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Tools: correct race condition in interlock check

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This commit is contained in:
Peter Barker 2018-11-04 21:38:15 +11:00
parent 6db54bd65e
commit 7600d3205a
1 changed files with 9 additions and 4 deletions
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13
Tools/autotest/common.py
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@ -1397,21 +1397,26 @@ class AutoTest(ABC):
interlock_value = self.get_parameter("SERVO%u_MIN" % interlock_channel)
tstart = self.get_sim_time()
while True:
remaining = 20 - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
break
if self.get_sim_time_cached() - tstart > 20:
self.set_rc(8, 1000)
break # success!
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True,
timeout=remaining)
timeout=2)
if m is None:
continue
m_value = getattr(m, channel_field, None)
if m_value is None:
self.set_rc(8, 1000)
raise ValueError("Message has no %s field" %
channel_field)
self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" %
(channel_field, m_value, interlock_value))
if m_value != interlock_value:
self.set_rc(8, 1000)
raise NotAchievedException(
"Motor interlock was changed while disarmed")
self.set_rc(8, 1000)
self.progress("ALL PASS")
self.context_pop()