autotest: test buttons on Plane and Copter as well as Rover

Tools/autotest/apmrover2.py

@@ -981,44 +981,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         if ex is not None:
             raise ex
 
-    def drain_mav_seconds(self, seconds):
-        tstart = self.get_sim_time_cached()
-        while self.get_sim_time_cached() - tstart < seconds:
-            self.drain_mav();
-            self.delay_sim_time(0.5)
-
-    def test_button(self):
-        self.set_parameter("SIM_PIN_MASK", 0)
-        self.set_parameter("BTN_ENABLE", 1)
-        btn = 2
-        pin = 3
-        self.drain_mav()
-        self.set_parameter("BTN_PIN%u" % btn, pin)
-        m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
-        self.progress("m: %s" % str(m))
-        if m is None:
-            raise NotAchievedException("Did not get BUTTON_CHANGE event")
-        mask = 1<<btn
-        if m.state & mask:
-            raise NotAchievedException("Bit incorrectly set in mask (got=%u dontwant=%u)" % (m.state, mask))
-        # SITL instantly reverts the pin to its old value
-        m2 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
-        self.progress("m2: %s" % str(m2))
-        if m2 is None:
-            raise NotAchievedException("Did not get repeat message")
-        # wait for messages to stop coming:
-        self.drain_mav_seconds(15)
-
-        self.set_parameter("SIM_PIN_MASK", 0)
-        m3 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
-        self.progress("m3: %s" % str(m3))
-        if m3 is None:
-            raise NotAchievedException("Did not get new message")
-        if m.last_change_ms == m3.last_change_ms:
-            raise NotAchievedException("last_change_ms same as first message")
-        if m3.state != 0:
-            raise NotAchievedException("Didn't get expected mask back in message (mask=0 state=%u" % (m3.state))
-
     def test_rally_points(self):
         self.reboot_sitl() # to ensure starting point is as expected
 

Tools/autotest/arducopter.py

@@ -4356,6 +4356,10 @@ class AutoTestCopter(AutoTest):
              "Test Camera/Antenna Mount",
              self.test_mount),
 
+            ("Button",
+             "Test Buttons",
+             self.test_button),
+
             ("RangeFinder",
              "Test RangeFinder Basic Functionality",
              self.test_rangefinder),

Tools/autotest/arduplane.py

@@ -1638,6 +1638,10 @@ class AutoTestPlane(AutoTest):
              "Test ADSB",
              self.test_adsb),
 
+            ("Button",
+             "Test Buttons",
+             self.test_button),
+
             ("AdvancedFailsafe",
              "Test Advanced Failsafe",
              self.test_advanced_failsafe),

Tools/autotest/common.py

@@ -3626,6 +3626,44 @@ switch value'''
         if ex is not None:
             raise ex
 
+    def drain_mav_seconds(self, seconds):
+        tstart = self.get_sim_time_cached()
+        while self.get_sim_time_cached() - tstart < seconds:
+            self.drain_mav();
+            self.delay_sim_time(0.5)
+
+    def test_button(self):
+        self.set_parameter("SIM_PIN_MASK", 0)
+        self.set_parameter("BTN_ENABLE", 1)
+        btn = 2
+        pin = 3
+        self.drain_mav()
+        self.set_parameter("BTN_PIN%u" % btn, pin)
+        m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
+        self.progress("m: %s" % str(m))
+        if m is None:
+            raise NotAchievedException("Did not get BUTTON_CHANGE event")
+        mask = 1<<btn
+        if m.state & mask:
+            raise NotAchievedException("Bit incorrectly set in mask (got=%u dontwant=%u)" % (m.state, mask))
+        # SITL instantly reverts the pin to its old value
+        m2 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
+        self.progress("m2: %s" % str(m2))
+        if m2 is None:
+            raise NotAchievedException("Did not get repeat message")
+        # wait for messages to stop coming:
+        self.drain_mav_seconds(15)
+
+        self.set_parameter("SIM_PIN_MASK", 0)
+        m3 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
+        self.progress("m3: %s" % str(m3))
+        if m3 is None:
+            raise NotAchievedException("Did not get new message")
+        if m.last_change_ms == m3.last_change_ms:
+            raise NotAchievedException("last_change_ms same as first message")
+        if m3.state != 0:
+            raise NotAchievedException("Didn't get expected mask back in message (mask=0 state=%u" % (m3.state))
+
     def tests(self):
         return [
             ("PIDTuning",