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autotest: simplify camera mission item test 

Rename for the modern style of keeping method name same as test name.

Remove pointless try/except block as it wasn't doing anything useful.
This commit is contained in:
Peter Barker 2021-09-28 20:09:31 +10:00 committed by Peter Barker
parent 0b06d4072e
commit 40a463f60c
1 changed files with 35 additions and 44 deletions
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79
Tools/autotest/rover.py
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@ -1137,51 +1137,42 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex is not None:
raise ex
def test_camera_mission_items(self):
self.context_push()
ex = None
try:
self.load_mission("rover-camera-mission.txt")
self.wait_ready_to_arm()
self.change_mode("AUTO")
self.wait_ready_to_arm()
self.arm_vehicle()
prev_cf = None
while True:
cf = self.mav.recv_match(type='CAMERA_FEEDBACK', blocking=True)
if prev_cf is None:
prev_cf = cf
continue
dist_travelled = self.get_distance_int(prev_cf, cf)
def CameraMission(self):
self.load_mission("rover-camera-mission.txt")
self.wait_ready_to_arm()
self.change_mode("AUTO")
self.wait_ready_to_arm()
self.arm_vehicle()
prev_cf = None
while True:
cf = self.mav.recv_match(type='CAMERA_FEEDBACK', blocking=True)
if prev_cf is None:
prev_cf = cf
mc = self.mav.messages.get("MISSION_CURRENT", None)
if mc is None:
continue
elif mc.seq == 2:
expected_distance = 2
elif mc.seq == 4:
expected_distance = 5
elif mc.seq == 5:
break
else:
continue
self.progress("Expected distance %f got %f" %
(expected_distance, dist_travelled))
error = abs(expected_distance - dist_travelled)
# Rover moves at ~5m/s; we appear to do something at
# 5Hz, so we do see over a meter of error!
max_error = 1.5
if error > max_error:
raise NotAchievedException("Camera distance error: %f (%f)" %
(error, max_error))
continue
dist_travelled = self.get_distance_int(prev_cf, cf)
prev_cf = cf
mc = self.mav.messages.get("MISSION_CURRENT", None)
if mc is None:
continue
elif mc.seq == 2:
expected_distance = 2
elif mc.seq == 4:
expected_distance = 5
elif mc.seq == 5:
break
else:
continue
self.progress("Expected distance %f got %f" %
(expected_distance, dist_travelled))
error = abs(expected_distance - dist_travelled)
# Rover moves at ~5m/s; we appear to do something at
# 5Hz, so we do see over a meter of error!
max_error = 1.5
if error > max_error:
raise NotAchievedException("Camera distance error: %f (%f)" %
(error, max_error))
self.disarm_vehicle()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
self.disarm_vehicle()
def test_do_set_mode_via_command_long(self):
self.do_set_mode_via_command_long("HOLD")
@ -5757,7 +5748,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
("CameraMission",
"Test Camera Mission Items",
self.test_camera_mission_items),
self.CameraMission),
# Gripper test
("Gripper",