diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py
index f4835c670b..5f97d18798 100644
--- a/Tools/autotest/apmrover2.py
+++ b/Tools/autotest/apmrover2.py
@@ -5,7 +5,6 @@ from __future__ import print_function
import os
import pexpect
-import shutil
import time
from common import AutoTest
@@ -509,7 +508,8 @@ class AutoTestRover(AutoTest):
self.test_servorelayevents)
self.run_test("Download logs", lambda:
- self.log_download(self.buildlogs_path("APMrover2-log.bin")))
+ self.log_download(
+ self.buildlogs_path("APMrover2-log.bin")))
# if not drive_left_circuit(self):
# self.progress("Failed left circuit")
# failed = True
@@ -519,7 +519,7 @@ class AutoTestRover(AutoTest):
except pexpect.TIMEOUT as e:
self.progress("Failed with timeout")
- self.fail_list.append( ("*timeout*", None) )
+ self.fail_list.append(("*timeout*", None))
self.close()
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 8a388be0e6..9d459d78cc 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -460,7 +460,7 @@ class AutoTestCopter(AutoTest):
# restore motor 1 to 100% efficiency
self.mavproxy.send('param set SIM_ENGINE_MUL 1.0\n')
- self.progress("Stability patch and Loiter OK for %u seconds" % holdtime)
+ self.progress("Stability patch and Loiter OK for %us" % holdtime)
# fly_fence_test - fly east until you hit the horizontal circular fence
def fly_fence_test(self, timeout=180):
@@ -576,7 +576,8 @@ class AutoTestCopter(AutoTest):
self.mavproxy.send('arm check all\n')
def fly_gps_glitch_loiter_test(self, timeout=30, max_distance=20):
- """fly_gps_glitch_loiter_test. Fly south east in loiter and test reaction to gps glitch."""
+ """fly_gps_glitch_loiter_test. Fly south east in loiter and test
+ reaction to gps glitch."""
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
@@ -625,7 +626,6 @@ class AutoTestCopter(AutoTest):
tstart = self.get_sim_time()
tnow = tstart
start_pos = self.sim_location()
- success = True
# initialise current glitch
glitch_current = 0
@@ -1023,59 +1023,75 @@ class AutoTestCopter(AutoTest):
self.run_test("Arm motors", self.arm_vehicle)
# Takeoff
- self.run_test("Takeoff to test fly Square", lambda: self.takeoff(10))
+ self.run_test("Takeoff to test fly Square",
+ lambda: self.takeoff(10))
# Fly a square in Stabilize mode
- self.run_test("Fly a square and save WPs with CH7", self.fly_square)
+ self.run_test("Fly a square and save WPs with CH7",
+ self.fly_square)
# save the stored mission to file
global num_wp
- num_wp = self.save_mission_to_file(os.path.join(testdir, "ch7_mission.txt"))
+ num_wp = self.save_mission_to_file(os.path.join(testdir,
+ "ch7_mission.txt"))
if not num_wp:
self.fail_list.append("save_mission_to_file")
self.progress("save_mission_to_file failed")
# fly the stored mission
- self.run_test("Fly CH7 saved mission", lambda: self.fly_mission(height_accuracy=0.5, target_altitude=10))
+ self.run_test("Fly CH7 saved mission",
+ lambda: self.fly_mission(height_accuracy=0.5,
+ target_altitude=10))
# Throttle Failsafe
- self.run_test("Test Failsafe", lambda: self.fly_throttle_failsafe)
+ self.run_test("Test Failsafe",
+ lambda: self.fly_throttle_failsafe)
# Takeoff
- self.run_test("Takeoff to test battery failsafe", lambda: self.takeoff(10))
+ self.run_test("Takeoff to test battery failsafe",
+ lambda: self.takeoff(10))
# Battery failsafe
- self.run_test("Fly Battery Failsafe", lambda: self.fly_battery_failsafe)
+ self.run_test("Fly Battery Failsafe",
+ lambda: self.fly_battery_failsafe)
# Takeoff
- self.run_test("Takeoff to test stability patch", lambda: self.takeoff(10))
+ self.run_test("Takeoff to test stability patch",
+ lambda: self.takeoff(10))
# Stability patch
- self.run_test("Fly stability patch", lambda: self.fly_stability_patch(30))
+ self.run_test("Fly stability patch",
+ lambda: self.fly_stability_patch(30))
# RTL
self.run_test("RTL after stab patch", lambda: self.fly_RTL)
