mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-28 19:48:31 -04:00
Tools: autotest: flake8 compliance
This commit is contained in:
Peter Barker
Peter Barker
parent
ba0926e101
commit
88a003edd9
@ -439,9 +439,10 @@ class AutoTestRover(AutoTest):
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if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
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raise NotAchievedException("""
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Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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""" % (distance_with_brakes,
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distance_without_brakes,
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delta))
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""" %
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(distance_with_brakes,
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distance_without_brakes,
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delta))
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self.progress(
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"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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@ -488,7 +489,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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home_distance = None
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tstart = self.get_sim_time()
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while self.get_sim_time() - tstart < timeout:
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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pos = self.mav.location()
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home_distance = self.get_distance(HOME, pos)
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if home_distance > distance:
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@ -506,7 +507,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.set_parameter("PRX_TYPE", 10)
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self.set_parameter("RC10_OPTION", 40) # proximity-enable
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self.reboot_sitl()
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start = self.mav.location()
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# start = self.mav.location()
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self.wait_ready_to_arm()
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self.arm_vehicle()
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# first make sure we can breach the fence:
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@ -560,7 +561,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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fnoo = [(1, 'ACRO'),
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(3, 'STEERING'),
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(4, 'HOLD'),
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]
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]
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for (num, expected) in fnoo:
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self.mavproxy.send('mode manual\n')
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self.wait_mode("MANUAL")
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@ -638,7 +639,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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raise ex
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def test_rc_overrides(self):
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self.context_push();
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self.context_push()
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ex = None
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try:
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self.set_parameter("RC12_OPTION", 46)
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@ -721,7 +722,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.progress("Exception caught")
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ex = e
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self.context_pop();
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self.context_pop()
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self.reboot_sitl()
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if ex is not None:
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@ -752,7 +753,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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expected_distance = 2
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elif mc.seq == 4:
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expected_distance = 5
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elif mc.seq ==5:
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elif mc.seq == 5:
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break
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else:
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continue
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@ -820,7 +821,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.drive_square)
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self.run_test("Drive Mission %s" % "rover1.txt",
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lambda : self.drive_mission("rover1.txt"))
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lambda: self.drive_mission("rover1.txt"))
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# disabled due to frequent failures in travis. This test needs re-writing
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# self.run_test("Drive Brake", self.drive_brake)
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@ -855,7 +856,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.run_test("Download logs", lambda:
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self.log_download(
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self.buildlogs_path("APMrover2-log.bin"),
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upload_logs=len(self.fail_list)>0))
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upload_logs=len(self.fail_list) > 0))
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# if not drive_left_circuit(self):
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# self.progress("Failed left circuit")
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# failed = True
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@ -11,7 +11,6 @@ import traceback
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import pexpect
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from pymavlink import mavutil
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from pymavlink import mavextra
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from pymavlink import quaternion
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from pysim import util, rotmat
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@ -141,7 +140,7 @@ class AutoTestCopter(AutoTest):
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0, # param5
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0, # param6
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alt_min # param7
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)
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)
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self.progress("Ran command")
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self.wait_for_alt(alt_min)
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@ -223,7 +222,7 @@ class AutoTestCopter(AutoTest):
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if delta > maxdistchange:
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raise NotAchievedException(
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"Loiter shifted %u meters (> limit of %u)" %
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(delta, maxdistchange))
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(delta, maxdistchange))
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self.progress("Loiter OK for %u seconds" % holdtime)
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def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
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@ -1397,8 +1396,7 @@ class AutoTestCopter(AutoTest):
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if now - tstart > 120:
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raise AutoTestTimeoutException("Did not disarm as expected")
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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if ((now - last_mission_current_msg) > 1 or
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m.seq != last_seq):
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if ((now - last_mission_current_msg) > 1 or m.seq != last_seq):
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dist = None
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x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
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if x is not None:
