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Tools: autotest: flake8 compliance

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This commit is contained in:
Peter Barker 2018-11-23 14:51:58 +11:00 committed by Peter Barker
parent ba0926e101
commit 88a003edd9
5 changed files with 69 additions and 65 deletions
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23
Tools/autotest/apmrover2.py
View File

@ -439,9 +439,10 @@ class AutoTestRover(AutoTest):
if delta < distance_without_brakes * 0.05: # 5% isn't asking for much if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
raise NotAchievedException(""" raise NotAchievedException("""
Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
""" % (distance_with_brakes, """ %
distance_without_brakes, (distance_with_brakes,
delta)) distance_without_brakes,
delta))
self.progress( self.progress(
"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" % "Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
@ -488,7 +489,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
home_distance = None home_distance = None
tstart = self.get_sim_time() tstart = self.get_sim_time()
while self.get_sim_time() - tstart < timeout: while self.get_sim_time() - tstart < timeout:
m = self.mav.recv_match(type='VFR_HUD', blocking=True) # m = self.mav.recv_match(type='VFR_HUD', blocking=True)
pos = self.mav.location() pos = self.mav.location()
home_distance = self.get_distance(HOME, pos) home_distance = self.get_distance(HOME, pos)
if home_distance > distance: if home_distance > distance:
@ -506,7 +507,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.set_parameter("PRX_TYPE", 10) self.set_parameter("PRX_TYPE", 10)
self.set_parameter("RC10_OPTION", 40) # proximity-enable self.set_parameter("RC10_OPTION", 40) # proximity-enable
self.reboot_sitl() self.reboot_sitl()
start = self.mav.location() # start = self.mav.location()
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
# first make sure we can breach the fence: # first make sure we can breach the fence:
@ -560,7 +561,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
fnoo = [(1, 'ACRO'), fnoo = [(1, 'ACRO'),
(3, 'STEERING'), (3, 'STEERING'),
(4, 'HOLD'), (4, 'HOLD'),
] ]
for (num, expected) in fnoo: for (num, expected) in fnoo:
self.mavproxy.send('mode manual\n') self.mavproxy.send('mode manual\n')
self.wait_mode("MANUAL") self.wait_mode("MANUAL")
@ -638,7 +639,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise ex raise ex
def test_rc_overrides(self): def test_rc_overrides(self):
self.context_push(); self.context_push()
ex = None ex = None
try: try:
self.set_parameter("RC12_OPTION", 46) self.set_parameter("RC12_OPTION", 46)
@ -721,7 +722,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Exception caught") self.progress("Exception caught")
ex = e ex = e
self.context_pop(); self.context_pop()
self.reboot_sitl() self.reboot_sitl()
if ex is not None: if ex is not None:
@ -752,7 +753,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
expected_distance = 2 expected_distance = 2
elif mc.seq == 4: elif mc.seq == 4:
expected_distance = 5 expected_distance = 5
elif mc.seq ==5: elif mc.seq == 5:
break break
else: else:
continue continue
@ -820,7 +821,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.drive_square) self.drive_square)
self.run_test("Drive Mission %s" % "rover1.txt", self.run_test("Drive Mission %s" % "rover1.txt",
lambda : self.drive_mission("rover1.txt")) lambda: self.drive_mission("rover1.txt"))
# disabled due to frequent failures in travis. This test needs re-writing # disabled due to frequent failures in travis. This test needs re-writing
# self.run_test("Drive Brake", self.drive_brake) # self.run_test("Drive Brake", self.drive_brake)
@ -855,7 +856,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.run_test("Download logs", lambda: self.run_test("Download logs", lambda:
self.log_download( self.log_download(
self.buildlogs_path("APMrover2-log.bin"), self.buildlogs_path("APMrover2-log.bin"),
upload_logs=len(self.fail_list)>0)) upload_logs=len(self.fail_list) > 0))
# if not drive_left_circuit(self): # if not drive_left_circuit(self):
# self.progress("Failed left circuit") # self.progress("Failed left circuit")
# failed = True # failed = True

