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Tools: autotest: factor out apply_parameters_using_sitl

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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.
This commit is contained in:
Peter Barker 2018-03-16 09:56:37 +11:00
parent fe3b882bea
commit 8511c2c04b
4 changed files with 40 additions and 86 deletions
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29
Tools/autotest/apmrover2.py
View File

@ -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,
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.apply_parameters_using_sitl()
self.sitl = util.start_SITL(self.binary,
model=self.frame,

32
Tools/autotest/arducopter.py
View File

@ -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,
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.apply_parameters_using_sitl()
self.sitl = util.start_SITL(self.binary,
model=self.frame,

29
Tools/autotest/ardusub.py
View File

@ -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,
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.apply_parameters_using_sitl()
self.sitl = util.start_SITL(self.binary,
model=self.frame,

36
Tools/autotest/common.py
View File

@ -8,8 +8,7 @@ import sys
import time
from pymavlink import mavwp, mavutil
from pysim import util
from pysim import util, vehicleinfo
# 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: