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Tools: autotest: correct gripper tests

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set_rc swallows messages - like the statustext messages we are looking
for
This commit is contained in:
Peter Barker 2019-03-11 09:49:13 +11:00 committed by Peter Barker
parent 88f34a8456
commit 2ef24e700e
1 changed files with 8 additions and 5 deletions
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13
Tools/autotest/common.py
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@ -696,13 +696,16 @@ class AutoTest(ABC):
need_set[chan] = default_value need_set[chan] = default_value
self.set_rc_from_map(need_set) self.set_rc_from_map(need_set)
def send_set_rc(self, chan, pwm):
self.mavproxy.send('rc %u %u\n' % (chan, pwm))
def set_rc(self, chan, pwm, timeout=2000): def set_rc(self, chan, pwm, timeout=2000):
"""Setup a simulated RC control to a PWM value""" """Setup a simulated RC control to a PWM value"""
self.drain_mav() self.drain_mav()
tstart = self.get_sim_time() tstart = self.get_sim_time()
wclock = time.time() wclock = time.time()
while self.get_sim_time_cached() < tstart + timeout: while self.get_sim_time_cached() < tstart + timeout:
self.mavproxy.send('rc %u %u\n' % (chan, pwm)) self.send_set_rc(chan, pwm)
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True) m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
chan_pwm = getattr(m, "chan" + str(chan) + "_raw") chan_pwm = getattr(m, "chan" + str(chan) + "_raw")
wclock_delta = time.time() - wclock wclock_delta = time.time() - wclock
@ -2143,13 +2146,13 @@ class AutoTest(ABC):
self.progress("Test gripper with RC9_OPTION") self.progress("Test gripper with RC9_OPTION")
self.progress("Releasing load") self.progress("Releasing load")
# non strict string matching because of catching text issue.... # non strict string matching because of catching text issue....
self.wait_text("Gripper load releas", the_function=lambda: self.set_rc(9, 1000)) self.wait_text("Gripper load releas", the_function=lambda: self.send_set_rc(9, 1000))
self.progress("Grabbing load") self.progress("Grabbing load")
self.wait_text("Gripper load grabb", the_function=lambda: self.set_rc(9, 2000)) self.wait_text("Gripper load grabb", the_function=lambda: self.send_set_rc(9, 2000))
self.progress("Releasing load") self.progress("Releasing load")
self.wait_text("Gripper load releas", the_function=lambda: self.set_rc(9, 1000)) self.wait_text("Gripper load releas", the_function=lambda: self.send_set_rc(9, 1000))
self.progress("Grabbing load") self.progress("Grabbing load")
self.wait_text("Gripper load grabb", the_function=lambda: self.set_rc(9, 2000)) self.wait_text("Gripper load grabb", the_function=lambda: self.send_set_rc(9, 2000))
self.progress("Test gripper with Mavlink cmd") self.progress("Test gripper with Mavlink cmd")
self.progress("Releasing load") self.progress("Releasing load")
self.wait_text("Gripper load releas", self.wait_text("Gripper load releas",