autotest: add context_set_message_rate_hz

for magically unsetting message rates after we are no longer interested in them

Tools/autotest/common.py

@@ -203,6 +203,7 @@ class Context(object):
         self.original_heartbeat_interval_ms = None
         self.installed_scripts = []
         self.installed_modules = []
+        self.overridden_message_rates = {}
 
 
 # https://stackoverflow.com/questions/616645/how-do-i-duplicate-sys-stdout-to-a-log-file-in-python
@@ -3420,6 +3421,14 @@ class AutoTest(ABC):
             raise NotAchievedException("Air Temperature not received from HIGH_LATENCY2")
         self.HIGH_LATENCY2_links()
 
+    def context_set_message_rate_hz(self, id, rate_hz):
+        overridden_message_rates = self.context_get().overridden_message_rates
+
+        if id not in overridden_message_rates:
+            overridden_message_rates[id] = self.get_message_rate(id)
+
+        self.set_message_rate_hz(id, rate_hz)
+
     def HIGH_LATENCY2_links(self):
 
         self.start_subtest("SerialProtocol_MAVLinkHL links")
@@ -5623,6 +5632,8 @@ class AutoTest(ABC):
             self.remove_message_hook(hook)
         for script in dead.installed_scripts:
             self.remove_installed_script(script)
+        for (message_id, interval_us) in dead.overridden_message_rates.items():
+            self.set_message_interval(message_id, interval_us)
         for module in dead.installed_modules:
             print("Removing module (%s)" % module)
             self.remove_installed_modules(module)
@@ -9745,6 +9756,25 @@ Also, ignores heartbeats not from our target system'''
             0,
             0)
 
+    def get_message_interval(self, victim_message, mav=None):
+        '''returns message interval in microseconds'''
+        self.send_get_message_interval(victim_message, mav=mav)
+        m = self.assert_receive_message('MESSAGE_INTERVAL', timeout=1, mav=mav)
+        if m.message_id != victim_message:
+            raise NotAchievedException("Unexpected ID in MESSAGE_INTERVAL")
+        return m.interval_us
+
+    def set_message_interval(self, victim_message, interval_us, mav=None):
+        '''sets message interval in microseconds'''
+        if type(victim_message) == str:
+            victim_message = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % victim_message)
+        self.run_cmd(
+            mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
+            p1=victim_message,
+            p2=interval_us,
+            mav=mav,
+        )
+
     def test_rate(self,
                   desc,
                   in_rate,