mirror of https://github.com/ArduPilot/ardupilot
autotest: add new wait_and_maintain_range method
This commit is contained in:
Peter Barker
Peter Barker
parent
e77d0ce1a4
commit
86096261d0
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@ -5700,18 +5700,12 @@ class AutoTest(ABC):
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return getattr(msg, field)
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raise MsgRcvTimeoutException("Failed to get %s" % field)
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def validator(value2, target2=None):
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if speed_min <= value2 <= speed_max:
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return True
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else:
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return False
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self.wait_and_maintain(
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self.wait_and_maintain_range(
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value_name=field,
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target=(speed_min+speed_max)/2,
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minimum=speed_min,
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maximum=speed_max,
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current_value_getter=lambda: get_speed(timeout),
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accuracy=(speed_max - speed_min)/2,
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validator=lambda value2, target2: validator(value2, target2),
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validator=None,
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timeout=timeout,
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**kwargs
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)
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@ -5765,32 +5759,126 @@ class AutoTest(ABC):
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)
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def wait_and_maintain(self, value_name, target, current_value_getter, validator=None, accuracy=2.0, timeout=30, **kwargs):
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if type(target) is Vector3:
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return self.wait_and_maintain_vector(
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value_name,
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target,
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current_value_getter,
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validator,
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timeout=30,
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**kwargs
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)
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return self.wait_and_maintain_range(
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value_name,
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minimum=target - accuracy/2,
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maximum=target + accuracy/2,
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current_value_getter=current_value_getter,
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validator=validator,
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timeout=timeout,
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print_diagnostics_as_target_not_range=True,
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**kwargs
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)
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def wait_and_maintain_vector(self,
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value_name,
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target,
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current_value_getter,
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validator,
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timeout=30,
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**kwargs):
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tstart = self.get_sim_time()
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achieving_duration_start = None
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if type(target) is Vector3:
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sum_of_achieved_values = Vector3()
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last_value = Vector3()
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else:
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sum_of_achieved_values = 0.0
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last_value = 0.0
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sum_of_achieved_values = Vector3()
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last_value = Vector3()
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count_of_achieved_values = 0
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called_function = kwargs.get("called_function", None)
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minimum_duration = kwargs.get("minimum_duration", 0)
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if minimum_duration >= timeout:
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raise ValueError("minimum_duration >= timeout")
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if type(target) is Vector3:
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self.progress("Waiting for %s=(%s) with accuracy %.02f" % (value_name, str(target), accuracy))
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else:
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self.progress("Waiting for %s=(%s)" % (value_name, str(target)))
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last_print_time = 0
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while self.get_sim_time_cached() < tstart + timeout: # if we failed to received message with the getter the sim time isn't updated # noqa
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last_value = current_value_getter()
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if called_function is not None:
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called_function(last_value, target)
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is_value_valid = validator(last_value, target)
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if self.get_sim_time_cached() - last_print_time > 1:
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if is_value_valid:
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want_or_got = "got"
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else:
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want_or_got = "want"
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achieved_duration_bit = ""
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if achieving_duration_start is not None:
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so_far = self.get_sim_time_cached() - achieving_duration_start
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achieved_duration_bit = " (maintain=%.1f/%.1f)" % (so_far, minimum_duration)
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self.progress(
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"%s=(%s) (%s (%s))%s" %
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(value_name,
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str(last_value),
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want_or_got,
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str(target),
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achieved_duration_bit)
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)
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last_print_time = self.get_sim_time_cached()
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if is_value_valid:
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sum_of_achieved_values += last_value
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count_of_achieved_values += 1.0
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if achieving_duration_start is None:
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achieving_duration_start = self.get_sim_time_cached()
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if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration:
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self.progress("Attained %s=%s" % (
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value_name,
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str(sum_of_achieved_values * (1.0 / count_of_achieved_values))))
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return True
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else:
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achieving_duration_start = None
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sum_of_achieved_values.zero()
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count_of_achieved_values = 0
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raise AutoTestTimeoutException(
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"Failed to attain %s want %s, reached %s" %
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(value_name,
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str(target),
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str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
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def wait_and_maintain_range(self,
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value_name,
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minimum,
