mirror of https://github.com/ArduPilot/ardupilot
Tools: autotest: reduce output lines in NavDelay test
Also remove pointless (unclosed) contexts and try blocks
This commit is contained in:
Peter Barker
Peter Barker
parent
26d1371d25
commit
529903622d
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@ -1564,61 +1564,47 @@ class AutoTestCopter(AutoTest):
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self.load_mission("copter_nav_delay.txt")
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self.mavproxy.send('mode loiter\n')
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self.wait_heartbeat()
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self.wait_mode('LOITER')
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self.set_parameter("DISARM_DELAY", 0)
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self.change_mode("LOITER")
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self.wait_ready_to_arm()
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self.context_push()
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ex = None
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try:
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self.arm_vehicle()
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self.mavproxy.send('mode auto\n')
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self.wait_mode('AUTO')
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self.set_parameter("DISARM_DELAY", 0)
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self.set_rc(3, 1600)
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count_start = -1
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count_stop = -1
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tstart = self.get_sim_time()
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last_mission_current_msg = 0
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last_seq = None
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while self.armed(): # we RTL at end of mission
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now = self.get_sim_time_cached()
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if now - tstart > 120:
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raise AutoTestTimeoutException("Did not disarm as expected")
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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if ((now - last_mission_current_msg) > 1 or m.seq != last_seq):
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dist = None
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x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
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if x is not None:
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dist = x.wp_dist
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self.progress("MISSION_CURRENT.seq=%u dist=%s" %
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(m.seq, dist))
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last_mission_current_msg = self.get_sim_time_cached()
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last_seq = m.seq
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if m.seq == 3:
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self.progress("At delay item")
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if count_start == -1:
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count_start = now
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if m.seq > 3:
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if count_stop == -1:
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count_stop = now
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calculated_delay = count_stop - count_start
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want_delay = 59 # should reflect what's in the mission file
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self.progress("Stopped for %u seconds (want >=%u seconds)" %
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(calculated_delay, want_delay))
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if calculated_delay < want_delay:
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raise NotAchievedException("Did not delay for long enough")
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except Exception as e:
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self.progress("Exception caught")
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ex = e
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self.zero_throttle()
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if ex is not None:
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raise ex
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self.arm_vehicle()
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self.change_mode("AUTO")
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self.set_rc(3, 1600)
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count_start = -1
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count_stop = -1
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tstart = self.get_sim_time()
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last_mission_current_msg = 0
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last_seq = None
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while self.armed(): # we RTL at end of mission
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now = self.get_sim_time_cached()
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if now - tstart > 120:
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raise AutoTestTimeoutException("Did not disarm as expected")
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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at_delay_item = ""
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if m.seq == 3:
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at_delay_item = "(At delay item)"
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if count_start == -1:
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count_start = now
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if ((now - last_mission_current_msg) > 1 or m.seq != last_seq):
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dist = None
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x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
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if x is not None:
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dist = x.wp_dist
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self.progress("MISSION_CURRENT.seq=%u dist=%s %s" %
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(m.seq, dist, at_delay_item))
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last_mission_current_msg = self.get_sim_time_cached()
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last_seq = m.seq
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if m.seq > 3:
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if count_stop == -1:
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count_stop = now
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calculated_delay = count_stop - count_start
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want_delay = 59 # should reflect what's in the mission file
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self.progress("Stopped for %u seconds (want >=%u seconds)" %
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(calculated_delay, want_delay))
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if calculated_delay < want_delay:
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raise NotAchievedException("Did not delay for long enough")
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def test_rangefinder(self):
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ex = None
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@ -1966,11 +1952,8 @@ class AutoTestCopter(AutoTest):
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self.load_mission("copter_nav_delay.txt")
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self.progress("Starting mission")
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self.change_mode("LOITER")
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self.mavproxy.send('mode loiter\n') # stabilize mode
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self.wait_heartbeat()
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self.wait_mode('LOITER')
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self.wait_ready_to_arm()
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delay_item_seq = 3
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@ -1979,54 +1962,37 @@ class AutoTestCopter(AutoTest):
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reset_at_m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
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reset_at = reset_at_m.time_unix_usec/1000000
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self.context_push()
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ex = None
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try:
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self.arm_vehicle()
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self.mavproxy.send('mode auto\n') # stabilize mode
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self.wait_mode('AUTO')
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self.set_rc(3, 1600)
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count_stop = -1
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tstart = self.get_sim_time()
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while self.armed(): # we RTL at end of mission
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now = self.get_sim_time()
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if now - tstart > 120:
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raise AutoTestTimeoutException("Did not disarm as expected")