46
Tools/autotest/arducopter.py
View File

@ -11,7 +11,6 @@ import traceback
import pexpect import pexpect
from pymavlink import mavutil from pymavlink import mavutil
from pymavlink import mavextra from pymavlink import mavextra
from pymavlink import quaternion
from pysim import util, rotmat from pysim import util, rotmat
@ -141,7 +140,7 @@ class AutoTestCopter(AutoTest):
0, # param5 0, # param5
0, # param6 0, # param6
alt_min # param7 alt_min # param7
) )
self.progress("Ran command") self.progress("Ran command")
self.wait_for_alt(alt_min) self.wait_for_alt(alt_min)
@ -223,7 +222,7 @@ class AutoTestCopter(AutoTest):
if delta > maxdistchange: if delta > maxdistchange:
raise NotAchievedException( raise NotAchievedException(
"Loiter shifted %u meters (> limit of %u)" % "Loiter shifted %u meters (> limit of %u)" %
(delta, maxdistchange)) (delta, maxdistchange))
self.progress("Loiter OK for %u seconds" % holdtime) self.progress("Loiter OK for %u seconds" % holdtime)
def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080): def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
@ -1397,8 +1396,7 @@ class AutoTestCopter(AutoTest):
if now - tstart > 120: if now - tstart > 120:
raise AutoTestTimeoutException("Did not disarm as expected") raise AutoTestTimeoutException("Did not disarm as expected")
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True) m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
if ((now - last_mission_current_msg) > 1 or if ((now - last_mission_current_msg) > 1 or m.seq != last_seq):
m.seq != last_seq):
dist = None dist = None
x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None) x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
if x is not None: if x is not None:
@ -1539,12 +1537,14 @@ class AutoTestCopter(AutoTest):
command = mavutil.mavlink.MAV_CMD_NAV_DELAY command = mavutil.mavlink.MAV_CMD_NAV_DELAY
# retrieve mission item and check it: # retrieve mission item and check it:
tried_set = False tried_set = False
hours = None
mins = None
secs = None
while True: while True:
self.progress("Requesting item") self.progress("Requesting item")
self.mav.mav.mission_request_send(1, self.mav.mav.mission_request_send(1,
1, 1,
seq seq)
)
st = self.mav.recv_match(type='MISSION_ITEM', st = self.mav.recv_match(type='MISSION_ITEM',
blocking=True, blocking=True,
timeout=1) timeout=1)
@ -1552,13 +1552,15 @@ class AutoTestCopter(AutoTest):
continue continue
print("Item: %s" % str(st)) print("Item: %s" % str(st))
if (tried_set and have_match = (tried_set and
st.seq == seq and st.seq == seq and
st.command == command and st.command == command and
st.param2 == hours and st.param2 == hours and
st.param3 == mins and st.param3 == mins and
st.param4 == secs): st.param4 == secs)
if have_match:
return return
self.progress("Mission mismatch") self.progress("Mission mismatch")
m = None m = None
@ -1675,6 +1677,7 @@ class AutoTestCopter(AutoTest):
def fly_nav_takeoff_delay_abstime(self): def fly_nav_takeoff_delay_abstime(self):
"""make sure taking off at a specific time works""" """make sure taking off at a specific time works"""
global num_wp
num_wp = self.load_mission("copter_nav_delay_takeoff.txt") num_wp = self.load_mission("copter_nav_delay_takeoff.txt")
self.progress("Starting mission") self.progress("Starting mission")
@ -1688,9 +1691,9 @@ class AutoTestCopter(AutoTest):
delay_item_seq = 2 delay_item_seq = 2
self.reset_delay_item_seventyseven(delay_item_seq) self.reset_delay_item_seventyseven(delay_item_seq)
delay_for_seconds = 77 delay_for_seconds = 77
reset_at = self.get_sim_time_cached(); reset_at = self.get_sim_time_cached()
self.context_push(); self.context_push()
ex = None ex = None
try: try:
@ -2132,8 +2135,8 @@ class AutoTestCopter(AutoTest):
self.mav.mav.mount_control_send( self.mav.mav.mount_control_send(
1, # target system 1, # target system
1, # target component 1, # target component
20 *100, # pitch 20 * 100, # pitch
20 *100, # roll (centidegrees) 20 * 100, # roll (centidegrees)
0, # yaw 0, # yaw
0 # save position 0 # save position
) )
@ -2318,6 +2321,9 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl() # to handle MNT_TYPE changing self.reboot_sitl() # to handle MNT_TYPE changing
if ex is not None:
raise ex
def fly_precision_companion(self): def fly_precision_companion(self):
"""Use Companion PrecLand backend precision messages to loiter.""" """Use Companion PrecLand backend precision messages to loiter."""
@ -2612,7 +2618,7 @@ class AutoTestCopter(AutoTest):
self.run_test("Test gripper", self.test_gripper) self.run_test("Test gripper", self.test_gripper)
self.run_test("Test gripper mission items", self.run_test("Test gripper mission items",
self.test_gripper_mission); self.test_gripper_mission)
'''vision position''' # expects vehicle to be disarmed '''vision position''' # expects vehicle to be disarmed
self.run_test("Fly Vision Position", self.fly_vision_position) self.run_test("Fly Vision Position", self.fly_vision_position)
@ -2624,7 +2630,7 @@ class AutoTestCopter(AutoTest):
self.run_test("log download", self.run_test("log download",
lambda: self.log_download( lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin"), self.buildlogs_path("ArduCopter-log.bin"),
upload_logs=len(self.fail_list)>0)) upload_logs=len(self.fail_list) > 0))
except pexpect.TIMEOUT: except pexpect.TIMEOUT:
self.progress("Failed with timeout") self.progress("Failed with timeout")
@ -2671,7 +2677,7 @@ class AutoTestCopter(AutoTest):
self.run_test("log download", self.run_test("log download",
lambda: self.log_download( lambda: self.log_download(
self.buildlogs_path("Helicopter-log.bin"), self.buildlogs_path("Helicopter-log.bin"),
upload_logs=len(self.fail_list)>0)) upload_logs=len(self.fail_list) > 0))
except pexpect.TIMEOUT: except pexpect.TIMEOUT:
self.fail_list.append("Failed with timeout") self.fail_list.append("Failed with timeout")

