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https://github.com/ArduPilot/ardupilot
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Tools: autotest: improve tests of MISSON_ITEM compatability layer
Tools: autotest: test returned MISSION_ITEM has correct mission_type Tools: autotest: correct spelling on mission Tools: autotest: add sanity check for sequence number on returned items Tools: autotest: add test that we MISSION_ACK for bad MISSION_ITEM seq Tools: autotest: improve debug on MISSION_COUNT assertion Tools: autotest: validate returned mission type
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Peter Barker
Peter Barker
parent
4b012ab62b
commit
6896b7b302
@ -1139,12 +1139,27 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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print("spgti: %s" % str(sptgi))
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def assert_mission_count_on_link(self, mav, expected_count, target_system, target_component, mission_type):
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if not mav.mavlink20():
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raise NotAchievedException("Not doing mavlink2")
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tstart = self.get_sim_time()
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mav.mav.mission_request_list_send(target_system,
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target_component,
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mission_type)
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m = mav.recv_match(type="MISSION_COUNT", blocking=True, timeout=1)
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if m is None:
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raise NotAchievedException("Did not receive MISSION_COUNT on link")
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while True:
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if self.get_sim_time_cached() - tstart > 10:
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raise NotAchievedException("Did not receive MISSION_COUNT on link")
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m = mav.recv_match(blocking=True, timeout=1)
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if m is None:
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self.progress("No messages")
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continue
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self.progress("Received (%s)" % str(m))
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if m.get_type() == "MISSION_ACK":
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if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
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raise NotAchievedException("Expected MISSION_COUNT, got (%s)" % m)
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if m.get_type() == "MISSION_COUNT":
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break
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if m.mission_type != mission_type:
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raise NotAchievedException("Did not get expected mission type (want=%u got=%u)" % (mission_type, m.mission_type))
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if m.count != expected_count:
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raise NotAchievedException("Bad count received (want=%u got=%u)" %
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(expected_count, m.count))
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@ -1159,9 +1174,17 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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timeout=1)
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if m is None:
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raise NotAchievedException("Did not receive mission item int")
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if m.mission_type != mission_type:
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raise NotAchievedException("Mission item of incorrect type")
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if m.target_system != mav.mav.srcSystem:
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raise NotAchievedException("Unexpected target system %u want=%u" %
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(m.target_system, mav.mav.srcSystem))
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if m.seq != item:
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raise NotAchievedException("Incorrect sequence number on received item got=%u want=%u" %
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(m.seq, item))
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if m.mission_type != mission_type:
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raise NotAchievedException("Mission type incorrect on received item (want=%u got=%u)" %
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(mission_type, m.mission_type))
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if m.target_component != mav.mav.srcComponent:
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raise NotAchievedException("Unexpected target component %u want=%u" %
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(m.target_component, mav.mav.srcComponent))
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@ -1180,6 +1203,12 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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if m.target_system != mav.mav.srcSystem:
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raise NotAchievedException("Unexpected target system %u want=%u" %
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(m.target_system, mav.mav.srcSystem))
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if m.seq != item:
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raise NotAchievedException("Incorrect sequence number on received item_int got=%u want=%u" %
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(m.seq, item))
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if m.mission_type != mission_type:
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raise NotAchievedException("Mission type incorrect on received item_int (want=%u got=%u)" %
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(mission_type, m.mission_type))
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if m.target_component != mav.mav.srcComponent:
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raise NotAchievedException("Unexpected target component %u want=%u" %
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(m.target_component, mav.mav.srcComponent))
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@ -1222,20 +1251,24 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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def assert_receive_mission_ack(self, mission_type,
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want_type=mavutil.mavlink.MAV_MISSION_ACCEPTED,
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target_system=None,
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target_component=None):
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target_component=None,
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mav=None):
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if mav is None:
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mav = self.mav
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if target_system is None:
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target_system = self.mav.mav.srcSystem
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target_system = mav.mav.srcSystem
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if target_component is None:
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target_component = self.mav.mav.srcComponent
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target_component = mav.mav.srcComponent
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self.progress("Expecting mission ack")
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m = self.mav.recv_match(type='MISSION_ACK',
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blocking=True,
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timeout=1)
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m = mav.recv_match(type='MISSION_ACK',
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blocking=True,
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timeout=1)
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self.progress("Received ACK (%s)" % str(m))
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if m is None:
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raise NotAchievedException("Expected mission ACK")
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if m.target_system != target_system:
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raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" %
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(self.mav.mav.srcSystem, m.target_system))
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(mav.mav.srcSystem, m.target_system))
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if m.target_component != target_component:
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raise NotAchievedException("ACK not targetted at correct component")
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if m.mission_type != mission_type:
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@ -1401,12 +1434,24 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.start_subtest("Check rally upload/download across separate links")
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self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
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items)
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self.progress("ensure a mavlink1 connection can't do anything useful with new item types")
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mav2 = mavutil.mavlink_connection("tcp:localhost:5763",
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robust_parsing=True,
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source_system = 7,
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source_component=7)
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mav2.mav.mission_request_list_send(target_system,
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target_component,
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mission_type=mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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# so this looks a bit odd; the other end isn't sending
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# mavlink2 so can't fill in the extension here.
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self.assert_receive_mission_ack(
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mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
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want_type=mavutil.mavlink.MAV_MISSION_UNSUPPORTED,
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mav=mav2,
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)
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self.set_parameter("SERIAL2_PROTOCOL", 2)
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expected_count = 3
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self.progress("Assert mision count on new link")
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self.progress("Assert mission count on new link")
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self.assert_mission_count_on_link(mav2, expected_count, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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self.progress("Assert mission count on original link")
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self.assert_mission_count_on_link(self.mav, expected_count, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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@ -1417,6 +1462,24 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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if m2.x != m.x:
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raise NotAchievedException("mission items do not match (%d vs %d)" % (m2.x, m.x))
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m_nonint = self.get_mission_item_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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# ensure we get nacks for bad mission item requests:
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self.mav.mav.mission_request_send(target_system,
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target_component,
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65,
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mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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self.assert_receive_mission_ack(
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mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
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want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE,
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)
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self.mav.mav.mission_request_int_send(target_system,
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target_component,
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65,
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mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
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self.assert_receive_mission_ack(
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mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
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want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE,
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)
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self.start_subtest("Should enforce items come from correct GCS")
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self.mav.mav.mission_count_send(target_system,
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target_component,
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