mirror of https://github.com/ArduPilot/ardupilot
autotest: fix up FRSky tests for running under Valgrind
This commit is contained in:
Peter Barker
Peter Barker
parent
360512f6b0
commit
2671a2f71f
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@ -814,9 +814,11 @@ class SPortToMAVlite(object):
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class FRSkySPort(FRSky):
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def __init__(self, destination_address, verbose=True):
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def __init__(self, destination_address, verbose=True, get_time=time.time):
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super(FRSkySPort, self).__init__(destination_address)
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self.get_time = get_time
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self.state_SEND_POLL = "sendpoll"
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self.state_WANT_FRAME_TYPE = "want_frame_type"
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self.state_WANT_ID1 = "want_id1"
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@ -955,11 +957,11 @@ class FRSkySPort(FRSky):
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return ret
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def check_poll(self):
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now = time.time()
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if now - self.poll_sent > 2:
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if self.state != self.state_WANT_FRAME_TYPE:
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raise ValueError("Expected to be wanting a frame type when repolling")
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now = self.get_time()
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if now - self.poll_sent > 20:
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self.progress("Re-polling")
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if self.state != self.state_WANT_FRAME_TYPE:
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raise ValueError("Expected to be wanting a frame type when repolling (state=%s)" % str(self.state))
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self.state = self.state_SEND_POLL
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if self.state == self.state_SEND_POLL:
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@ -1138,8 +1140,9 @@ class FRSkySPort(FRSky):
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class FRSkyPassThrough(FRSkySPort):
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def __init__(self, destination_address):
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super(FRSkyPassThrough, self).__init__(destination_address)
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def __init__(self, destination_address, get_time=time.time):
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super(FRSkyPassThrough, self).__init__(destination_address,
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get_time=get_time)
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self.sensors_to_poll = [self.SENSOR_ID_27]
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@ -4465,11 +4468,7 @@ class AutoTest(ABC):
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if remaining <= 0:
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raise AutoTestTimeoutException("Failed to change mode")
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self.run_cmd_do_set_mode(mode, timeout=10)
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m = self.mav.recv_match(type='HEARTBEAT',
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blocking=True,
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timeout=5)
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if m is None:
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raise ErrorException("Heartbeat not received")
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m = self.wait_heartbeat()
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self.progress("Got mode=%u want=%u" % (m.custom_mode, want_custom_mode))
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if m.custom_mode == want_custom_mode:
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return
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@ -4485,11 +4484,7 @@ class AutoTest(ABC):
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raise AutoTestTimeoutException("Failed to change mode")
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self.mavproxy.send("long DO_SET_MODE %u %u\n" %
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(base_mode, custom_mode))
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m = self.mav.recv_match(type='HEARTBEAT',
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blocking=True,
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timeout=5)
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if m is None:
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raise ErrorException("Did not receive heartbeat")
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m = self.wait_heartbeat()
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if m.custom_mode == custom_mode:
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return True
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@ -5243,7 +5238,7 @@ Also, ignores heartbeats not from our target system'''
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if m is None:
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continue
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if m.get_srcSystem() == self.sysid_thismav():
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break
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return m
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def wait_ekf_happy(self, timeout=30, require_absolute=True):
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"""Wait for EKF to be happy"""
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@ -9004,13 +8999,7 @@ switch value'''
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# batt_failsafe = self.bit_extract(value, 9, 1)
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# ekf_failsafe = self.bit_extract(value, 10, 2)
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# imu_temp = self.bit_extract(value, 26, 6) + 19 # IMU temperature: 0 means temp =< 19, 63 means temp => 82
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heartbeat = self.mav.recv_match(
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type='HEARTBEAT',
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blocking=True,
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timeout=1
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)
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if heartbeat is None:
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raise NotAchievedException("Did not get HEARTBEAT message")
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heartbeat = self.wait_heartbeat()
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mav_flight_mode = heartbeat.custom_mode
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self.progress(" mode=%u heartbeat=%u" % (flight_mode, mav_flight_mode))
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if mav_flight_mode == flight_mode:
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@ -9129,13 +9118,7 @@ switch value'''
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self.progress("received param (0x%02x) (id=%u value=%u)" %
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(value, param_id, param_value))
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frame_type = param_value
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hb = self.mav.recv_match(
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type='HEARTBEAT',
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blocking=True,
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timeout=1,
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)
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if hb is None:
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raise NotAchievedException("Did not get HEARTBEAT message")
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hb = self.wait_heartbeat()
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hb_type = hb.type
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self.progress("validate_params: HEARTBEAT type==%f frsky==%f param_id=%u" % (hb_type, frame_type, param_id))
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if param_id != 1:
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@ -9191,7 +9174,8 @@ switch value'''
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self.customise_SITL_commandline([
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"--uartF=tcp:6735" # serial5 spews to localhost:6735
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])
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frsky = FRSkyPassThrough(("127.0.0.1", 6735))
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frsky = FRSkyPassThrough(("127.0.0.1", 6735),
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get_time=self.get_sim_time_cached)
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# waiting until we are ready to arm should ensure our wanted
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# statustext doesn't get blatted out of the ArduPilot queue by
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@ -9307,11 +9291,15 @@ switch value'''
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def read_message_via_mavlite(self, frsky, sport_to_mavlite):
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'''read bytes from frsky mavlite stream, trying to form up a mavlite
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message'''
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tstart = self.get_sim_time_cached()
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self.drain_mav(quiet=True)
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tstart = self.get_sim_time()
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while True:
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self.drain_mav(quiet=True)
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tnow = self.get_sim_time_cached()
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if tnow - tstart > 30:
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timeout = 30
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if self.valgrind:
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timeout *= 10
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if tnow - tstart > timeout:
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raise NotAchievedException("Did not get parameter via mavlite")
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frsky.update()
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if sport_to_mavlite.state == sport_to_mavlite.state_MESSAGE_RECEIVED:
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@ -9321,7 +9309,8 @@ switch value'''
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return message
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def read_parameter_via_mavlite(self, frsky, sport_to_mavlite, name):
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tstart = self.get_sim_time_cached()
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self.drain_mav(quiet=True)
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tstart = self.get_sim_time()
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while True:
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tnow = self.get_sim_time_cached()
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if tnow - tstart > 30:
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@ -9606,13 +9595,7 @@ switch value'''
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def tfs_validate_tmp1(self, value):
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self.progress("validating tmp1 (0x%02x)" % value)
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tmp1 = value
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heartbeat = self.mav.recv_match(
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type='HEARTBEAT',
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blocking=True,
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timeout=1
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)
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if heartbeat is None:
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raise NotAchievedException("Did not get HEARTBEAT message")
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heartbeat = self.wait_heartbeat()
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heartbeat_tmp1 = heartbeat.custom_mode
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self.progress("GLOBAL_POSITION_INT custom_mode==%f frsky==%f" % (heartbeat_tmp1, tmp1))
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if heartbeat_tmp1 == tmp1:
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