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autotest: Replay tests OpticalFlow and Beacons

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autotest: run Replay on log generated by test.Copter.BeaconPosition

autotest: test OpticalFlow in replay tests
This commit is contained in:
Peter Barker 2020-11-30 12:41:42 +11:00 committed by Peter Barker
parent 035e798b23
commit 498b0b79a3
1 changed files with 43 additions and 8 deletions
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51
Tools/autotest/arducopter.py
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@ -5463,12 +5463,7 @@ class AutoTestCopter(AutoTest):
if ex is not None: if ex is not None:
raise ex raise ex
def test_replay(self): def test_replay_gps_bit(self):
'''test replay correctness'''
self.progress("Building Replay")
util.build_SITL('tools/Replay', clean=False, configure=False)
self.context_push()
self.set_parameter("LOG_REPLAY", 1) self.set_parameter("LOG_REPLAY", 1)
self.set_parameter("LOG_DISARMED", 1) self.set_parameter("LOG_DISARMED", 1)
self.set_parameter("EK3_ENABLE", 1) self.set_parameter("EK3_ENABLE", 1)
@ -5507,7 +5502,47 @@ class AutoTestCopter(AutoTest):
self.takeoffAndMoveAway() self.takeoffAndMoveAway()
self.do_RTL() self.do_RTL()
self.progress("Running replay") return current_log_filepath
def test_replay_beacon_bit(self):
self.set_parameter("LOG_REPLAY", 1)
self.set_parameter("LOG_DISARMED", 1)
old_onboard_logs = sorted(self.log_list())
self.fly_beacon_position()
new_onboard_logs = sorted(self.log_list())
log_difference = [x for x in new_onboard_logs if x not in old_onboard_logs]
return log_difference[2]
def test_replay_optical_flow_bit(self):
self.set_parameter("LOG_REPLAY", 1)
self.set_parameter("LOG_DISARMED", 1)
old_onboard_logs = sorted(self.log_list())
self.fly_optical_flow_limits()
new_onboard_logs = sorted(self.log_list())
log_difference = [x for x in new_onboard_logs if x not in old_onboard_logs]
print("log difference: %s" % str(log_difference))
return log_difference[0]
def test_replay(self):
'''test replay correctness'''
self.progress("Building Replay")
util.build_SITL('tools/Replay', clean=False, configure=False)
self.test_replay_bit(self.test_replay_gps_bit)
self.test_replay_bit(self.test_replay_beacon_bit)
self.test_replay_bit(self.test_replay_optical_flow_bit)
def test_replay_bit(self, bit):
self.context_push()
current_log_filepath = bit()
self.progress("Running replay on (%s)" % current_log_filepath)
util.run_cmd(['build/sitl/tools/Replay', current_log_filepath], util.run_cmd(['build/sitl/tools/Replay', current_log_filepath],
directory=util.topdir(), checkfail=True, show=True) directory=util.topdir(), checkfail=True, show=True)
@ -5519,7 +5554,7 @@ class AutoTestCopter(AutoTest):
check_replay = util.load_local_module("Tools/Replay/check_replay.py") check_replay = util.load_local_module("Tools/Replay/check_replay.py")
ok = check_replay.check_log(replay_log_filepath, self.progress) ok = check_replay.check_log(replay_log_filepath, self.progress, verbose=True)
if not ok: if not ok:
raise NotAchievedException("check_replay failed") raise NotAchievedException("check_replay failed")