# Takeoff
- self.run_test("Takeoff to test horizontal fence", lambda: self.takeoff(10))
+ self.run_test("Takeoff to test horizontal fence",
+ lambda: self.takeoff(10))
# Fence test
- self.run_test("Test horizontal fence", lambda: self.fly_fence_test(180))
+ self.run_test("Test horizontal fence",
+ lambda: self.fly_fence_test(180))
# Fence test
- self.run_test("Test Max Alt Fence", lambda: self.fly_alt_max_fence_test(180))
+ self.run_test("Test Max Alt Fence",
+ lambda: self.fly_alt_max_fence_test(180))
# Takeoff
- self.run_test("Takeoff to test GPS glitch loiter", lambda: self.takeoff(10))
+ self.run_test("Takeoff to test GPS glitch loiter",
+ lambda: self.takeoff(10))
# Fly GPS Glitch Loiter test
- self.run_test("GPS Glitch Loiter Test", self.fly_gps_glitch_loiter_test)
+ self.run_test("GPS Glitch Loiter Test",
+ self.fly_gps_glitch_loiter_test)
# RTL after GPS Glitch Loiter test
self.run_test("RTL after GPS Glitch Loiter test", self.fly_RTL)
# Fly GPS Glitch test in auto mode
- self.run_test("GPS Glitch Auto Test", self.fly_gps_glitch_auto_test)
+ self.run_test("GPS Glitch Auto Test",
+ self.fly_gps_glitch_auto_test)
# Takeoff
self.run_test("Takeoff to test loiter", lambda: self.takeoff(10))
@@ -1087,13 +1103,15 @@ class AutoTestCopter(AutoTest):
self.run_test("Loiter - climb to 30m", lambda: self.change_alt(30))
# Loiter Descend
- self.run_test("Loiter - descend to 20m", lambda: self.change_alt(20))
+ self.run_test("Loiter - descend to 20m",
+ lambda: self.change_alt(20))
# RTL
self.run_test("RTL after Loiter climb/descend", self.fly_RTL)
# Takeoff
- self.run_test("Takeoff to test fly SIMPLE mode", lambda: self.takeoff(10))
+ self.run_test("Takeoff to test fly SIMPLE mode",
+ lambda: self.takeoff(10))
# Simple mode
self.run_test("Fly in SIMPLE mode", self.fly_simple)
@@ -1102,16 +1120,19 @@ class AutoTestCopter(AutoTest):
self.run_test("RTL after SIMPLE mode", self.fly_RTL)
# Takeoff
- self.run_test("Takeoff to test circle in SUPER SIMPLE mode", lambda: self.takeoff(10))
+ self.run_test("Takeoff to test circle in SUPER SIMPLE mode",
+ lambda: self.takeoff(10))
# Fly a circle in super simple mode
- self.run_test("Fly a circle in SUPER SIMPLE mode", self.fly_super_simple)
+ self.run_test("Fly a circle in SUPER SIMPLE mode",
+ self.fly_super_simple)
# RTL
self.run_test("RTL after SUPER SIMPLE mode", self.fly_RTL)
# Takeoff
- self.run_test("Takeoff to test CIRCLE mode", lambda: self.takeoff(10))
+ self.run_test("Takeoff to test CIRCLE mode",
+ lambda: self.takeoff(10))
# Circle mode
self.run_test("Fly CIRCLE mode", self.fly_circle)
@@ -1126,7 +1147,9 @@ class AutoTestCopter(AutoTest):
self.mav.motors_disarmed_wait()
# Download logs
- self.run_test("log download", lambda: self.log_download(self.buildlogs_path("ArduCopter-log.bin")))
+ self.run_test("log download",
+ lambda: self.log_download(
+ self.buildlogs_path("ArduCopter-log.bin")))
except pexpect.TIMEOUT as e:
self.progress("Failed with timeout")
@@ -1169,7 +1192,9 @@ class AutoTestCopter(AutoTest):
self.set_rc(8, 1000)
# mission ends with disarm so should be ok to download logs now
- self.run_test("log download", lambda: self.log_download(self.buildlogs_path("Helicopter-log.bin")))
+ self.run_test("log download",
+ lambda: self.log_download(
+ self.buildlogs_path("Helicopter-log.bin")))
except pexpect.TIMEOUT as e:
self.fail_list.append("Failed with timeout")
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 14a3a9912e..68de9fb9c7 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -132,8 +132,8 @@ class AutoTestPlane(AutoTest):
# gain a bit of altitude
self.wait_altitude(self.homeloc.alt+150,
- self.homeloc.alt+180,
- timeout=30)
+ self.homeloc.alt+180,
+ timeout=30)
# level off
self.set_rc(2, 1500)
@@ -165,10 +165,10 @@ class AutoTestPlane(AutoTest):
self.mavproxy.send('switch 2\n')
self.wait_mode('RTL')
self.wait_location(self.homeloc,
