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autotest: create and use a wait_sensor_state method

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Peter Barker 2020-12-25 23:51:30 +11:00 committed by Peter Barker
parent 7c7fb67829
commit 2b06ae9aa0
2 changed files with 26 additions and 8 deletions
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21
Tools/autotest/arduplane.py
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@ -978,14 +978,23 @@ class AutoTestPlane(AutoTest):
self.set_parameter("FENCE_CHANNEL", 7)
self.set_parameter("FENCE_ACTION", 4)
self.set_rc(3, 1000)
self.set_rc(7, 2000)
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE,
present=True,
enabled=False,
healthy=True)
self.set_rc_from_map({
3: 1000,
7: 2000,
})
self.progress("Checking fence is initially OK")
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
if (not (m.onboard_control_sensors_enabled & fence_bit)):
raise NotAchievedException("Fence not initially enabled")
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE,
present=True,
enabled=True,
healthy=True,
verbose=True,
timeout=30)
self.set_parameter("THR_FS_VALUE", 960)
self.progress("Failing receiver (throttle-to-950)")

13
Tools/autotest/common.py
View File

@ -4398,11 +4398,12 @@ class AutoTest(ABC):
def assert_sensor_state(self, sensor, present=True, enabled=True, healthy=True):
return self.sensor_has_state(sensor, present, enabled, healthy, do_assert=True)
def sensor_has_state(self, sensor, present=True, enabled=True, healthy=True, do_assert=False):
def sensor_has_state(self, sensor, present=True, enabled=True, healthy=True, do_assert=False, verbose=False):
m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not receive SYS_STATUS")
# self.progress("Status: %s" % str(mavutil.dump_message_verbose(sys.stdout, m)))
if verbose:
self.progress("Status: %s" % str(mavutil.dump_message_verbose(sys.stdout, m)))
reported_present = m.onboard_control_sensors_present & sensor
reported_enabled = m.onboard_control_sensors_enabled & sensor
reported_healthy = m.onboard_control_sensors_health & sensor
@ -4440,6 +4441,14 @@ class AutoTest(ABC):
return False
return True
def wait_sensor_state(self, sensor, present=True, enabled=True, healthy=True, timeout=5, verbose=False):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Sensor did not achieve state")
if self.sensor_has_state(sensor, present=present, enabled=enabled, healthy=healthy, verbose=verbose):
break
def wait_prearm_sys_status_healthy(self, timeout=60):
self.do_timesync_roundtrip()
tstart = self.get_sim_time()