autotest: add test for PerfInfo tasks.txt info

Tools/autotest/arducopter.py

@@ -7500,6 +7500,18 @@ class AutoTestCopter(AutoTest):
         self.FETtecESC_btw_mask_checks()
         self.FETtecESC_flight()
 
+    def PerfInfo(self):
+        self.set_parameter('SCHED_OPTIONS', 1)  # enable gathering
+        content = self.fetch_file_via_ftp("@SYS/tasks.txt")
+        self.progress("Got content (%s)" % str(content))
+        if "fast_loop" not in content:
+            raise NotAchievedException("Did not find fast_loop in content")
+
+        lines = content.split("\n")
+
+        if not lines[0].startswith("TasksV1"):
+            raise NotAchievedException("Expected TasksV1 as first line first not (%s)" % lines[0])
+
     def tests1a(self):
         '''return list of all tests'''
         ret = super(AutoTestCopter, self).tests()  # about 5 mins and ~20 initial tests from autotest/common.py
@@ -7959,6 +7971,10 @@ class AutoTestCopter(AutoTest):
                  "Test Callisto",
                  self.test_callisto),
 
+            Test("PerfInfo",
+                 "Test Scheduler PerfInfo output",
+                 self.PerfInfo),
+
             Test("Replay",
                  "Test Replay",
                  self.test_replay),

Tools/autotest/common.py

@@ -24,6 +24,7 @@ import numpy
 import socket
 import struct
 import random
+import tempfile
 import threading
 import enum
 
@@ -10927,6 +10928,30 @@ switch value'''
         if abs(new_gpi_alt2 - m.alt) > 100:
             raise NotAchievedException("Failover not detected")
 
+    def fetch_file_via_ftp(self, path):
+        '''returns the content of the FTP'able file at path'''
+        mavproxy = self.start_mavproxy()
+        ex = None
+        tmpfile = tempfile.NamedTemporaryFile(mode='r', delete=False)
+        try:
+            mavproxy.send("module load ftp\n")
+            mavproxy.expect(["Loaded module ftp", "module ftp already loaded"])
+            mavproxy.send("ftp get %s %s\n" % (path, tmpfile.name))
+            mavproxy.expect("Getting")
+            self.delay_sim_time(2)
+            mavproxy.send("ftp status\n")
+            mavproxy.expect("No transfer in progress")
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+
+        self.stop_mavproxy(mavproxy)
+
+        if ex is not None:
+            raise ex
+
+        return tmpfile.read()
+
     def MAVFTP(self):
         '''ensure MAVProxy can do MAVFTP to ardupilot'''
         mavproxy = self.start_mavproxy()