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maximum,
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current_value_getter,
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validator=None,
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timeout=30,
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print_diagnostics_as_target_not_range=False,
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**kwargs):
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if print_diagnostics_as_target_not_range:
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target = (minimum + maximum) / 2
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accuracy = (maximum - minimum) / 2
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tstart = self.get_sim_time()
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achieving_duration_start = None
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sum_of_achieved_values = 0.0
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last_value = 0.0
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count_of_achieved_values = 0
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called_function = kwargs.get("called_function", None)
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minimum_duration = kwargs.get("minimum_duration", 0)
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if minimum_duration >= timeout:
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raise ValueError("minimum_duration >= timeout")
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if print_diagnostics_as_target_not_range:
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self.progress("Waiting for %s=%.02f with accuracy %.02f" % (value_name, target, accuracy))
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else:
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self.progress("Waiting for %s between (%s) and (%s)" % (value_name, str(minimum), str(maximum)))
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last_print_time = 0
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while self.get_sim_time_cached() < tstart + timeout: # if we failed to received message with the getter the sim time isn't updated # noqa
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last_value = current_value_getter()
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if called_function is not None:
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called_function(last_value, target)
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if validator is not None:
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is_value_valid = validator(last_value, target)
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if print_diagnostics_as_target_not_range:
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is_value_valid = validator(last_value, target)
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else:
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is_value_valid = validator(last_value, minimum, maximum)
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else:
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is_value_valid = math.fabs(last_value - target) <= accuracy
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is_value_valid = (minimum <= last_value) and (last_value <= maximum)
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if self.get_sim_time_cached() - last_print_time > 1:
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if is_value_valid:
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want_or_got = "got"
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@ -5801,19 +5889,26 @@ class AutoTest(ABC):
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so_far = self.get_sim_time_cached() - achieving_duration_start
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achieved_duration_bit = " (maintain=%.1f/%.1f)" % (so_far, minimum_duration)
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if type(target) is Vector3:
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if print_diagnostics_as_target_not_range:
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self.progress(
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"%s=(%s) (%s (%s) +- %f)%s" %
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"%s=%0.2f (%s %f +- %f)%s" %
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(value_name,
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str(last_value),
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last_value,
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want_or_got,
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str(target),
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target,
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accuracy,
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achieved_duration_bit)
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)
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else:
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self.progress("%s=%0.2f (%s %f +- %f)%s" %
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(value_name, last_value, want_or_got, target, accuracy, achieved_duration_bit))
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self.progress(
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"%s=%0.2f (%s between %s and %s)%s" %
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(value_name,
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last_value,
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want_or_got,
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str(minimum),
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str(maximum),
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achieved_duration_bit)
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)
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last_print_time = self.get_sim_time_cached()
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if is_value_valid:
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sum_of_achieved_values += last_value
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@ -5821,25 +5916,25 @@ class AutoTest(ABC):
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if achieving_duration_start is None:
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achieving_duration_start = self.get_sim_time_cached()
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if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration:
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if type(target) is Vector3:
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self.progress("Attained %s=%s" % (
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value_name,
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str(sum_of_achieved_values * (1.0 / count_of_achieved_values))))
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else:
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self.progress("Attained %s=%f" % (value_name, sum_of_achieved_values / count_of_achieved_values))
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self.progress("Attained %s=%f" % (value_name, sum_of_achieved_values / count_of_achieved_values))
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return True
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else:
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achieving_duration_start = None
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if type(target) is Vector3:
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sum_of_achieved_values.zero()
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else:
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sum_of_achieved_values = 0.0
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sum_of_achieved_values = 0.0
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count_of_achieved_values = 0
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raise AutoTestTimeoutException(
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"Failed to attain %s want %s, reached %s" %
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(value_name,
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str(target),
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str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
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if print_diagnostics_as_target_not_range:
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raise AutoTestTimeoutException(
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"Failed to attain %s want %s, reached %s" %
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(value_name,
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str(target),
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str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
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else:
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raise AutoTestTimeoutException(
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"Failed to attain %s between %s and %s, reached %s" %
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(value_name,
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str(minimum),
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str(maximum),
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str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
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def wait_heading(self, heading, accuracy=5, timeout=30, **kwargs):
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"""Wait for a given heading."""
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