9
Tools/autotest/arduplane.py
View File

@ -362,7 +362,7 @@ class AutoTestPlane(AutoTest):
type_mask = 0b10000001 ^ 0xFF # FIXME type_mask = 0b10000001 ^ 0xFF # FIXME
# attitude in radians: # attitude in radians:
q = quaternion.Quaternion([math.radians(target_roll_degrees), q = quaternion.Quaternion([math.radians(target_roll_degrees),
0 , 0,
0]) 0])
roll_rate_radians = 0.5 roll_rate_radians = 0.5
pitch_rate_radians = 0 pitch_rate_radians = 0
@ -594,14 +594,13 @@ class AutoTestPlane(AutoTest):
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True) m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
time_delta = (self.get_sim_time_cached() - time_delta = (self.get_sim_time_cached() -
last_mission_current_msg) last_mission_current_msg)
if (time_delta >1 or if (time_delta > 1 or m.seq != last_seq):
m.seq != last_seq):
dist = None dist = None
x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None) x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
if x is not None: if x is not None:
dist = x.wp_dist dist = x.wp_dist
self.progress("MISSION_CURRENT.seq=%u (dist=%s)" % self.progress("MISSION_CURRENT.seq=%u (dist=%s)" %
(m.seq,str(dist))) (m.seq, str(dist)))
last_mission_current_msg = self.get_sim_time_cached() last_mission_current_msg = self.get_sim_time_cached()
last_seq = m.seq last_seq = m.seq
# flaps should undeploy at the end # flaps should undeploy at the end
@ -767,6 +766,6 @@ class AutoTestPlane(AutoTest):
self.progress("FAILED: %s" % self.fail_list) self.progress("FAILED: %s" % self.fail_list)
return False return False
self.progress("Max set_rc_timeout=%s" % self.max_set_rc_timeout); self.progress("Max set_rc_timeout=%s" % self.max_set_rc_timeout)
return True return True

4
Tools/autotest/ardusub.py
View File

@ -186,12 +186,12 @@ class AutoTestSub(AutoTest):
lambda: self.dive_mission("sub_mission.txt")) lambda: self.dive_mission("sub_mission.txt"))
self.run_test("Test gripper mission items", self.run_test("Test gripper mission items",
self.test_gripper_mission); self.test_gripper_mission)
self.run_test("Log download", self.run_test("Log download",
lambda: self.log_download( lambda: self.log_download(
self.buildlogs_path("ArduSub-log.bin"), self.buildlogs_path("ArduSub-log.bin"),
upload_logs=len(self.fail_list)>0)) upload_logs=len(self.fail_list) > 0))
except pexpect.TIMEOUT: except pexpect.TIMEOUT:
self.progress("Failed with timeout") self.progress("Failed with timeout")

52
Tools/autotest/common.py
View File

@ -302,7 +302,6 @@ class AutoTest(ABC):
count += 1 count += 1
self.progress("Drained %u messages from mav" % count) self.progress("Drained %u messages from mav" % count)
################################################# #################################################
# SIM UTILITIES # SIM UTILITIES
################################################# #################################################
@ -366,11 +365,13 @@ class AutoTest(ABC):
self.mav.wait_heartbeat() self.mav.wait_heartbeat()
if upload_logs and not os.getenv("AUTOTEST_NO_UPLOAD"): if upload_logs and not os.getenv("AUTOTEST_NO_UPLOAD"):
# optionally upload logs to server so we can see travis failure logs # optionally upload logs to server so we can see travis failure logs
import subprocess, glob, datetime import datetime
logdir=os.path.dirname(filename) import glob
datedir=datetime.datetime.now().strftime("%Y-%m-%d-%H-%M") import subprocess
logdir = os.path.dirname(filename)
datedir = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M")
flist = glob.glob("logs/*.BIN") flist = glob.glob("logs/*.BIN")
for e in ['BIN','bin','tlog']: for e in ['BIN', 'bin', 'tlog']:
flist += glob.glob(os.path.join(logdir, '*.%s' % e)) flist += glob.glob(os.path.join(logdir, '*.%s' % e))
print("Uploading %u logs to http://firmware.ardupilot.org/CI-Logs/%s" % (len(flist), datedir)) print("Uploading %u logs to http://firmware.ardupilot.org/CI-Logs/%s" % (len(flist), datedir))
cmd = ['rsync', '-avz'] + flist + ['cilogs@autotest.ardupilot.org::CI-Logs/%s/' % datedir] cmd = ['rsync', '-avz'] + flist + ['cilogs@autotest.ardupilot.org::CI-Logs/%s/' % datedir]
@ -402,7 +403,7 @@ class AutoTest(ABC):
self.progress("Comparing (%s) and (%s)" % (file1, file2, )) self.progress("Comparing (%s) and (%s)" % (file1, file2, ))
f1 = open(file1) f1 = open(file1)
f2 = open(file2) f2 = open(file2)
for l1,l2 in itertools.izip(f1,f2): for l1, l2 in itertools.izip(f1, f2):
if l1 == l2: if l1 == l2:
# e.g. the first "QGC WPL 110" line # e.g. the first "QGC WPL 110" line
continue continue
@ -413,9 +414,9 @@ class AutoTest(ABC):
l2 = l2.rstrip() l2 = l2.rstrip()
fields1 = re.split("\s+", l1) fields1 = re.split("\s+", l1)
fields2 = re.split("\s+", l2) fields2 = re.split("\s+", l2)
line = int(fields1[0]) # line = int(fields1[0])
t = int(fields1[3]) # mission item type t = int(fields1[3]) # mission item type
for (count, (i1,i2)) in enumerate(itertools.izip(fields1, fields2)): for (count, (i1, i2)) in enumerate(itertools.izip(fields1, fields2)):
if count == 2: # frame if count == 2: # frame
if t in [mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, if t in [mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
mavutil.mavlink.MAV_CMD_CONDITION_YAW, mavutil.mavlink.MAV_CMD_CONDITION_YAW,
@ -445,15 +446,16 @@ class AutoTest(ABC):
i2 = 1 i2 = 1
if 0 <= count <= 3 or 11 <= count <= 11: if 0 <= count <= 3 or 11 <= count <= 11:
if int(i1) != int(i2): if int(i1) != int(i2):
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 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
continue continue
if 4 <= count <= 10: if 4 <= count <= 10:
delta = abs(float(i1) - float(i2)) delta = abs(float(i1) - float(i2))
max_allowed_delta = 0.000009 max_allowed_delta = 0.000009
if delta > max_allowed_delta: if delta > max_allowed_delta:
# 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)) raise ValueError("Files have different (float) content: (%s) and " +
# sys.exit(0) "(%s) (%s vs %s) (%f vs %f) (%.10f) (count=%u)" %
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 (file1, file2, l1, l2, float(i1), float(i2), delta, count)) # NOCI
continue continue
raise ValueError("count %u not handled" % count) raise ValueError("count %u not handled" % count)
self.progress("Files same") self.progress("Files same")
@ -546,8 +548,7 @@ class AutoTest(ABC):
if delta > self.max_set_rc_timeout: if delta > self.max_set_rc_timeout:
self.max_set_rc_timeout = delta self.max_set_rc_timeout = delta
return True return True
