mirror of https://github.com/ArduPilot/ardupilot
autotest: add test case for GPS ordering
also fix flake8 issues
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48277b43e4
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@ -10,7 +10,6 @@ from __future__ import print_function
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import copy
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import math
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import os
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import signal
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import shutil
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import time
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import numpy
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@ -2103,35 +2102,73 @@ class AutoTestCopter(AutoTest):
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self.set_parameter("GPS_TYPE", 9)
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self.set_parameter("GPS_TYPE2", 9)
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self.set_parameter("SIM_GPS2_DISABLE", 0)
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os.kill(self.sup_prog[0].pid, signal.SIGSTOP)
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os.kill(self.sup_prog[1].pid, signal.SIGSTOP)
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self.context_push()
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self.set_parameter("ARMING_CHECK", 1 << 3)
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self.context_collect('STATUSTEXT')
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self.reboot_sitl()
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# Test UAVCAN GPS ordering working
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os.kill(self.sup_prog[0].pid, signal.SIGCONT)
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gps1_det_text = self.wait_text("GPS 1: specified as UAVCAN")
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os.kill(self.sup_prog[1].pid, signal.SIGCONT)
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gps2_det_text = self.wait_text("GPS 2: specified as UAVCAN")
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gps1_det_text = self.wait_statustext("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
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gps2_det_text = self.wait_statustext("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
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gps1_nodeid = int(gps1_det_text.split('-')[1])
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gps2_nodeid = int(gps2_det_text.split('-')[1])
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if gps1_nodeid is None or gps2_nodeid is None:
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raise NotAchievedException("GPS not ordered per the order of Node IDs")
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self.set_parameter("GPS1_CAN_OVRIDE", gps2_nodeid)
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self.set_parameter("GPS2_CAN_OVRIDE", gps1_nodeid)
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# Reboot the SITL, and shuffle the AP_Periph
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os.kill(self.sup_prog[0].pid, signal.SIGSTOP)
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os.kill(self.sup_prog[1].pid, signal.SIGSTOP)
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self.context_stop_collecting('STATUSTEXT')
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GPS_Order_Tests = [[gps2_nodeid, gps2_nodeid, gps2_nodeid, 0,
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"PreArm: Same Node Id {} set for multiple GPS".format(gps2_nodeid)],
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[gps1_nodeid, int(gps2_nodeid/2), gps1_nodeid, 0,
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"Selected GPS Node {} not set as instance {}".format(int(gps2_nodeid/2), 2)],
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[int(gps1_nodeid/2), gps2_nodeid, 0, gps2_nodeid,
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"Selected GPS Node {} not set as instance {}".format(int(gps1_nodeid/2), 1)],
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[gps1_nodeid, gps2_nodeid, gps1_nodeid, gps2_nodeid, ""],
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[gps2_nodeid, gps1_nodeid, gps2_nodeid, gps1_nodeid, ""],
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[gps1_nodeid, 0, gps1_nodeid, gps2_nodeid, ""],
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[0, gps2_nodeid, gps1_nodeid, gps2_nodeid, ""]]
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for case in GPS_Order_Tests:
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self.progress("############################### Trying Case: " + str(case))
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self.set_parameter("GPS1_CAN_OVRIDE", case[0])
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self.set_parameter("GPS2_CAN_OVRIDE", case[1])
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self.drain_mav()
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self.context_collect('STATUSTEXT')
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self.reboot_sitl()
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gps1_det_text = None
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gps2_det_text = None
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try:
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# order should have changed this time
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os.kill(self.sup_prog[0].pid, signal.SIGCONT)
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gps1_det_text = self.wait_text("GPS 2: specified as UAVCAN")
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os.kill(self.sup_prog[1].pid, signal.SIGCONT)
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gps2_det_text = self.wait_text("GPS 1: specified as UAVCAN")
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except:
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raise NotAchievedException("GPS not ordered as requested")
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gps1_det_text = self.wait_statustext("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
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except AutoTestTimeoutException:
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pass
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try:
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gps2_det_text = self.wait_statustext("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
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except AutoTestTimeoutException:
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pass
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self.context_stop_collecting('STATUSTEXT')
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self.change_mode('LOITER')
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if case[2] == 0 and case[3] == 0:
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if gps1_det_text or gps2_det_text:
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raise NotAchievedException("Failed ordering for requested CASE:", case)
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if case[2] == 0 or case[3] == 0:
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if bool(gps1_det_text is not None) == bool(gps2_det_text is not None):
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print(gps1_det_text)
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print(gps2_det_text)
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raise NotAchievedException("Failed ordering for requested CASE:", case)
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if gps1_det_text:
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if case[2] != int(gps1_det_text.split('-')[1]):
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raise NotAchievedException("Failed ordering for requested CASE:", case)
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if gps2_det_text:
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if case[3] != int(gps2_det_text.split('-')[1]):
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raise NotAchievedException("Failed ordering for requested CASE:", case)
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if len(case[4]):
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self.mavproxy.send('arm throttle\n')
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self.mavproxy.expect(case[4])
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self.progress("############################### All GPS Order Cases Tests Passed")
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self.context_pop()
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self.fly_auto_test()
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def fly_motor_fail(self, fail_servo=0, fail_mul=0.0, holdtime=30):
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@ -5403,10 +5403,10 @@ Also, ignores heartbeats not from our target system'''
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for statustext in [x.text for x in c.collections["STATUSTEXT"]]:
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if regex:
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if re.match(text, statustext):
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return True
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return statustext
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elif text.lower() in statustext.lower():
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return True
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return False
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return statustext
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return None
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def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False, wallclock_timeout=False):
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"""Wait for a specific STATUSTEXT."""
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@ -5419,12 +5419,14 @@ Also, ignores heartbeats not from our target system'''
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# which checks all incoming messages.
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self.progress("Waiting for text : %s" % text.lower())
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if check_context:
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if self.statustext_in_collections(text, regex=regex):
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statustext = self.statustext_in_collections(text, regex=regex)
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if statustext:
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self.progress("Found expected text in collection: %s" % text.lower())
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return text
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return statustext
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global statustext_found
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global statustext_full
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statustext_full = None
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statustext_found = False
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def mh(mav, m):
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@ -5436,6 +5438,7 @@ Also, ignores heartbeats not from our target system'''
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self.re_match = re.match(text, m.text)
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if self.re_match:
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statustext_found = True
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statustext_full = m.text
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if text.lower() in m.text.lower():
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self.progress("Received expected text: %s" % m.text.lower())
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statustext_found = True
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@ -5460,7 +5463,6 @@ Also, ignores heartbeats not from our target system'''
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self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=0.1)
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finally:
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self.remove_message_hook(mh)
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if statustext_found:
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return statustext_full
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def get_mavlink_connection_going(self):
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