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autotest: tidy scripting examples test

This commit is contained in:
Peter Barker 2023-02-16 12:44:07 +11:00 committed by Peter Barker
parent b3f06651cf
commit 306d8360fb
1 changed files with 58 additions and 116 deletions
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174
Tools/autotest/rover.py
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@ -5052,30 +5052,25 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def test_scripting_simple_loop(self):
self.start_subtest("Scripting simple loop")
ex = None
example_script = "simple_loop.lua"
self.context_push()
messages = []
def my_message_hook(mav, message):
if message.get_type() != 'STATUSTEXT':
return
messages.append(message)
self.install_message_hook(my_message_hook)
try:
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script(example_script)
self.reboot_sitl()
self.delay_sim_time(10)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.remove_example_script(example_script)
self.install_message_hook_context(my_message_hook)
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script_context("simple_loop.lua")
self.reboot_sitl()
self.delay_sim_time(10)
self.remove_message_hook(my_message_hook)
if ex is not None:
raise ex
self.context_pop()
self.reboot_sitl()
# check all messages to see if we got our message
count = 0
@ -5139,138 +5134,85 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.context_push()
self.context_collect("STATUSTEXT")
ex = None
example_script = "hello_world.lua"
try:
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script(example_script)
self.reboot_sitl()
self.wait_statustext('hello, world', check_context=True, timeout=30)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.remove_example_script(example_script)
self.context_pop()
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script_context("hello_world.lua")
self.reboot_sitl()
if ex is not None:
raise ex
self.wait_statustext('hello, world', check_context=True, timeout=30)
self.context_pop()
self.reboot_sitl()
def ScriptingSteeringAndThrottle(self):
'''Scripting test - steering and throttle'''
self.start_subtest("Scripting square")
ex = None
example_script = "rover-set-steering-and-throttle.lua"
try:
self.install_example_script(example_script)
self.set_parameter("SCR_ENABLE", 1)
self.reboot_sitl()
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(6, 2000)
tstart = self.get_sim_time()
while not self.mode_is("HOLD"):
if self.get_sim_time_cached() - tstart > 30:
raise NotAchievedException("Did not move to hold")
m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=1)
if m is not None:
self.progress("Current speed: %f" % m.groundspeed)
self.disarm_vehicle()
self.reboot_sitl()
except Exception as e:
self.print_exception_caught(e)
self.disarm_vehicle()
ex = e
self.remove_example_script(example_script)
self.context_push()
self.install_example_script_context("rover-set-steering-and-throttle.lua")
self.set_parameter("SCR_ENABLE", 1)
self.reboot_sitl()
if ex is not None:
raise ex
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(6, 2000)
tstart = self.get_sim_time()
while not self.mode_is("HOLD"):
if self.get_sim_time_cached() - tstart > 30:
raise NotAchievedException("Did not move to hold")
m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=1)
if m is not None:
self.progress("Current speed: %f" % m.groundspeed)
self.disarm_vehicle()
self.context_pop()
self.reboot_sitl()
def test_scripting_auxfunc(self):
self.start_subtest("Scripting aufunc triggering")
self.context_push()
self.set_parameter('RELAY_PIN', 1)
self.context_collect("STATUSTEXT")
ex = None
example_script = "RCIN_test.lua"
try:
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script(example_script)
self.reboot_sitl()
self.wait_parameter_value("SIM_PIN_MASK", 121)
self.wait_parameter_value("SIM_PIN_MASK", 123)
self.wait_parameter_value("SIM_PIN_MASK", 121)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.remove_example_script(example_script)
self.context_pop()
self.set_parameters({
"SCR_ENABLE": 1,
"RELAY_PIN": 1,
})
self.install_example_script_context("RCIN_test.lua")
self.reboot_sitl()
if ex is not None:
raise ex
self.wait_parameter_value("SIM_PIN_MASK", 121)
self.wait_parameter_value("SIM_PIN_MASK", 123)
self.wait_parameter_value("SIM_PIN_MASK", 121)
self.context_pop()
self.reboot_sitl()
def test_scripting_print_home_and_origin(self):
self.start_subtest("Scripting print home and origin")
self.context_push()
ex = None
example_script = "ahrs-print-home-and-origin.lua"
try:
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script(example_script)
self.reboot_sitl()
self.wait_ready_to_arm()
self.wait_statustext("Home - ")
self.wait_statustext("Origin - ")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.remove_example_script(example_script)
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script_context("ahrs-print-home-and-origin.lua")
self.reboot_sitl()
self.wait_ready_to_arm()
self.wait_statustext("Home - ")
self.wait_statustext("Origin - ")
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def test_scripting_set_home_to_vehicle_location(self):
self.start_subtest("Scripting set home to vehicle location")
self.context_push()
ex = None
example_script = "ahrs-set-home-to-vehicle-location.lua"
try:
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script(example_script)
self.reboot_sitl()
self.wait_statustext("Home position reset")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.remove_example_script(example_script)
self.context_pop()
self.set_parameter("SCR_ENABLE", 1)
self.install_example_script_context("ahrs-set-home-to-vehicle-location.lua")
self.reboot_sitl()
if ex is not None:
raise ex
self.wait_statustext("Home position reset")
self.context_pop()
self.reboot_sitl()
def Scripting(self):
'''Scripting test'''