raise SetRCTimeout(( raise SetRCTimeout("Failed to send RC commands to channel %s" % str(chan))
"Failed to send RC commands to channel %s" % str(chan)))
def set_throttle_zero(self): def set_throttle_zero(self):
"""Set throttle to zero.""" """Set throttle to zero."""
@ -768,7 +769,7 @@ class AutoTest(ABC):
self.fetch_parameters() self.fetch_parameters()
return return
raise ValueError("Param fetch returned incorrect value (%s) vs (%s)" raise ValueError("Param fetch returned incorrect value (%s) vs (%s)"
% (returned_value, value)) % (returned_value, value))
def get_parameter(self, name, retry=1, timeout=60): def get_parameter(self, name, retry=1, timeout=60):
"""Get parameters from vehicle.""" """Get parameters from vehicle."""
@ -1068,7 +1069,7 @@ class AutoTest(ABC):
if self.get_sim_time_cached() - last_print > 1: if self.get_sim_time_cached() - last_print > 1:
self.progress("Wait groundspeed %.1f, target:%.1f" % self.progress("Wait groundspeed %.1f, target:%.1f" %
(m.groundspeed, gs_min)) (m.groundspeed, gs_min))
last_print = self.get_sim_time_cached(); last_print = self.get_sim_time_cached()
if m.groundspeed >= gs_min and m.groundspeed <= gs_max: if m.groundspeed >= gs_min and m.groundspeed <= gs_max:
return True return True
raise WaitGroundSpeedTimeout("Failed to attain groundspeed range") raise WaitGroundSpeedTimeout("Failed to attain groundspeed range")
@ -1113,8 +1114,8 @@ class AutoTest(ABC):
break break
m = self.mav.recv_match(type='VFR_HUD', blocking=True) m = self.mav.recv_match(type='VFR_HUD', blocking=True)
if now - last_print_time > 1: if now - last_print_time > 1:
self.progress("Heading %u (want %f +- %f)" % ( self.progress("Heading %u (want %f +- %f)" %
m.heading, heading, accuracy)) (m.heading, heading, accuracy))
last_print_time = now last_print_time = now
if math.fabs(m.heading - heading) <= accuracy: if math.fabs(m.heading - heading) <= accuracy:
self.progress("Attained heading %u" % heading) self.progress("Attained heading %u" % heading)
@ -1137,9 +1138,8 @@ class AutoTest(ABC):
self.progress("Attained distance %.2f meters OK" % delta) self.progress("Attained distance %.2f meters OK" % delta)
return True return True
if delta > (distance + accuracy): if delta > (distance + accuracy):
raise WaitDistanceTimeout( raise WaitDistanceTimeout("Failed distance - overshoot delta=%f dist=%f"
"Failed distance - overshoot delta=%f dist=%f" % (delta, distance))
% (delta, distance))
raise WaitDistanceTimeout("Failed to attain distance %u" % distance) raise WaitDistanceTimeout("Failed to attain distance %u" % distance)
def wait_servo_channel_value(self, channel, value, timeout=2): def wait_servo_channel_value(self, channel, value, timeout=2):
@ -1195,7 +1195,7 @@ class AutoTest(ABC):
seq = self.mav.waypoint_current() seq = self.mav.waypoint_current()
self.progress("Waiting for wp=%u current=%u" % (wpnum, seq)) self.progress("Waiting for wp=%u current=%u" % (wpnum, seq))
if seq == wpnum: if seq == wpnum:
break; break
def wait_waypoint(self, def wait_waypoint(self,
wpnum_start, wpnum_start,
@ -1249,9 +1249,8 @@ class AutoTest(ABC):
self.progress("Reached final waypoint %u" % seq) self.progress("Reached final waypoint %u" % seq)
return True return True
if seq > current_wp+1: if seq > current_wp+1:
raise WaitWaypointTimeout(( raise WaitWaypointTimeout(("Skipped waypoint! Got wp %u expected %u"
"Skipped waypoint! Got wp %u expected %u" % (seq, current_wp+1)))
% (seq, current_wp+1)))
raise WaitWaypointTimeout("Timed out waiting for waypoint %u of %u" % raise WaitWaypointTimeout("Timed out waiting for waypoint %u of %u" %
(wpnum_end, wpnum_end)) (wpnum_end, wpnum_end))
@ -1525,8 +1524,7 @@ class AutoTest(ABC):
(channel_field, m_value, interlock_value)) (channel_field, m_value, interlock_value))
if m_value != interlock_value: if m_value != interlock_value:
self.set_rc(8, 1000) self.set_rc(8, 1000)
raise NotAchievedException( raise NotAchievedException("Motor interlock was changed while disarmed")
"Motor interlock was changed while disarmed")
self.set_rc(8, 1000) self.set_rc(8, 1000)
self.progress("ALL PASS") self.progress("ALL PASS")