Tools: autotest: factor out apply_parameters_using_sitl

Three of our models start a SITL instance to apply parameters
then restart it so that the parameter changes can take effect.

Factor that functionality out.

Tools/autotest/apmrover2.py

@@ -11,7 +11,6 @@ import time
 from common import AutoTest
 
 from pysim import util
-from pysim import vehicleinfo
 
 from pymavlink import mavutil
 
@@ -60,33 +59,7 @@ class AutoTestRover(AutoTest):
         if self.frame is None:
             self.frame = 'rover'
 
-        self.sitl = util.start_SITL(self.binary,
+        self.apply_parameters_using_sitl()
-                                    wipe=True,
-                                    model=self.frame,
-                                    home=self.home,
-                                    speedup=self.speedup_default)
-        self.mavproxy = util.start_MAVProxy_SITL('APMrover2')
-
-        self.progress("WAITING FOR PARAMETERS")
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        # setup test parameters
-        vinfo = vehicleinfo.VehicleInfo()
-        if self.params is None:
-            frames = vinfo.options["APMrover2"]["frames"]
-            self.params = frames[self.frame]["default_params_filename"]
-        if not isinstance(self.params, list):
-            self.params = [self.params]
-        for x in self.params:
-            self.mavproxy.send("param load %s\n" % os.path.join(testdir, x))
-            self.mavproxy.expect('Loaded [0-9]+ parameters')
-        self.set_parameter('LOG_REPLAY', 1)
-        self.set_parameter('LOG_DISARMED', 1)
-        self.progress("RELOADING SITL WITH NEW PARAMETERS")
-
-        # restart with new parms
-        util.pexpect_close(self.mavproxy)
-        util.pexpect_close(self.sitl)
 
         self.sitl = util.start_SITL(self.binary,
                                     model=self.frame,

Tools/autotest/arducopter.py

@@ -10,7 +10,6 @@ import pexpect
 from pymavlink import mavutil
 
 from pysim import util
-from pysim import vehicleinfo
 
 from common import AutoTest
 
@@ -70,6 +69,9 @@ class AutoTestCopter(AutoTest):
     def sitl_streamrate(self):
         return 5
 
+    def vehicleinfo_key(self):
+        return 'ArduCopter'
+
     def init(self):
         if self.frame is None:
             self.frame = '+'
@@ -81,33 +83,7 @@ class AutoTestCopter(AutoTest):
                                          AVCHOME.alt,
                                          AVCHOME.heading)
 
-        self.sitl = util.start_SITL(self.binary,
+        self.apply_parameters_using_sitl()
-                                    wipe=True,
-                                    model=self.frame,
-                                    home=self.home,
-                                    speedup=self.speedup_default)
-        self.mavproxy = util.start_MAVProxy_SITL('ArduCopter')
-
-        self.progress("WAITING FOR PARAMETERS")
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        # setup test parameters
-        vinfo = vehicleinfo.VehicleInfo()
-        if self.params is None:
-            frames = vinfo.options["ArduCopter"]["frames"]
-            self.params = frames[self.frame]["default_params_filename"]
-        if not isinstance(self.params, list):
-            self.params = [self.params]
-        for x in self.params:
-            self.mavproxy.send("param load %s\n" % os.path.join(testdir, x))
-            self.mavproxy.expect('Loaded [0-9]+ parameters')
-        self.set_parameter('LOG_REPLAY', 1)
-        self.set_parameter('LOG_DISARMED', 1)
-        self.progress("RELOADING SITL WITH NEW PARAMETERS")
-
-        # restart with new parms
-        util.pexpect_close(self.mavproxy)
-        util.pexpect_close(self.sitl)
 
         self.sitl = util.start_SITL(self.binary,
                                     model=self.frame,

Tools/autotest/ardusub.py

@@ -8,7 +8,6 @@ import pexpect
 from pymavlink import mavutil
 
 from pysim import util
-from pysim import vehicleinfo
 
 from common import AutoTest
 
@@ -52,33 +51,7 @@ class AutoTestSub(AutoTest):
         if self.frame is None:
             self.frame = 'vectored'
 
-        self.sitl = util.start_SITL(self.binary,
+        self.apply_parameters_using_sitl()
-                                    wipe=True,
-                                    model=self.frame,
-                                    home=self.home,
-                                    speedup=self.speedup_default)
-        self.mavproxy = util.start_MAVProxy_SITL('ArduSub')
-
-        self.progress("WAITING FOR PARAMETERS")
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        # setup test parameters
-        vinfo = vehicleinfo.VehicleInfo()
-        if self.params is None:
-            frames = vinfo.options["ArduSub"]["frames"]
-            self.params = frames[self.frame]["default_params_filename"]
-        if not isinstance(self.params, list):
-            self.params = [self.params]
-        for x in self.params:
-            self.mavproxy.send("param load %s\n" % os.path.join(testdir, x))
-            self.mavproxy.expect('Loaded [0-9]+ parameters')
-        self.set_parameter('LOG_REPLAY', 1)
-        self.set_parameter('LOG_DISARMED', 1)
-        self.progress("RELOADING SITL WITH NEW PARAMETERS")
-
-        # restart with new parms
-        util.pexpect_close(self.mavproxy)
-        util.pexpect_close(self.sitl)
 
         self.sitl = util.start_SITL(self.binary,
                                     model=self.frame,

Tools/autotest/common.py

@@ -8,8 +8,7 @@ import sys
 import time
 
 from pymavlink import mavwp, mavutil
-
+from pysim import util, vehicleinfo
-from pysim import util
 
 # a list of pexpect objects to read while waiting for
 # messages. This keeps the output to stdout flowing
@@ -74,6 +73,39 @@ class AutoTest(ABC):
 
         return ret
 
+    def vehicleinfo_key(self):
+        return self.log_name
+
+    def apply_parameters_using_sitl(self):
+        '''start SITL, apply parameter file, stop SITL'''
+        sitl = util.start_SITL(self.binary,
+                               wipe=True,
+                               model=self.frame,
+                               home=self.home,
+                               speedup=self.speedup_default)
+        self.mavproxy = util.start_MAVProxy_SITL(self.log_name)
+
+        self.progress("WAITING FOR PARAMETERS")
+        self.mavproxy.expect('Received [0-9]+ parameters')
+
+        # setup test parameters
+        vinfo = vehicleinfo.VehicleInfo()
+        if self.params is None:
+            frames = vinfo.options[self.vehicleinfo_key()]["frames"]
+            self.params = frames[self.frame]["default_params_filename"]
+        if not isinstance(self.params, list):
+            self.params = [self.params]
+        for x in self.params:
+            self.mavproxy.send("param load %s\n" % os.path.join(testdir, x))
+            self.mavproxy.expect('Loaded [0-9]+ parameters')
+        self.set_parameter('LOG_REPLAY', 1)
+        self.set_parameter('LOG_DISARMED', 1)
+
+        # kill this SITL instance off:
+        util.pexpect_close(self.mavproxy)
+        util.pexpect_close(sitl)
+        self.mavproxy = None
+
     def close(self):
         '''tidy up after running all tests'''
         if self.use_map: