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autotest: wait for heartbeat when opening connection 

# need to wait for a heartbeat to arrive as then mavutil will
        # select the correct set of messages for us to receive in
        # self.mav.messages.  You can actually recieve messages with
        # recv_match and those will not be in self.mav.messages until
        # you do this!

Also, wait_heartbeat ignores heartbeats from e.g. MAVProxy
This commit is contained in:
Peter Barker 2020-07-01 09:05:19 +10:00 committed by Peter Barker
parent 429e70fb94
commit 53b6d1a639
1 changed files with 21 additions and 5 deletions
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26
Tools/autotest/common.py
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@ -1809,7 +1809,7 @@ class AutoTest(ABC):
"""Get SITL time in seconds."""
x = self.mav.messages.get("SYSTEM_TIME", None)
if x is None:
raise NotAchievedException("No cached time available")
raise NotAchievedException("No cached time available (%s)" % (self.mav.sysid,))
return x.time_boot_ms * 1.0e-3
def sim_location(self):
@ -3647,12 +3647,21 @@ class AutoTest(ABC):
self.waiting_to_arm_count += 1
def wait_heartbeat(self, drain_mav=True, *args, **x):
'''as opposed to mav.wait_heartbeat, raises an exception on timeout'''
'''as opposed to mav.wait_heartbeat, raises an exception on timeout.
Also, ignores heartbeats not from our target system'''
if drain_mav:
self.drain_mav()
m = self.mav.wait_heartbeat(*args, **x)
if m is None:
raise AutoTestTimeoutException("Did not receive heartbeat")
orig_timeout = x.get("timeout", 10)
x["timeout"] = 1
tstart = time.time()
while True:
if time.time() - tstart > orig_timeout:
raise AutoTestTimeoutException("Did not receive heartbeat")
m = self.mav.wait_heartbeat(*args, **x)
if m is None:
continue
if m.get_srcSystem() == self.sysid_thismav():
break
def wait_ekf_happy(self, timeout=30, require_absolute=True):
"""Wait for EKF to be happy"""
@ -3981,6 +3990,13 @@ class AutoTest(ABC):
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
# need to wait for a heartbeat to arrive as then mavutil will
# select the correct set of messages for us to receive in
# self.mav.messages. You can actually recieve messages with
# recv_match and those will not be in self.mav.messages until
# you do this!
self.wait_heartbeat()
self.progress("Sim time: %f" % (self.get_sim_time(),))
self.apply_defaultfile_parameters()
self.progress("Ready to start testing!")