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
|
|
@ -5700,18 +5700,12 @@ class AutoTest(ABC):
|
|||
return getattr(msg, field)
|
||||
raise MsgRcvTimeoutException("Failed to get %s" % field)
|
||||
|
||||
def validator(value2, target2=None):
|
||||
if speed_min <= value2 <= speed_max:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
|
||||
self.wait_and_maintain(
|
||||
self.wait_and_maintain_range(
|
||||
value_name=field,
|
||||
target=(speed_min+speed_max)/2,
|
||||
minimum=speed_min,
|
||||
maximum=speed_max,
|
||||
current_value_getter=lambda: get_speed(timeout),
|
||||
accuracy=(speed_max - speed_min)/2,
|
||||
validator=lambda value2, target2: validator(value2, target2),
|
||||
validator=None,
|
||||
timeout=timeout,
|
||||
**kwargs
|
||||
)
|
||||
|
|
@ -5765,12 +5759,103 @@ class AutoTest(ABC):
|
|||
)
|
||||
|
||||
def wait_and_maintain(self, value_name, target, current_value_getter, validator=None, accuracy=2.0, timeout=30, **kwargs):
|
||||
if type(target) is Vector3:
|
||||
return self.wait_and_maintain_vector(
|
||||
value_name,
|
||||
target,
|
||||
current_value_getter,
|
||||
validator,
|
||||
timeout=30,
|
||||
**kwargs
|
||||
)
|
||||
return self.wait_and_maintain_range(
|
||||
value_name,
|
||||
minimum=target - accuracy/2,
|
||||
maximum=target + accuracy/2,
|
||||
current_value_getter=current_value_getter,
|
||||
validator=validator,
|
||||
timeout=timeout,
|
||||
print_diagnostics_as_target_not_range=True,
|
||||
**kwargs
|
||||
)
|
||||
|
||||
def wait_and_maintain_vector(self,
|
||||
value_name,
|
||||
target,
|
||||
current_value_getter,
|
||||
validator,
|
||||
timeout=30,
|
||||
**kwargs):
|
||||
tstart = self.get_sim_time()
|
||||
achieving_duration_start = None
|
||||
if type(target) is Vector3:
|
||||
sum_of_achieved_values = Vector3()
|
||||
last_value = Vector3()
|
||||
count_of_achieved_values = 0
|
||||
called_function = kwargs.get("called_function", None)
|
||||
minimum_duration = kwargs.get("minimum_duration", 0)
|
||||
if minimum_duration >= timeout:
|
||||
raise ValueError("minimum_duration >= timeout")
|
||||
|
||||
self.progress("Waiting for %s=(%s)" % (value_name, str(target)))
|
||||
|
||||
last_print_time = 0
|
||||
while self.get_sim_time_cached() < tstart + timeout: # if we failed to received message with the getter the sim time isn't updated # noqa
|
||||
last_value = current_value_getter()
|
||||
if called_function is not None:
|
||||
called_function(last_value, target)
|
||||
is_value_valid = validator(last_value, target)
|
||||
if self.get_sim_time_cached() - last_print_time > 1:
|
||||
if is_value_valid:
|
||||
want_or_got = "got"
|
||||
else:
|
||||
want_or_got = "want"
|
||||
achieved_duration_bit = ""
|
||||
if achieving_duration_start is not None:
|
||||
so_far = self.get_sim_time_cached() - achieving_duration_start
|
||||
achieved_duration_bit = " (maintain=%.1f/%.1f)" % (so_far, minimum_duration)
|
||||
self.progress(
|
||||
"%s=(%s) (%s (%s))%s" %
|
||||
(value_name,
|
||||
str(last_value),
|
||||
want_or_got,
|
||||
str(target),
|
||||
achieved_duration_bit)
|
||||
)
|
||||
last_print_time = self.get_sim_time_cached()
|
||||
if is_value_valid:
|
||||
sum_of_achieved_values += last_value
|
||||
count_of_achieved_values += 1.0
|
||||
if achieving_duration_start is None:
|
||||
achieving_duration_start = self.get_sim_time_cached()
|
||||
if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration:
|
||||
self.progress("Attained %s=%s" % (
|
||||
value_name,
|
||||
str(sum_of_achieved_values * (1.0 / count_of_achieved_values))))
|
||||
return True
|
||||
else:
|
||||
achieving_duration_start = None
|
||||
sum_of_achieved_values.zero()
|
||||
count_of_achieved_values = 0
|
||||
raise AutoTestTimeoutException(
|
||||
"Failed to attain %s want %s, reached %s" %
|
||||
(value_name,
|
||||
str(target),
|
||||
str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
|
||||
|
||||
def wait_and_maintain_range(self,
|
||||
value_name,
|
||||
minimum,
|
||||
maximum,
|
||||
current_value_getter,
|
||||
validator=None,
|
||||
timeout=30,
|
||||
print_diagnostics_as_target_not_range=False,
|
||||
**kwargs):
|