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@ -1539,12 +1537,14 @@ class AutoTestCopter(AutoTest):
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command = mavutil.mavlink.MAV_CMD_NAV_DELAY
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# retrieve mission item and check it:
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tried_set = False
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hours = None
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mins = None
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secs = None
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while True:
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self.progress("Requesting item")
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self.mav.mav.mission_request_send(1,
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1,
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seq
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)
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seq)
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st = self.mav.recv_match(type='MISSION_ITEM',
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blocking=True,
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timeout=1)
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@ -1552,13 +1552,15 @@ class AutoTestCopter(AutoTest):
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continue
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print("Item: %s" % str(st))
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if (tried_set and
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st.seq == seq and
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st.command == command and
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st.param2 == hours and
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st.param3 == mins and
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st.param4 == secs):
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have_match = (tried_set and
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st.seq == seq and
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st.command == command and
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st.param2 == hours and
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st.param3 == mins and
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st.param4 == secs)
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if have_match:
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return
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self.progress("Mission mismatch")
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m = None
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@ -1675,6 +1677,7 @@ class AutoTestCopter(AutoTest):
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def fly_nav_takeoff_delay_abstime(self):
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"""make sure taking off at a specific time works"""
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global num_wp
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num_wp = self.load_mission("copter_nav_delay_takeoff.txt")
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self.progress("Starting mission")
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@ -1688,9 +1691,9 @@ class AutoTestCopter(AutoTest):
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delay_item_seq = 2
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self.reset_delay_item_seventyseven(delay_item_seq)
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delay_for_seconds = 77
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reset_at = self.get_sim_time_cached();
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reset_at = self.get_sim_time_cached()
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self.context_push();
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self.context_push()
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ex = None
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try:
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@ -2132,8 +2135,8 @@ class AutoTestCopter(AutoTest):
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self.mav.mav.mount_control_send(
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1, # target system
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1, # target component
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20 *100, # pitch
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20 *100, # roll (centidegrees)
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20 * 100, # pitch
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20 * 100, # roll (centidegrees)
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0, # yaw
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0 # save position
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)
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@ -2318,6 +2321,9 @@ class AutoTestCopter(AutoTest):
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self.reboot_sitl() # to handle MNT_TYPE changing
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if ex is not None:
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raise ex
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def fly_precision_companion(self):
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"""Use Companion PrecLand backend precision messages to loiter."""
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@ -2612,7 +2618,7 @@ class AutoTestCopter(AutoTest):
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self.run_test("Test gripper", self.test_gripper)
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self.run_test("Test gripper mission items",
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self.test_gripper_mission);
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self.test_gripper_mission)
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'''vision position''' # expects vehicle to be disarmed
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self.run_test("Fly Vision Position", self.fly_vision_position)
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@ -2624,7 +2630,7 @@ class AutoTestCopter(AutoTest):
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self.run_test("log download",
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lambda: self.log_download(
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self.buildlogs_path("ArduCopter-log.bin"),
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upload_logs=len(self.fail_list)>0))
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upload_logs=len(self.fail_list) > 0))
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except pexpect.TIMEOUT:
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self.progress("Failed with timeout")
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@ -2671,7 +2677,7 @@ class AutoTestCopter(AutoTest):
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self.run_test("log download",
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lambda: self.log_download(
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self.buildlogs_path("Helicopter-log.bin"),
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upload_logs=len(self.fail_list)>0))
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upload_logs=len(self.fail_list) > 0))
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except pexpect.TIMEOUT:
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self.fail_list.append("Failed with timeout")
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@ -362,7 +362,7 @@ class AutoTestPlane(AutoTest):
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type_mask = 0b10000001 ^ 0xFF # FIXME
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# attitude in radians:
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q = quaternion.Quaternion([math.radians(target_roll_degrees),
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0 ,
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0,
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0])
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roll_rate_radians = 0.5
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pitch_rate_radians = 0
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@ -594,14 +594,13 @@ class AutoTestPlane(AutoTest):
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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time_delta = (self.get_sim_time_cached() -
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last_mission_current_msg)
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if (time_delta >1 or
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m.seq != last_seq):
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if (time_delta > 1 or m.seq != last_seq):
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dist = None
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x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
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if x is not None:
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dist = x.wp_dist
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self.progress("MISSION_CURRENT.seq=%u (dist=%s)" %
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(m.seq,str(dist)))
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(m.seq, str(dist)))
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last_mission_current_msg = self.get_sim_time_cached()
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last_seq = m.seq
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# flaps should undeploy at the end
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@ -767,6 +766,6 @@ class AutoTestPlane(AutoTest):
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self.progress("FAILED: %s" % self.fail_list)
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return False
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self.progress("Max set_rc_timeout=%s" % self.max_set_rc_timeout);
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self.progress("Max set_rc_timeout=%s" % self.max_set_rc_timeout)
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return True
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@ -186,12 +186,12 @@ class AutoTestSub(AutoTest):
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lambda: self.dive_mission("sub_mission.txt"))
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self.run_test("Test gripper mission items",
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self.test_gripper_mission);
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self.test_gripper_mission)
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self.run_test("Log download",
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lambda: self.log_download(
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self.buildlogs_path("ArduSub-log.bin"),
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upload_logs=len(self.fail_list)>0))
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upload_logs=len(self.fail_list) > 0))
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except pexpect.TIMEOUT:
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self.progress("Failed with timeout")
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@ -302,7 +302,6 @@ class AutoTest(ABC):
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count += 1
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self.progress("Drained %u messages from mav" % count)
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#################################################
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# SIM UTILITIES
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#################################################
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@ -366,11 +365,13 @@ class AutoTest(ABC):
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self.mav.wait_heartbeat()
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if upload_logs and not os.getenv("AUTOTEST_NO_UPLOAD"):
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# optionally upload logs to server so we can see travis failure logs
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import subprocess, glob, datetime
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logdir=os.path.dirname(filename)
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datedir=datetime.datetime.now().strftime("%Y-%m-%d-%H-%M")
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import datetime
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import glob
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import subprocess
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logdir = os.path.dirname(filename)
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datedir = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M")
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flist = glob.glob("logs/*.BIN")
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for e in ['BIN','bin','tlog']:
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for e in ['BIN', 'bin', 'tlog']:
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flist += glob.glob(os.path.join(logdir, '*.%s' % e))
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print("Uploading %u logs to http://firmware.ardupilot.org/CI-Logs/%s" % (len(flist), datedir))
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cmd = ['rsync', '-avz'] + flist + ['cilogs@autotest.ardupilot.org::CI-Logs/%s/' % datedir]
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@ -402,7 +403,7 @@ class AutoTest(ABC):
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self.progress("Comparing (%s) and (%s)" % (file1, file2, ))
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f1 = open(file1)
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f2 = open(file2)
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for l1,l2 in itertools.izip(f1,f2):
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for l1, l2 in itertools.izip(f1, f2):
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if l1 == l2:
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# e.g. the first "QGC WPL 110" line
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continue
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@ -413,9 +414,9 @@ class AutoTest(ABC):
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l2 = l2.rstrip()
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fields1 = re.split("\s+", l1)
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fields2 = re.split("\s+", l2)
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line = int(fields1[0])
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# line = int(fields1[0])
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t = int(fields1[3]) # mission item type
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for (count, (i1,i2)) in enumerate(itertools.izip(fields1, fields2)):
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for (count, (i1, i2)) in enumerate(itertools.izip(fields1, fields2)):
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if count == 2: # frame
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if t in [mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
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mavutil.mavlink.MAV_CMD_CONDITION_YAW,
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@ -445,15 +446,16 @@ class AutoTest(ABC):
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i2 = 1
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if 0 <= count <= 3 or 11 <= count <= 11:
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if int(i1) != int(i2):
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raise ValueError("Files have different content: (%s vs %s) (%s vs %s) (%d vs %d) (count=%u)" % (file1, file2, l1, l2, int(i1), int(i2), count)) # NOCI
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raise ValueError("Files have different content: (%s vs %s) (%s vs %s) (%d vs %d) (count=%u)" %
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(file1, file2, l1, l2, int(i1), int(i2), count)) # NOCI
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continue
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if 4 <= count <= 10:
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delta = abs(float(i1) - float(i2))
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max_allowed_delta = 0.000009
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if delta > max_allowed_delta:
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# print("Files have different (float) content: (%s) and (%s) (%s vs %s) (%f vs %f) (%.10f) (count=%u)" % (file1, file2, l1, l2, float(i1), float(i2), delta, count))
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# sys.exit(0)
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raise ValueError("Files have different (float) content: (%s) and (%s) (%s vs %s) (%f vs %f) (%.10f) (count=%u)" % (file1, file2, l1, l2, float(i1), float(i2), delta, count)) # NOCI
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raise ValueError("Files have different (float) content: (%s) and " +
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"(%s) (%s vs %s) (%f vs %f) (%.10f) (count=%u)" %
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(file1, file2, l1, l2, float(i1), float(i2), delta, count)) # NOCI
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continue
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raise ValueError("count %u not handled" % count)
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self.progress("Files same")
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@ -546,8 +548,7 @@ class AutoTest(ABC):
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if delta > self.max_set_rc_timeout:
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self.max_set_rc_timeout = delta
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return True
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raise SetRCTimeout((
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"Failed to send RC commands to channel %s" % str(chan)))
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raise SetRCTimeout("Failed to send RC commands to channel %s" % str(chan))
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def set_throttle_zero(self):
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"""Set throttle to zero."""
