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Tools: autotest: use tcp for mavproxy-to-autotest mavlink

This commit is contained in:
Peter Barker 2018-08-04 10:04:19 +10:00 committed by Andrew Tridgell
parent f2b1387c1c
commit 81b1270db9
1 changed files with 13 additions and 2 deletions
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15
Tools/autotest/common.py
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@ -142,10 +142,21 @@ class AutoTest(ABC):
'''allow subclasses to override SITL streamrate''' '''allow subclasses to override SITL streamrate'''
return 10 return 10
def autotest_connection_hostport(self):
'''returns host and port of connection between MAVProxy and autotest,
colon-separated'''
return "127.0.0.1:19550"
def autotest_connection_string_from_mavproxy(self):
return "tcpin:" + self.autotest_connection_hostport()
def autotest_connection_string_to_mavproxy(self):
return "tcp:" + self.autotest_connection_hostport()
def mavproxy_options(self): def mavproxy_options(self):
'''returns options to be passed to MAVProxy''' '''returns options to be passed to MAVProxy'''
ret = ['--sitl=127.0.0.1:5501', ret = ['--sitl=127.0.0.1:5501',
'--out=127.0.0.1:19550', '--out=' + self.autotest_connection_string_from_mavproxy(),
'--streamrate=%u' % self.sitl_streamrate()] '--streamrate=%u' % self.sitl_streamrate()]
if self.viewerip: if self.viewerip:
ret.append("--out=%s:14550" % self.viewerip) ret.append("--out=%s:14550" % self.viewerip)
@ -863,7 +874,7 @@ class AutoTest(ABC):
def get_mavlink_connection_going(self): def get_mavlink_connection_going(self):
# get a mavlink connection going # get a mavlink connection going
connection_string = '127.0.0.1:19550' connection_string = self.autotest_connection_string_to_mavproxy()
try: try:
self.mav = mavutil.mavlink_connection(connection_string, self.mav = mavutil.mavlink_connection(connection_string,
robust_parsing=True) robust_parsing=True)