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Tools: autotest: factor out a start_mavproxy method

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Peter Barker 2019-04-02 13:40:47 +11:00 committed by Peter Barker
parent e166286ff5
commit 5e69758661
1 changed files with 17 additions and 13 deletions
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30
Tools/autotest/common.py
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@ -1007,7 +1007,7 @@ class AutoTest(ABC):
returned_value = self.get_parameter(name) returned_value = self.get_parameter(name)
delta = float(value) - returned_value delta = float(value) - returned_value
if abs(delta) < epsilon: if abs(delta) < epsilon:
# yes, exactly equal. # yes, near-enough-to-equal.
if add_to_context: if add_to_context:
self.context_get().parameters.append((name, old_value)) self.context_get().parameters.append((name, old_value))
if self.should_fetch_all_for_parameter_change(name.upper()) and value != 0: if self.should_fetch_all_for_parameter_change(name.upper()) and value != 0:
@ -1025,7 +1025,7 @@ class AutoTest(ABC):
return float(self.mavproxy.match.group(1)) return float(self.mavproxy.match.group(1))
except pexpect.TIMEOUT: except pexpect.TIMEOUT:
pass pass
raise NotAchievedException("Failed to retrieve parameter") raise NotAchievedException("Failed to retrieve parameter (%s)" % name)
def context_get(self): def context_get(self):
"""Get Saved parameters.""" """Get Saved parameters."""
@ -1858,6 +1858,20 @@ class AutoTest(ABC):
def defaults_filepath(self): def defaults_filepath(self):
return None return None
def start_mavproxy(self):
self.progress("Starting MAVProxy")
self.mavproxy = util.start_MAVProxy_SITL(
self.vehicleinfo_key(),
logfile=self.mavproxy_logfile,
options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.progress("Waiting for Parameters")
self.mavproxy.expect('Received [0-9]+ parameters')
def init(self): def init(self):
"""Initilialize autotest feature.""" """Initilialize autotest feature."""
self.check_test_syntax(test_file=self.test_filepath()) self.check_test_syntax(test_file=self.test_filepath())
@ -1880,18 +1894,8 @@ class AutoTest(ABC):
vicon=self.uses_vicon(), vicon=self.uses_vicon(),
wipe=True, wipe=True,
) )
self.progress("Starting MAVProxy")
self.mavproxy = util.start_MAVProxy_SITL(
self.vehicleinfo_key(),
logfile=self.mavproxy_logfile,
options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.progress("Waiting for Parameters") self.start_mavproxy()
self.mavproxy.expect('Received [0-9]+ parameters')
self.progress("Starting MAVLink connection") self.progress("Starting MAVLink connection")
self.get_mavlink_connection_going() self.get_mavlink_connection_going()