statustext message"""
|
||||
|
||||
# Statustexts are often triggered by something we've just
|
||||
# done, so we have to be careful not to read any traffic that
|
||||
|
|
@ -5484,11 +5497,11 @@ Also, ignores heartbeats not from our target system'''
|
|||
self.re_match = re.match(text, m.text)
|
||||
if self.re_match:
|
||||
statustext_found = True
|
||||
statustext_full = m.text
|
||||
statustext_full = m
|
||||
if text.lower() in m.text.lower():
|
||||
self.progress("Received expected text: %s" % m.text.lower())
|
||||
statustext_found = True
|
||||
statustext_full = m.text
|
||||
statustext_full = m
|
||||
|
||||
self.install_message_hook(mh)
|
||||
if wallclock_timeout:
|
||||
|
|
@ -5937,7 +5950,7 @@ Also, ignores heartbeats not from our target system'''
|
|||
'''mavlink2 required'''
|
||||
target_system = 1
|
||||
target_component = 1
|
||||
self.drain_mav_unparsed()
|
||||
self.drain_mav()
|
||||
self.progress("Sending mission_request_list")
|
||||
tstart = self.get_sim_time()
|
||||
self.mav.mav.mission_request_list_send(target_system,
|
||||
|
|
@ -7525,7 +7538,7 @@ Also, ignores heartbeats not from our target system'''
|
|||
def poll_message(self, message_id, timeout=10):
|
||||
if type(message_id) == str:
|
||||
message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
|
||||
self.drain_mav_unparsed()
|
||||
self.drain_mav()
|
||||
tstart = self.get_sim_time() # required for timeout in run_cmd_get_ack to work
|
||||
self.send_poll_message(message_id)
|
||||
self.run_cmd_get_ack(
|
||||
|
|
@ -9342,7 +9355,7 @@ switch value'''
|
|||
self.progress("received param (0x%02x) (id=%u value=%u)" %
|
||||
(value, param_id, param_value))
|
||||
frame_type = param_value
|
||||
hb = self.wait_heartbeat()
|
||||
hb = self.mav.messages['HEARTBEAT']
|
||||
hb_type = hb.type
|
||||
self.progress("validate_params: HEARTBEAT type==%f frsky==%f param_id=%u" % (hb_type, frame_type, param_id))
|
||||
if param_id != 1:
|
||||
|
|
@ -9390,7 +9403,8 @@ switch value'''
|
|||
while len(wants):
|
||||
self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()]))
|
||||
wants_copy = copy.copy(wants)
|
||||
t2 = self.get_sim_time()
|
||||
self.drain_mav()
|
||||
t2 = self.get_sim_time_cached()
|
||||
if t2 - tstart > 300:
|
||||
self.progress("Failed to get frsky passthrough data")
|
||||
self.progress("Counts of sensor_id polls sent:")
|
||||
|
|
@ -9425,17 +9439,24 @@ switch value'''
|
|||
# test we get statustext strings. This relies on ArduPilot
|
||||
# emitting statustext strings when we fetch parameters. (or,
|
||||
# now, an updating-barometer statustext)
|
||||
tstart = self.get_sim_time_cached()
|
||||
tstart = self.get_sim_time()
|
||||
old_data = None
|
||||
text = ""
|
||||
target_text = self.mav.recv_match(
|
||||
type='STATUSTEXT',
|
||||
blocking=True,
|
||||
timeout=10
|
||||
)
|
||||
self.progress("Got STATUSTEXT: %s, waiting for same text from frsky" % target_text.text)
|
||||
self.context_collect('STATUSTEXT')
|
||||
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
0, # p1
|
||||
0, # p2
|
||||
1, # p3, baro
|
||||
0, # p4
|
||||
0, # p5
|
||||
0, # p6
|
||||
0) # p7
|
||||
|
||||
received_frsky_texts = []
|
||||
last_len_received_statustexts = 0
|
||||
while True:
|
||||
now = self.get_sim_time()
|
||||
self.drain_mav()
|
||||
now = self.get_sim_time_cached()
|
||||
if now - tstart > 60: # it can take a *long* time to get these messages down!
|
||||
raise NotAchievedException("Did not get statustext in time")
|
||||
frsky.update()
|
||||
|
|
@ -9459,14 +9480,32 @@ switch value'''
|
|||
if (x & 0x7f) == 0x00:
|
||||
last = True
|
||||
if last:
|
||||
m = re.match(target_text.text, text)
|
||||
m = None
|
||||
text = text.rstrip("\0")
|
||||
self.progress("Received frsky text (%s)" % (text,))
|
||||
self.progress("context texts: %s" % str([x.text for x in self.context_collection('STATUSTEXT')]))
|
||||
m = self.statustext_in_collections(text)
|
||||
if m is not None:
|
||||
want_sev = target_text.severity
|
||||
want_sev = m.severity
|
||||
if severity != want_sev:
|
||||
raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity))
|
||||
self.progress("Got statustext (%s)" % m.group(0))
|
||||
self.progress("Got statustext (%s)" % m.text)
|
||||
break
|
||||
received_frsky_texts.append((severity, text))
|
||||
text = ""
|
||||
received_statustexts = self.context_collection('STATUSTEXT')
|
||||
if len(received_statustexts) != last_len_received_statustexts:
|
||||
last_len_received_statustexts = len(received_statustexts)
|
||||
self.progress("received statustexts: %s" % str([x.text for x in received_statustexts]))
|
||||
self.progress("received frsky texts: %s" % str(received_frsky_texts))
|
||||
for (want_sev, text) in received_frsky_texts:
|
||||
for m in received_statustexts:
|
||||
if m.text == text:
|
||||
if want_sev != m.severity:
|
||||
raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity))
|
||||
self.progress("Got statustext (%s)" % text)
|
||||
break
|
||||
self.context_stop_collecting('STATUSTEXT')
|
||||
|
||||
self.wait_ready_to_arm()
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue