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autotest: add test for CAN node health pre arm check

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bugobliterator 2022-04-29 17:19:43 +05:30 committed by Andrew Tridgell
parent c4b182978a
commit 2375564bb2
2 changed files with 69 additions and 0 deletions
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20
Tools/autotest/arducopter.py
View File

@ -2459,6 +2459,26 @@ class AutoTestCopter(AutoTest):
self.wait_statustext(case[4], check_context=True)
self.context_stop_collecting('STATUSTEXT')
self.progress("############################### All GPS Order Cases Tests Passed")
self.progress("############################### Test Healthy Prearm check")
self.set_parameter("ARMING_CHECK", 1)
self.stop_sup_program(instance=0)
self.start_sup_program(instance=0, args="-M")
self.delay_sim_time(2)
self.context_collect('STATUSTEXT')
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=10,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.wait_statustext("Node {} unhealthy".format(gps1_nodeid), check_context=True)
self.stop_sup_program(instance=0)
self.start_sup_program(instance=0)
self.context_stop_collecting('STATUSTEXT')
self.context_pop()
self.fly_auto_test()

49
Tools/autotest/common.py
View File

@ -7262,6 +7262,55 @@ Also, ignores heartbeats not from our target system'''
def get_suplementary_programs(self):
return self.sup_prog
def stop_sup_program(self, instance=None):
self.progress("Stopping supplementary program")
if instance is None:
# close all sup programs
for prog in self.sup_prog:
self.expect_list_remove(prog)
self.sup_prog.remove(prog)
util.pexpect_close(prog)
else:
# close only the instance passed
prog = self.sup_prog[instance]
self.expect_list_remove(prog)
self.sup_prog[instance] = None
util.pexpect_close(prog)
def start_sup_program(self, instance=None, args=None):
self.progress("Starting supplementary program")
start_sitl_args = {
"breakpoints": self.breakpoints,
"disable_breakpoints": self.disable_breakpoints,
"gdb": self.gdb,
"gdb_no_tui": self.gdb_no_tui,
"gdbserver": self.gdbserver,
"lldb": self.lldb,
"home": self.sitl_home(),
"speedup": self.speedup,
"valgrind": self.valgrind,
"callgrind": self.callgrind,
"wipe": True,
}
if instance is None:
for sup_binary in self.sup_binaries:
start_sitl_args["customisations"] = [sup_binary[1]]
if args is not None:
start_sitl_args["customisations"] = [sup_binary[1], args]
start_sitl_args["supplementary"] = True
sup_prog_link = util.start_SITL(sup_binary[0], **start_sitl_args)
self.sup_prog.append(sup_prog_link) # add to list
self.expect_list_add(sup_prog_link) # add to expect list
else:
# start only the instance passed
start_sitl_args["customisations"] = [self.sup_binaries[instance][1]]
if args is not None:
start_sitl_args["customisations"] = [self.sup_binaries[instance][1], args]
start_sitl_args["supplementary"] = True
sup_prog_link = util.start_SITL(self.sup_binaries[instance][0], **start_sitl_args)
self.sup_prog[instance] = sup_prog_link # add to list
self.expect_list_add(sup_prog_link) # add to expect list
def sitl_is_running(self):
if self.sitl is None:
return False