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autotest: drain stdout of SITL binary

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The new rate messages were filling up the stdout buffer, causing the
process to block....
This commit is contained in:
Peter Barker 2020-08-29 18:34:21 +10:00 committed by Peter Barker
parent e8fa4e1351
commit 74c47827d9
1 changed files with 14 additions and 5 deletions
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19
Tools/autotest/common.py
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@ -1543,7 +1543,9 @@ class AutoTest(ABC):
def stop_SITL(self): def stop_SITL(self):
self.progress("Stopping SITL") self.progress("Stopping SITL")
self.expect_list_remove(self.sitl)
util.pexpect_close(self.sitl) util.pexpect_close(self.sitl)
self.sitl = None
def close(self): def close(self):
"""Tidy up after running all tests.""" """Tidy up after running all tests."""
@ -1598,6 +1600,16 @@ class AutoTest(ABC):
global expect_list global expect_list
expect_list.extend(list_to_add) expect_list.extend(list_to_add)
def expect_list_add(self, item):
"""Extend the expect list."""
global expect_list
expect_list.extend([item])
def expect_list_remove(self, item):
"""Remove item from the expect list."""
global expect_list
expect_list.remove(item)
def drain_all_pexpects(self): def drain_all_pexpects(self):
global expect_list global expect_list
for p in expect_list: for p in expect_list:
@ -2786,6 +2798,7 @@ class AutoTest(ABC):
# looks at whether its *motors* are armed as part of its # looks at whether its *motors* are armed as part of its
# disarm process. # disarm process.
self.stop_SITL() self.stop_SITL()
self.start_SITL(wipe=False)
def cpufailsafe_wait_servo_channel_value(self, channel, value, timeout=30): def cpufailsafe_wait_servo_channel_value(self, channel, value, timeout=30):
'''we get restricted messages while doing cpufailsafe, this working then''' '''we get restricted messages while doing cpufailsafe, this working then'''
@ -3036,11 +3049,6 @@ class AutoTest(ABC):
def get_parameter_mavproxy(self, name, attempts=1, timeout=60): def get_parameter_mavproxy(self, name, attempts=1, timeout=60):
"""Get parameters from vehicle.""" """Get parameters from vehicle."""
for i in range(0, attempts): for i in range(0, attempts):
# we call get_parameter while the vehicle is rebooting.
# We need to read out the SITL binary's STDOUT or the
# process blocks writing to it.
if self.sitl is not None:
util.pexpect_drain(self.sitl)
self.mavproxy.send("param fetch %s\n" % name) self.mavproxy.send("param fetch %s\n" % name)
try: try:
self.mavproxy.expect("%s = ([-0-9.]*)\r\n" % (name,), timeout=timeout/attempts) self.mavproxy.expect("%s = ([-0-9.]*)\r\n" % (name,), timeout=timeout/attempts)
@ -4234,6 +4242,7 @@ Also, ignores heartbeats not from our target system'''
start_sitl_args["model"] = self.frame start_sitl_args["model"] = self.frame
self.progress("Starting SITL") self.progress("Starting SITL")
self.sitl = util.start_SITL(self.binary, **start_sitl_args) self.sitl = util.start_SITL(self.binary, **start_sitl_args)
self.expect_list_add(self.sitl)
def sitl_is_running(self): def sitl_is_running(self):
return self.sitl.is_alive() return self.sitl.is_alive()