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https://github.com/ArduPilot/ardupilot
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autotest: comprehensive dataflash test
This commit is contained in:
Andy Piper
Peter Barker
parent
ccb583d092
commit
6ebc7622fe
@ -5476,6 +5476,14 @@ class AutoTestCopter(AutoTest):
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"Test that Alt Estimation is mandatory for ALT_HOLD",
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self.test_alt_estimate_prearm),
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("DataFlash",
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"Test DataFlash Block backend",
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self.test_dataflash_sitl),
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("DataFlashErase",
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"Test DataFlash Block backend erase",
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self.test_dataflash_erase),
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("LogUpload",
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"Log upload",
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self.log_upload),
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@ -26,6 +26,7 @@ from pymavlink import mavextra
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from pymavlink import mavparm
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from pysim import util, vehicleinfo
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from io import StringIO
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# a list of pexpect objects to read while waiting for
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# messages. This keeps the output to stdout flowing
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@ -5319,20 +5320,57 @@ Also, ignores heartbeats not from our target system'''
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raise ex
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def test_dataflash_sitl(self):
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"""Test the basic functionality of block logging"""
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self.context_push()
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ex = None
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try:
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self.set_parameter("LOG_BACKEND_TYPE", 5)
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self.set_parameter("LOG_BACKEND_TYPE", 4)
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self.set_parameter("LOG_FILE_DSRMROT", 1)
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self.reboot_sitl()
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self.drain_mav() # hopefully draining COMMAND_ACK from that failed arm
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# First log created here, but we are in chip erase so ignored
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self.mavproxy.send("module load log\n")
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# self.mavproxy.expect("Loaded module log\n")
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self.mavproxy.send("log erase\n")
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self.mavproxy.expect("Chip erase complete")
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self.wait_ready_to_arm()
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if self.is_copter() or self.is_plane():
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self.set_autodisarm_delay(0)
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self.arm_vehicle()
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self.delay_sim_time(5)
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self.disarm_vehicle()
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# First log created here
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self.delay_sim_time(2)
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self.arm_vehicle()
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self.delay_sim_time(5)
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self.disarm_vehicle()
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# Second log created here
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self.delay_sim_time(2)
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self.mavproxy.send("log list\n")
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self.mavproxy.expect("Log 1 numLogs 1 lastLog 1 size")
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self.mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
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log_num = int(self.mavproxy.match.group(1))
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numlogs = int(self.mavproxy.match.group(2))
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lastlog = int(self.mavproxy.match.group(3))
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size = int(self.mavproxy.match.group(4))
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if numlogs != 2 or log_num != 1 or size <= 0:
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raise NotAchievedException("Unexpected log information %d %d %d" % (log_num, numlogs, lastlog))
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self.progress("Log size: %d" % size)
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self.reboot_sitl()
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# This starts a new log with a time of 0, wait for arm so that we can insert the correct time
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self.wait_ready_to_arm()
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# Third log created here
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self.mavproxy.send("log list\n")
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self.mavproxy.expect("Log 1 numLogs 2 lastLog 2 size")
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self.mavproxy.expect("Log 1 numLogs 3 lastLog 3 size")
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# Download second and third logs
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self.mavproxy.send("log download 2 logs/dataflash-log-002.BIN\n")
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self.mavproxy.expect("Finished downloading", timeout=120)
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self.mavproxy.send("log download 3 logs/dataflash-log-003.BIN\n")
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self.mavproxy.expect("Finished downloading", timeout=120)
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# Erase the logs
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self.mavproxy.send("log erase\n")
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self.mavproxy.expect("Chip erase complete")
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except Exception as e:
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self.progress("Exception (%s) caught" % str(e))
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ex = e
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@ -5342,6 +5380,107 @@ Also, ignores heartbeats not from our target system'''
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if ex is not None:
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raise ex
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def validate_log_file(self, logname, header_errors=0):
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"""Validate the contents of a log file"""
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# read the downloaded log - it must parse without error
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class Capturing(list):
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def __enter__(self):
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self._stderr = sys.stderr
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sys.stderr = self._stringio = StringIO()
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return self
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def __exit__(self, *args):
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self.extend(self._stringio.getvalue().splitlines())
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del self._stringio # free up some memory
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sys.stderr = self._stderr
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with Capturing() as df_output:
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try:
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mlog = mavutil.mavlink_connection(logname)
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while True:
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m = mlog.recv_match()
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if m is None:
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break
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except Exception as e:
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raise NotAchievedException("Error reading log file %s: %s" % (logname, str(e)))
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herrors = 0
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for msg in df_output:
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if msg.startswith("bad header") or msg.startswith("unknown msg type"):
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herrors = herrors + 1
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if herrors > header_errors:
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raise NotAchievedException("Error parsing log file %s, %d header errors" % (logname, herrors))
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def test_dataflash_erase(self):
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"""Test that erasing the dataflash chip and creating a new log is error free"""
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ex = None
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self.context_push()
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try:
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self.set_parameter("LOG_BACKEND_TYPE", 4)
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self.reboot_sitl()
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self.mavproxy.send("module load log\n")
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self.mavproxy.send("log erase\n")
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self.mavproxy.expect("Chip erase complete")
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self.set_parameter("LOG_DISARMED", 1)
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self.delay_sim_time(3)
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self.set_parameter("LOG_DISARMED", 0)
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self.mavproxy.send("log download 1 logs/dataflash-log-erase.BIN\n")
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self.mavproxy.expect("Finished downloading", timeout=120)
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# read the downloaded log - it must parse without error
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self.validate_log_file("logs/dataflash-log-erase.BIN")
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self.start_subtest("Test file wrapping results in a valid file")
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# roughly 4mb
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self.set_parameter("LOG_FILE_DSRMROT", 1)
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self.set_parameter("LOG_BITMASK", 131071)
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self.wait_ready_to_arm()
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if self.is_copter() or self.is_plane():
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self.set_autodisarm_delay(0)
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self.arm_vehicle()
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self.delay_sim_time(30)
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self.disarm_vehicle()
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# roughly 4mb
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self.arm_vehicle()
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self.delay_sim_time(30)
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self.disarm_vehicle()
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# roughly 9mb, should wrap around
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self.arm_vehicle()
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self.delay_sim_time(50)
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self.disarm_vehicle()
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# make sure we have finished logging
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self.delay_sim_time(15)
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self.mavproxy.send("log list\n")
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self.mavproxy.expect("Log ([0-9]+) numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
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if int(self.mavproxy.match.group(2)) != 2:
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raise NotAchievedException("Expected 2 logs")
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self.mavproxy.send("log download 1 logs/dataflash-log-erase2.BIN\n")
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self.mavproxy.expect("Finished downloading", timeout=120)
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self.validate_log_file("logs/dataflash-log-erase2.BIN", 1)
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self.mavproxy.send("log download latest logs/dataflash-log-erase3.BIN\n")
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self.mavproxy.expect("Finished downloading", timeout=120)
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self.validate_log_file("logs/dataflash-log-erase3.BIN", 1)
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# clean up
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self.mavproxy.send("log erase\n")
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self.mavproxy.expect("Chip erase complete")
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# clean up
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self.mavproxy.send("log erase\n")
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self.mavproxy.expect("Chip erase complete")
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except Exception as e:
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self.progress("Exception (%s) caught" % str(e))
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ex = e
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self.mavproxy.send("module unload log\n")
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self.context_pop()
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self.reboot_sitl()
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if ex is not None:
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raise ex
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def test_arm_feature(self):
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"""Common feature to test."""
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# TEST ARMING/DISARM
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