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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self.progress("MISSION_CURRENT.seq=%u" % (m.seq,))
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if m.seq == delay_item_seq:
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self.progress("At delay item")
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if m.seq > delay_item_seq:
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if count_stop == -1:
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count_stop_m = self.mav.recv_match(type='SYSTEM_TIME',
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blocking=True)
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count_stop = count_stop_m.time_unix_usec/1000000
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calculated_delay = count_stop - reset_at
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error = abs(calculated_delay - delay_for_seconds)
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self.progress("Stopped for %u seconds (want >=%u seconds)" %
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(calculated_delay, delay_for_seconds))
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if error > 2:
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raise NotAchievedException("delay outside expectations")
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except Exception as e:
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self.progress("Exception caught")
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ex = e
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self.zero_throttle()
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if ex is not None:
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raise ex
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self.arm_vehicle()
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self.change_mode("AUTO")
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self.set_rc(3, 1600)
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count_stop = -1
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tstart = self.get_sim_time()
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while self.armed(): # we RTL at end of mission
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now = self.get_sim_time()
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if now - tstart > 120:
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raise AutoTestTimeoutException("Did not disarm as expected")
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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at_delay_item = ""
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if m.seq == delay_item_seq:
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at_delay_item = "(delay item)"
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self.progress("MISSION_CURRENT.seq=%u %s" % (m.seq, at_delay_item))
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if m.seq > delay_item_seq:
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if count_stop == -1:
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count_stop_m = self.mav.recv_match(type='SYSTEM_TIME',
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blocking=True)
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count_stop = count_stop_m.time_unix_usec/1000000
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calculated_delay = count_stop - reset_at
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error = abs(calculated_delay - delay_for_seconds)
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self.progress("Stopped for %u seconds (want >=%u seconds)" %
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(calculated_delay, delay_for_seconds))
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if error > 2:
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raise NotAchievedException("delay outside expectations")
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def fly_nav_takeoff_delay_abstime(self):
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"""make sure taking off at a specific time works"""
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self.load_mission("copter_nav_delay_takeoff.txt")
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self.progress("Starting mission")
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self.mavproxy.send('mode loiter\n') # stabilize mode
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self.wait_heartbeat()
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self.wait_mode('LOITER')
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self.change_mode("LOITER")
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self.wait_ready_to_arm()
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delay_item_seq = 2
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@ -2034,47 +2000,34 @@ class AutoTestCopter(AutoTest):
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delay_for_seconds = 77
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reset_at = self.get_sim_time_cached()
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self.context_push()
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self.arm_vehicle()
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self.change_mode("AUTO")
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ex = None
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try:
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self.arm_vehicle()
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self.mavproxy.send('mode auto\n') # stabilize mode
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self.wait_mode('AUTO')
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self.set_rc(3, 1600)
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self.set_rc(3, 1600)
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# should not take off for about least 77 seconds
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tstart = self.get_sim_time()
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took_off = False
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while self.armed():
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now = self.get_sim_time_cached()
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if now - tstart > 200:
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# timeout
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break
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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now = self.get_sim_time_cached()
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self.progress("%s" % str(m))
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if m.seq > delay_item_seq:
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if not took_off:
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took_off = True
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delta_time = now - reset_at
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if abs(delta_time - delay_for_seconds) > 2:
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raise NotAchievedException((
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"Did not take off on time "
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"measured=%f want=%f" %
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(delta_time, delay_for_seconds)))
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# should not take off for about least 77 seconds
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tstart = self.get_sim_time()
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took_off = False
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while self.armed():
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now = self.get_sim_time_cached()
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if now - tstart > 200:
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# timeout
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break
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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now = self.get_sim_time_cached()
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self.progress("%s" % str(m))
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if m.seq > delay_item_seq:
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if not took_off:
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took_off = True
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delta_time = now - reset_at
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if abs(delta_time - delay_for_seconds) > 2:
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raise NotAchievedException((
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"Did not take off on time "
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"measured=%f want=%f" %
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(delta_time, delay_for_seconds)))
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if not took_off:
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raise NotAchievedException("Did not take off")
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except Exception as e:
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self.progress("Exception caught")
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ex = e
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self.zero_throttle()
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if ex is not None:
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raise ex
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if not took_off:
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raise NotAchievedException("Did not take off")
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def test_setting_modes_via_modeswitch(self):
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self.context_push()
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