Tools: autotest: break out a load_fence function

Tools/autotest/apmrover2.py

@@ -484,10 +484,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.context_push()
         ex = None
         try:
-            avoid_filepath = os.path.join(self.mission_directory(),
+            self.load_fence("rover-fence-ac-avoid.txt")
-                                          "rover-fence-ac-avoid.txt")
-            self.mavproxy.send("fence load %s\n" % avoid_filepath)
-            self.mavproxy.expect("Loaded 6 geo-fence")
             self.set_parameter("FENCE_ENABLE", 0)
             self.set_parameter("PRX_TYPE", 10)
             self.set_parameter("RC10_OPTION", 40) # proximity-enable

Tools/autotest/arducopter.py

@@ -661,10 +661,7 @@ class AutoTestCopter(AutoTest):
         self.progress("home: %s" % str(m))
 
         self.start_subtest("ensure we can't arm if ouside fence")
-        fence = os.path.join(self.mission_directory(),
+        self.load_fence_using_mavproxy("fence-in-middle-of-nowhere.txt")
-                             "fence-in-middle-of-nowhere.txt")
-        self.mavproxy.send('fence load %s\n' % fence)
-        self.mavproxy.expect("Loaded 6 geo-fence")
         self.delay_sim_time(5) # let fence check run so it loads-from-eeprom
         seen_statustext = False
         seen_command_ack = False
@@ -3299,10 +3296,7 @@ class AutoTestCopter(AutoTest):
         self.context_push()
         ex = None
         try:
-            avoid_filepath = os.path.join(self.mission_directory(),
+            self.load_fence("copter-avoidance-fence.txt")
-                                          "copter-avoidance-fence.txt")
-            self.mavproxy.send("fence load %s\n" % avoid_filepath)
-            self.mavproxy.expect("Loaded 5 geo-fence")
             self.set_parameter("FENCE_ENABLE", 0)
             self.set_parameter("PRX_TYPE", 10)
             self.set_parameter("RC10_OPTION", 40) # proximity-enable
@@ -3324,10 +3318,7 @@ class AutoTestCopter(AutoTest):
         self.context_push()
         ex = None
         try:
-            avoid_filepath = os.path.join(self.mission_directory(),
+            self.load_fence("copter-avoidance-fence.txt")
-                                          "copter-avoidance-fence.txt")
-            self.mavproxy.send("fence load %s\n" % avoid_filepath)
-            self.mavproxy.expect("Loaded 5 geo-fence")
             self.set_parameter("FENCE_ENABLE", 1)
             self.check_avoidance_corners()
         except Exception as e:

Tools/autotest/arduplane.py

@@ -959,10 +959,7 @@ class AutoTestPlane(AutoTest):
         try:
             self.progress("Checking for bizarre healthy-when-not-present-or-enabled")
             self.assert_fence_sys_status(False, False, True)
-            fence_filepath = os.path.join(self.mission_directory(),
+            self.load_fence("CMAC-fence.txt")
-                                          "CMAC-fence.txt")
-            self.mavproxy.send("fence load %s\n" % fence_filepath)
-            self.mavproxy.expect("Loaded 6 geo-fence")
             m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2)
             if m is not None:
                 raise NotAchievedException("Got FENCE_STATUS unexpectedly");
@@ -997,8 +994,7 @@ class AutoTestPlane(AutoTest):
 
             # test a rather unfortunate behaviour:
             self.progress("Killing a live fence with fence-clear")
-            self.mavproxy.send("fence load %s\n" % fence_filepath)
+            self.load_fence("CMAC-fence.txt")
-            self.mavproxy.expect("Loaded 6 geo-fence")
             self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL)
             self.do_fence_enable()
             self.assert_fence_sys_status(True, True, True)
@@ -1019,10 +1015,7 @@ class AutoTestPlane(AutoTest):
     def test_fence_breach_circle_at(self, loc, disable_on_breach=False):
         ex = None
         try:
-            fence_filepath = os.path.join(self.mission_directory(),
+            self.load_fence("CMAC-fence.txt")
-                                          "CMAC-fence.txt")
-            self.mavproxy.send("fence load %s\n" % fence_filepath)
-            self.mavproxy.expect("Loaded 6 geo-fence")
             want_radius = 100
             # when ArduPlane is fixed, remove this fudge factor
             REALLY_BAD_FUDGE_FACTOR = 1.16

Tools/autotest/common.py

@@ -292,6 +292,29 @@ class AutoTest(ABC):
         self.reboot_sitl()
         self.fetch_parameters()
 
+    def count_lines_in_filepath(self, filepath):
+        return len([i for i in open(filepath)])
+
+    def load_fence_using_mavproxy(self, filename):
+        self.set_parameter("FENCE_TOTAL", 0)
+        filepath = os.path.join(self.mission_directory(), filename)
+        count = self.count_lines_in_filepath(filepath)
+        self.mavproxy.send('fence load %s\n' % filepath)
+        self.mavproxy.expect("Loaded %u geo-fence" % count)
+        tstart = self.get_sim_time_cached()
+        while True:
+            t2 = self.get_sim_time_cached()
+            if t2 - tstart > 10:
+                raise AutoTestTimeoutException("Failed to do load")
+            newcount = self.get_parameter("FENCE_TOTAL")
+            self.progress("fence total: %u want=%u" % (newcount, count))
+            if count == newcount:
+                break
+            self.delay_sim_time(1)
+
+    def load_fence(self, filename):
+        self.load_fence_using_mavproxy(filename)
+
     def fetch_parameters(self):
         self.mavproxy.send("param fetch\n")
         self.mavproxy.expect("Received [0-9]+ parameters")

Tools/autotest/quadplane.py

@@ -113,7 +113,7 @@ class AutoTestQuadPlane(AutoTest):
         """Fly a mission from a file."""
         self.progress("Flying mission %s" % filename)
         self.load_mission(filename)
-        self.mavproxy.send('fence load %s\n' % fence)
+        self.load_fence(fence)
         self.mavproxy.send('wp list\n')
         self.mavproxy.expect('Requesting [0-9]+ waypoints')
         self.wait_ready_to_arm()