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autotest: add test for send_to_components

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Peter Barker 2019-10-24 13:33:20 +11:00 committed by Andrew Tridgell
parent 4780dc40b0
commit 4d628c2822
1 changed files with 45 additions and 0 deletions
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45
Tools/autotest/apmrover2.py
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@ -4749,6 +4749,47 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.test_scripting_hello_world()
self.test_scripting_simple_loop()
def test_send_to_components(self):
self.progress("Introducing ourselves to the autopilot as a component")
old_srcSystem = self.mav.mav.srcSystem
self.mav.mav.srcSystem = 1
self.mav.mav.heartbeat_send(
mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER,
mavutil.mavlink.MAV_AUTOPILOT_INVALID,
0,
0,
0)
self.progress("Sending control message")
self.mav.mav.digicam_control_send(
1, # target_system
1, # target_component
1, # start or keep it up
1, # zoom_pos
0, # zoom_step
0, # focus_lock
1, # 1 shot or start filming
17, # command id (de-dupe field)
0, # extra_param
0.0, # extra_value
)
self.mav.mav.srcSystem = old_srcSystem
self.progress("Expecting a command long")
tstart = self.get_sim_time_cached()
while True:
now = self.get_sim_time_cached()
if now - tstart > 2:
raise NotAchievedException("Did not receive digicam_control message")
m = self.mav.recv_match(type='COMMAND_LONG', blocking=True, timeout=0.1)
self.progress("Message: %s" % str(m))
if m is None:
continue
if m.command != mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL:
raise NotAchievedException("Did not get correct command")
if m.param6 != 17:
raise NotAchievedException("Did not get correct command_id")
break
def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
@ -4899,6 +4940,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"PolyFence object avoidance tests - bendy ruler",
self.test_poly_fence_object_avoidance_bendy_ruler),
("SendToComponents",
"Test ArduPilot send_to_components function",
self.test_send_to_components),
("PolyFenceObjectAvoidanceBendyRulerEasier",
"PolyFence object avoidance tests - easier bendy ruler test",
self.test_poly_fence_object_avoidance_bendy_ruler_easier),