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autotest: augment ClearMission to test clearing from current uploader

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in the same way that we allow a link to re-start an upload by sending mission_count, allow a GCS to clear a mission and cancel current upload if it was the one doing the transfer
This commit is contained in:
Peter Barker 2024-08-19 20:49:30 +10:00 committed by Peter Barker
parent c0735d136c
commit 21f6e5da71
1 changed files with 45 additions and 0 deletions
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45
Tools/autotest/rover.py
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@ -3617,6 +3617,51 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.assert_current_waypoint(0) self.assert_current_waypoint(0)
self.drain_mav()
self.start_subtest("No clear mission while it is being uploaded by a different node")
mav2 = mavutil.mavlink_connection("tcp:localhost:5763",
robust_parsing=True,
source_system=7,
source_component=7)
self.context_push()
self.context_collect("MISSION_REQUEST")
mav2.mav.mission_count_send(target_system,
target_component,
17,
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
ack = self.assert_receive_message('MISSION_REQUEST', check_context=True, mav=mav2)
self.context_pop()
self.context_push()
self.context_collect("MISSION_ACK")
self.mav.mav.mission_clear_all_send(
target_system,
target_component,
mavutil.mavlink.MAV_MISSION_TYPE_MISSION
)
ack = self.assert_receive_message('MISSION_ACK', check_context=True)
self.assert_message_field_values(ack, {
"type": mavutil.mavlink.MAV_MISSION_DENIED,
})
self.context_pop()
self.progress("Test cancel upload from second connection")
self.context_push()
self.context_collect("MISSION_ACK")
mav2.mav.mission_clear_all_send(
target_system,
target_component,
mavutil.mavlink.MAV_MISSION_TYPE_MISSION
)
ack = self.assert_receive_message('MISSION_ACK', mav=mav2, check_context=True)
self.assert_message_field_values(ack, {
"type": mavutil.mavlink.MAV_MISSION_ACCEPTED,
})
self.context_pop()
mav2.close()
del mav2
def GCSMission(self): def GCSMission(self):
'''check MAVProxy's waypoint handling of missions''' '''check MAVProxy's waypoint handling of missions'''