- accuracy=120,
- target_altitude=self.homeloc.alt+100,
- height_accuracy=20,
- timeout=180)
+ accuracy=120,
+ target_altitude=self.homeloc.alt+100,
+ height_accuracy=20,
+ timeout=180)
self.progress("RTL Complete")
def fly_LOITER(self, num_circles=4):
@@ -282,7 +282,7 @@ class AutoTestPlane(AutoTest):
self.wait_roll(150, accuracy=90)
self.wait_roll(0, accuracy=90)
except Exception as e:
- self.set_rc(1,1500)
+ self.set_rc(1, 1500)
raise e
count -= 1
@@ -513,11 +513,15 @@ class AutoTestPlane(AutoTest):
self.run_test("CIRCLE test", self.fly_CIRCLE)
- self.run_test("Mission test", lambda: self.fly_mission(os.path.join(testdir, "ap1.txt"),
- height_accuracy=10,
- target_altitude=self.homeloc.alt+100))
+ self.run_test("Mission test",
+ lambda: self.fly_mission(
+ os.path.join(testdir, "ap1.txt"),
+ height_accuracy=10,
+ target_altitude=self.homeloc.alt+100))
- self.run_test("Log download", lambda: self.log_download(self.buildlogs_path("ArduPlane-log.bin")))
+ self.run_test("Log download",
+ lambda: self.log_download(
+ self.buildlogs_path("ArduPlane-log.bin")))
except pexpect.TIMEOUT as e:
self.progress("Failed with timeout")
diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index 0299e59ef3..cf8afcb6b8 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -167,9 +167,13 @@ class AutoTestSub(AutoTest):
self.run_test("Dive manual", self.dive_manual)
- self.run_test("Dive mission", lambda: self.dive_mission(os.path.join(testdir, "sub_mission.txt")))
+ self.run_test("Dive mission",
+ lambda: self.dive_mission(
+ os.path.join(testdir, "sub_mission.txt")))
- self.run_test("Log download", lambda: self.log_download(self.buildlogs_path("ArduSub-log.bin")))
+ self.run_test("Log download",
+ lambda: self.log_download(
+ self.buildlogs_path("ArduSub-log.bin")))
except pexpect.TIMEOUT as e:
self.progress("Failed with timeout")
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 56ff3101e8..0f6d6ecbd3 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -28,61 +28,76 @@ class ErrorException(Exception):
"""Base class for other exceptions"""
pass
+
class AutoTestTimeoutException(ErrorException):
pass
+
class WaitModeTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given mode change."""
pass
+
class WaitAltitudeTimout(AutoTestTimeoutException):
"""Thrown when fails to achieve given altitude range."""
pass
+
class WaitGroundSpeedTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given ground speed range."""
pass
+
class WaitRollTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given roll in degrees."""
pass
+
class WaitPitchTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given pitch in degrees."""
pass
+
class WaitHeadingTimeout(AutoTestTimeoutException):
"""Thrown when fails to achieve given heading."""
pass
+
class WaitDistanceTimeout(AutoTestTimeoutException):
"""Thrown when fails to attain distance"""
pass
+
class WaitLocationTimeout(AutoTestTimeoutException):
"""Thrown when fails to attain location"""
pass
+
class WaitWaypointTimeout(AutoTestTimeoutException):
"""Thrown when fails to attain waypoint ranges"""
pass
+
class SetRCTimeout(AutoTestTimeoutException):
"""Thrown when fails to send RC commands"""
pass
+
class MsgRcvTimeoutException(AutoTestTimeoutException):
"""Thrown when fails to receive an expected message"""
pass
+
class NotAchievedException(ErrorException):
"""Thrown when fails to achieve a goal"""
pass
+
class PreconditionFailedException(ErrorException):
"""Thrown when a precondition for a test is not met"""
pass
+
class AutoTest(ABC):
"""Base abstract class.
It implements the common function for all vehicle types.
@@ -677,7 +692,7 @@ class AutoTest(ABC):
function()
except Exception as e:
self.progress('FAILED: "%s": %s' % (desc, type(e).__name__))
- self.fail_list.append( (desc, e) )
+ self.fail_list.append((desc, e))
return
self.progress('PASSED: "%s"' % desc)