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@ -768,7 +769,7 @@ class AutoTest(ABC):
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self.fetch_parameters()
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return
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raise ValueError("Param fetch returned incorrect value (%s) vs (%s)"
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% (returned_value, value))
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% (returned_value, value))
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def get_parameter(self, name, retry=1, timeout=60):
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"""Get parameters from vehicle."""
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@ -1068,7 +1069,7 @@ class AutoTest(ABC):
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if self.get_sim_time_cached() - last_print > 1:
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self.progress("Wait groundspeed %.1f, target:%.1f" %
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(m.groundspeed, gs_min))
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last_print = self.get_sim_time_cached();
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last_print = self.get_sim_time_cached()
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if m.groundspeed >= gs_min and m.groundspeed <= gs_max:
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return True
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raise WaitGroundSpeedTimeout("Failed to attain groundspeed range")
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@ -1113,8 +1114,8 @@ class AutoTest(ABC):
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break
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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if now - last_print_time > 1:
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self.progress("Heading %u (want %f +- %f)" % (
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m.heading, heading, accuracy))
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self.progress("Heading %u (want %f +- %f)" %
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(m.heading, heading, accuracy))
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last_print_time = now
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if math.fabs(m.heading - heading) <= accuracy:
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self.progress("Attained heading %u" % heading)
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@ -1137,9 +1138,8 @@ class AutoTest(ABC):
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self.progress("Attained distance %.2f meters OK" % delta)
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return True
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if delta > (distance + accuracy):
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raise WaitDistanceTimeout(
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"Failed distance - overshoot delta=%f dist=%f"
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% (delta, distance))
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raise WaitDistanceTimeout("Failed distance - overshoot delta=%f dist=%f"
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% (delta, distance))
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raise WaitDistanceTimeout("Failed to attain distance %u" % distance)
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def wait_servo_channel_value(self, channel, value, timeout=2):
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@ -1195,7 +1195,7 @@ class AutoTest(ABC):
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seq = self.mav.waypoint_current()
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self.progress("Waiting for wp=%u current=%u" % (wpnum, seq))
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if seq == wpnum:
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break;
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break
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def wait_waypoint(self,
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wpnum_start,
|
||||
@ -1249,9 +1249,8 @@ class AutoTest(ABC):
|
||||
self.progress("Reached final waypoint %u" % seq)
|
||||
return True
|
||||
if seq > current_wp+1:
|
||||
raise WaitWaypointTimeout((
|
||||
"Skipped waypoint! Got wp %u expected %u"
|
||||
% (seq, current_wp+1)))
|
||||
raise WaitWaypointTimeout(("Skipped waypoint! Got wp %u expected %u"
|
||||
% (seq, current_wp+1)))
|
||||
raise WaitWaypointTimeout("Timed out waiting for waypoint %u of %u" %
|
||||
(wpnum_end, wpnum_end))
|
||||
|
||||
@ -1525,8 +1524,7 @@ class AutoTest(ABC):
|
||||
(channel_field, m_value, interlock_value))
|
||||
if m_value != interlock_value:
|
||||
self.set_rc(8, 1000)
|
||||
raise NotAchievedException(
|
||||
"Motor interlock was changed while disarmed")
|
||||
raise NotAchievedException("Motor interlock was changed while disarmed")
|
||||
|
||||
self.set_rc(8, 1000)
|
||||
self.progress("ALL PASS")
|
||||
|
||||
Loading…
Reference in New Issue
Block a user