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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 2021-03-22 11:42:09 +11:00 committed by Peter Barker
parent 618282e996
commit 073a9e3390
2 changed files with 70 additions and 31 deletions
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8
Tools/autotest/arducopter.py
View File

@ -2116,8 +2116,8 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl() self.reboot_sitl()
# Test UAVCAN GPS ordering working # Test UAVCAN GPS ordering working
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)
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)
gps1_nodeid = int(gps1_det_text.split('-')[1]) gps1_nodeid = int(gps1_det_text.split('-')[1])
gps2_nodeid = int(gps2_det_text.split('-')[1]) gps2_nodeid = int(gps2_det_text.split('-')[1])
if gps1_nodeid is None or gps2_nodeid is None: if gps1_nodeid is None or gps2_nodeid is None:
@ -2145,11 +2145,11 @@ class AutoTestCopter(AutoTest):
gps1_det_text = None gps1_det_text = None
gps2_det_text = None gps2_det_text = None
try: 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: except AutoTestTimeoutException:
pass pass
try: 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: except AutoTestTimeoutException:
pass pass

93
Tools/autotest/common.py
View File

@ -968,8 +968,8 @@ class FRSkySPort(FRSky):
return ret return ret
def check_poll(self): def check_poll(self):
self.progress("check poll")
now = self.get_time() now = self.get_time()
# self.progress("check poll (%u)" % now)
# sometimes ArduPilot will not respond to a poll - for # sometimes ArduPilot will not respond to a poll - for
# example, if you poll an unhealthy RPM sensor then we will # example, if you poll an unhealthy RPM sensor then we will
@ -4114,6 +4114,13 @@ class AutoTest(ABC):
return return
context.collections[msg_type] = [] 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): def context_clear_collection(self, msg_type):
'''clear collection of message type msg_type''' '''clear collection of message type msg_type'''
context = self.context_get() context = self.context_get()
@ -4671,7 +4678,7 @@ class AutoTest(ABC):
################################################# #################################################
def delay_sim_time(self, seconds_to_wait): def delay_sim_time(self, seconds_to_wait):
"""Wait some second in SITL time.""" """Wait some second in SITL time."""
self.drain_mav_unparsed() self.drain_mav()
tstart = self.get_sim_time() tstart = self.get_sim_time()
tnow = tstart tnow = tstart
self.progress("Delaying %f seconds" % (seconds_to_wait,)) 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): def wait_ekf_flags(self, required_value, error_bits, timeout=30):
self.progress("Waiting for EKF value %u" % required_value) self.progress("Waiting for EKF value %u" % required_value)
self.drain_mav_unparsed() self.drain_mav()
last_print_time = 0 last_print_time = 0
tstart = self.get_sim_time() tstart = self.get_sim_time()
while timeout is None or self.get_sim_time_cached() < tstart + timeout: 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) raise AutoTestTimeoutException("Failed to get EKF.flags=%u disabled" % not_required_value)
def wait_text(self, *args, **kwargs): 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): def statustext_in_collections(self, text, regex=False):
'''searches for text in STATUSTEXT collection, returns message if found'''
c = self.context_get() c = self.context_get()
if "STATUSTEXT" not in c.collections: if "STATUSTEXT" not in c.collections:
raise NotAchievedException("Asked to check context but it isn't collecting!") 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 regex:
if re.match(text, statustext): if re.match(text, x.text):
return statustext return x
elif text.lower() in statustext.lower(): elif text.lower() in x.text.lower():
return statustext return x
return None return None
def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False, wallclock_timeout=False): 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 # Statustexts are often triggered by something we've just
# done, so we have to be careful not to read any traffic that # 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) self.re_match = re.match(text, m.text)
if self.re_match: if self.re_match:
