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Tools: autotest: break out roundtrip_fencepoint_protocol method

This commit is contained in:
Peter Barker 2019-08-05 16:36:22 +10:00 committed by Peter Barker
parent 44ccbcf78a
commit 0805547ba6
1 changed files with 18 additions and 28 deletions
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46
Tools/autotest/apmrover2.py
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@ -1044,25 +1044,21 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_location(loc, accuracy=accuracy)
self.disarm_vehicle()
def test_gcs_fence(self):
self.progress("Testing FENCE_POINT protocol")
self.set_parameter("FENCE_TOTAL", 1)
target_system = 1
target_component = 1
def roundtrip_fencepoint_protocol(self, offset, count, lat, lng, target_system=1, target_component=1):
lat = 1.2345
lng = 5.4321
self.progress("Sending fence point")
self.mav.mav.fence_point_send(target_system,
target_component,
0,
offset,
1,
lat,
lng)
self.progress("Requesting fence return point")
self.progress("Requesting fence point")
self.mav.mav.fence_fetch_point_send(target_system,
target_component,
0)
m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=1)
offset)
m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=2)
print("m: %s" % str(m))
if m is None:
raise NotAchievedException("Did not get fence return point back")
@ -1070,26 +1066,20 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat))
if abs(m.lng - lng) > 0.000001:
raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng))
self.progress("Roundtrip OK")
def test_gcs_fence(self):
target_system = 1
target_component = 1
self.progress("Testing FENCE_POINT protocol")
self.set_parameter("FENCE_TOTAL", 1)
self.roundtrip_fencepoint_protocol(0, 1, 1.2345, 5.4321, target_system=target_component, target_component=target_component)
self.progress("Now testing a different value")
lat = 2.345
lng = 4.321
self.mav.mav.fence_point_send(target_system,
target_component,
0,
1,
lat,
lng)
self.progress("Requesting fence return point")
self.mav.mav.fence_fetch_point_send(target_system,
target_component,
0)
m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=1)
print("m: %s" % str(m))
if abs(m.lat - lat) > 0.000001:
raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat))
if abs(m.lng - lng) > 0.000001:
raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng))
self.roundtrip_fencepoint_protocol(0, 1, lat, lng, target_system=target_component, target_component=target_component)
def test_offboard(self, timeout=90):
self.load_mission("rover-guided-mission.txt")