||||
if print_diagnostics_as_target_not_range:
|
||||
target = (minimum + maximum) / 2
|
||||
accuracy = (maximum - minimum) / 2
|
||||
tstart = self.get_sim_time()
|
||||
achieving_duration_start = None
|
||||
sum_of_achieved_values = 0.0
|
||||
last_value = 0.0
|
||||
count_of_achieved_values = 0
|
||||
|
|
@ -5778,19 +5863,22 @@ class AutoTest(ABC):
|
|||
minimum_duration = kwargs.get("minimum_duration", 0)
|
||||
if minimum_duration >= timeout:
|
||||
raise ValueError("minimum_duration >= timeout")
|
||||
if type(target) is Vector3:
|
||||
self.progress("Waiting for %s=(%s) with accuracy %.02f" % (value_name, str(target), accuracy))
|
||||
else:
|
||||
if print_diagnostics_as_target_not_range:
|
||||
self.progress("Waiting for %s=%.02f with accuracy %.02f" % (value_name, target, accuracy))
|
||||
else:
|
||||
self.progress("Waiting for %s between (%s) and (%s)" % (value_name, str(minimum), str(maximum)))
|
||||
last_print_time = 0
|
||||
while self.get_sim_time_cached() < tstart + timeout: # if we failed to received message with the getter the sim time isn't updated # noqa
|
||||
last_value = current_value_getter()
|
||||
if called_function is not None:
|
||||
called_function(last_value, target)
|
||||
if validator is not None:
|
||||
if print_diagnostics_as_target_not_range:
|
||||
is_value_valid = validator(last_value, target)
|
||||
else:
|
||||
is_value_valid = math.fabs(last_value - target) <= accuracy
|
||||
is_value_valid = validator(last_value, minimum, maximum)
|
||||
else:
|
||||
is_value_valid = (minimum <= last_value) and (last_value <= maximum)
|
||||
if self.get_sim_time_cached() - last_print_time > 1:
|
||||
if is_value_valid:
|
||||
want_or_got = "got"
|
||||
|
|
@ -5801,19 +5889,26 @@ class AutoTest(ABC):
|
|||
so_far = self.get_sim_time_cached() - achieving_duration_start
|
||||
achieved_duration_bit = " (maintain=%.1f/%.1f)" % (so_far, minimum_duration)
|
||||
|
||||
if type(target) is Vector3:
|
||||
if print_diagnostics_as_target_not_range:
|
||||
self.progress(
|
||||
"%s=(%s) (%s (%s) +- %f)%s" %
|
||||
"%s=%0.2f (%s %f +- %f)%s" %
|
||||
(value_name,
|
||||
str(last_value),
|
||||
last_value,
|
||||
want_or_got,
|
||||
str(target),
|
||||
target,
|
||||
accuracy,
|
||||
achieved_duration_bit)
|
||||
)
|
||||
else:
|
||||
self.progress("%s=%0.2f (%s %f +- %f)%s" %
|
||||
(value_name, last_value, want_or_got, target, accuracy, achieved_duration_bit))
|
||||
self.progress(
|
||||
"%s=%0.2f (%s between %s and %s)%s" %
|
||||
(value_name,
|
||||
last_value,
|
||||
want_or_got,
|
||||
str(minimum),
|
||||
str(maximum),
|
||||
achieved_duration_bit)
|
||||
)
|
||||
last_print_time = self.get_sim_time_cached()
|
||||
if is_value_valid:
|
||||
sum_of_achieved_values += last_value
|
||||
|
|
@ -5821,25 +5916,25 @@ class AutoTest(ABC):
|
|||
if achieving_duration_start is None:
|
||||
achieving_duration_start = self.get_sim_time_cached()
|
||||
if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration:
|
||||
if type(target) is Vector3:
|
||||
self.progress("Attained %s=%s" % (
|
||||
value_name,
|
||||
str(sum_of_achieved_values * (1.0 / count_of_achieved_values))))
|
||||
else:
|
||||
self.progress("Attained %s=%f" % (value_name, sum_of_achieved_values / count_of_achieved_values))
|
||||
return True
|
||||
else:
|
||||
achieving_duration_start = None
|
||||
if type(target) is Vector3:
|
||||
sum_of_achieved_values.zero()
|
||||
else:
|
||||
sum_of_achieved_values = 0.0
|
||||
count_of_achieved_values = 0
|
||||
if print_diagnostics_as_target_not_range:
|
||||
raise AutoTestTimeoutException(
|
||||
"Failed to attain %s want %s, reached %s" %
|
||||
(value_name,
|
||||
str(target),
|
||||
str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
|
||||
else:
|
||||
raise AutoTestTimeoutException(
|
||||
"Failed to attain %s between %s and %s, reached %s" %
|
||||
(value_name,
|
||||
str(minimum),
|
||||
str(maximum),
|
||||
str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
|
||||
|
||||
def wait_heading(self, heading, accuracy=5, timeout=30, **kwargs):
|
||||
"""Wait for a given heading."""
|
||||
|
|
|
|||
Loading…
Reference in New Issue