statustext_found = True statustext_found = True
statustext_full = m.text statustext_full = m
if text.lower() in m.text.lower(): if text.lower() in m.text.lower():
self.progress("Received expected text: %s" % m.text.lower()) self.progress("Received expected text: %s" % m.text.lower())
statustext_found = True statustext_found = True
statustext_full = m.text statustext_full = m
self.install_message_hook(mh) self.install_message_hook(mh)
if wallclock_timeout: if wallclock_timeout:
@ -5937,7 +5950,7 @@ Also, ignores heartbeats not from our target system'''
'''mavlink2 required''' '''mavlink2 required'''
target_system = 1 target_system = 1
target_component = 1 target_component = 1
self.drain_mav_unparsed() self.drain_mav()
self.progress("Sending mission_request_list") self.progress("Sending mission_request_list")
tstart = self.get_sim_time() tstart = self.get_sim_time()
self.mav.mav.mission_request_list_send(target_system, 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): def poll_message(self, message_id, timeout=10):
if type(message_id) == str: if type(message_id) == str:
message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id) 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 tstart = self.get_sim_time() # required for timeout in run_cmd_get_ack to work
self.send_poll_message(message_id) self.send_poll_message(message_id)
self.run_cmd_get_ack( self.run_cmd_get_ack(
@ -9342,7 +9355,7 @@ switch value'''
self.progress("received param (0x%02x) (id=%u value=%u)" % self.progress("received param (0x%02x) (id=%u value=%u)" %
(value, param_id, param_value)) (value, param_id, param_value))
frame_type = param_value frame_type = param_value
hb = self.wait_heartbeat() hb = self.mav.messages['HEARTBEAT']
hb_type = hb.type hb_type = hb.type
self.progress("validate_params: HEARTBEAT type==%f frsky==%f param_id=%u" % (hb_type, frame_type, param_id)) self.progress("validate_params: HEARTBEAT type==%f frsky==%f param_id=%u" % (hb_type, frame_type, param_id))
if param_id != 1: if param_id != 1:
@ -9390,7 +9403,8 @@ switch value'''
while len(wants): while len(wants):
self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()])) self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()]))
wants_copy = copy.copy(wants) wants_copy = copy.copy(wants)
t2 = self.get_sim_time() self.drain_mav()
t2 = self.get_sim_time_cached()
if t2 - tstart > 300: if t2 - tstart > 300:
self.progress("Failed to get frsky passthrough data") self.progress("Failed to get frsky passthrough data")
self.progress("Counts of sensor_id polls sent:") self.progress("Counts of sensor_id polls sent:")
@ -9425,17 +9439,24 @@ switch value'''
# test we get statustext strings. This relies on ArduPilot # test we get statustext strings. This relies on ArduPilot
# emitting statustext strings when we fetch parameters. (or, # emitting statustext strings when we fetch parameters. (or,
# now, an updating-barometer statustext) # now, an updating-barometer statustext)
tstart = self.get_sim_time_cached() tstart = self.get_sim_time()
old_data = None old_data = None
text = "" text = ""
target_text = self.mav.recv_match( self.context_collect('STATUSTEXT')
type='STATUSTEXT', self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
blocking=True, 0, # p1
timeout=10 0, # p2
) 1, # p3, baro
self.progress("Got STATUSTEXT: %s, waiting for same text from frsky" % target_text.text) 0, # p4
0, # p5
0, # p6
0) # p7
received_frsky_texts = []
last_len_received_statustexts = 0
while True: 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! if now - tstart > 60: # it can take a *long* time to get these messages down!
raise NotAchievedException("Did not get statustext in time") raise NotAchievedException("Did not get statustext in time")
frsky.update() frsky.update()
@ -9459,14 +9480,32 @@ switch value'''
if (x & 0x7f) == 0x00: if (x & 0x7f) == 0x00:
last = True last = True
if last: 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: if m is not None:
want_sev = target_text.severity want_sev = m.severity
if severity != want_sev: if severity != want_sev:
raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity)) 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 break
received_frsky_texts.append((severity, text))
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() self.wait_ready_to_arm()