From 33fee211a41973f3a056a9028c5e94966b62fe76 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 17 Feb 2021 12:58:21 +1100
Subject: [PATCH] autotest: extend pexpect timeouts when running under Valgrind

---
 Tools/autotest/common.py     | 10 +++++++++-
 Tools/autotest/pysim/util.py | 11 ++++++++---
 2 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index a5a8f0f55a..fb311830b5 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -5273,10 +5273,18 @@ Also, ignores heartbeats not from our target system'''
 
     def start_mavproxy(self):
         self.progress("Starting MAVProxy")
+
+        # determine a good pexpect timeout for reading MAVProxy's
+        # output; some regmes may require longer timeouts.
+        pexpect_timeout=60
+        if self.valgrind:
+            pexpect_timeout *= 10
+
         self.mavproxy = util.start_MAVProxy_SITL(
             self.vehicleinfo_key(),
             logfile=self.mavproxy_logfile,
-            options=self.mavproxy_options())
+            options=self.mavproxy_options(),
+            pexpect_timeout=pexpect_timeout)
         self.mavproxy.expect('Telemetry log: (\S+)\r\n')
         self.logfile = self.mavproxy.match.group(1)
         self.progress("LOGFILE %s" % self.logfile)
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index afe005c417..6c256be974 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -431,8 +431,13 @@ def MAVProxy_version():
         raise ValueError("Unable to determine MAVProxy version from (%s)" % output)
     return (int(match.group(1)), int(match.group(2)), int(match.group(3)))
 
-def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5762',
-                        options=[], logfile=sys.stdout):
+def start_MAVProxy_SITL(atype,
+                        aircraft=None,
+                        setup=False,
+                        master='tcp:127.0.0.1:5762',
+                        options=[],
+                        pexpect_timeout=60,
+                        logfile=sys.stdout):
     """Launch mavproxy connected to a SITL instance."""
     local_mp_modules_dir = os.path.abspath(
         os.path.join(__file__, '..', '..', '..', 'mavproxy_modules'))
@@ -458,7 +463,7 @@ def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1
     print("PYTHONPATH: %s" % str(env['PYTHONPATH']))
     print("Running: %s" % cmd_as_shell(cmd))
 
-    ret = pexpect.spawn(cmd[0], cmd[1:], logfile=logfile, encoding=ENCODING, timeout=60, env=env)
+    ret = pexpect.spawn(cmd[0], cmd[1:], logfile=logfile, encoding=ENCODING, timeout=pexpect_timeout, env=env)
     ret.delaybeforesend = 0
     pexpect_autoclose(ret)
     return ret