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https://github.com/ArduPilot/ardupilot
synced 2025-02-21 23:33:57 -04:00
autotest: use assert_receive_message
Removes several block-forever calls
This commit is contained in:
Peter Barker
Peter Barker
parent
9d385c815e
commit
8a13fb0f6d
@ -3111,12 +3111,9 @@ class AutoTest(ABC):
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1, # target component
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log_id,
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log_id)
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log_entry = self.mav.recv_match(type='LOG_ENTRY',
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blocking=True,
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timeout=2)
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log_entry = self.assert_receive_message('LOG_ENTRY', timeout=2, verbose=True)
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if log_entry.size != len(actual_bytes):
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raise NotAchievedException("Incorrect bytecount")
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self.progress("Using log entry (%s)" % str(log_entry))
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if log_entry.id != log_id:
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raise NotAchievedException("Incorrect log id received")
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@ -5667,11 +5664,7 @@ class AutoTest(ABC):
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def get_altitude(self, relative=False, timeout=30):
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'''returns vehicles altitude in metres, possibly relative-to-home'''
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msg = self.mav.recv_match(type='GLOBAL_POSITION_INT',
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blocking=True,
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timeout=timeout)
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if msg is None:
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raise MsgRcvTimeoutException("Failed to get Global Position")
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msg = self.assert_receive_message("GLOBAL_POSITION_INT", timeout=timeout)
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if relative:
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return msg.relative_alt / 1000.0 # mm -> m
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return msg.alt / 1000.0 # mm -> m
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@ -5805,10 +5798,8 @@ class AutoTest(ABC):
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assert speed_min <= speed_max, "Minimum speed should be less than maximum speed."
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def get_climbrate(timeout2):
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msg = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=timeout2)
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if msg:
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return msg.climb
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raise MsgRcvTimeoutException("Failed to get climb rate")
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msg = self.assert_receive_message('VFR_HUD', timeout=timeout2)
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return msg.climb
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def validator(value2, target2=None):
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if speed_min <= value2 <= speed_max:
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@ -5837,10 +5828,8 @@ class AutoTest(ABC):
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assert speed_min <= speed_max, "Minimum speed should be less than maximum speed."
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def get_speed(timeout2):
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msg = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=timeout2)
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if msg:
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return getattr(msg, field)
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raise MsgRcvTimeoutException("Failed to get %s" % field)
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msg = self.assert_receive_message('VFR_HUD', timeout=timeout2)
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return getattr(msg, field)
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self.wait_and_maintain_range(
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value_name=field,
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@ -5855,13 +5844,11 @@ class AutoTest(ABC):
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def wait_roll(self, roll, accuracy, timeout=30, **kwargs):
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"""Wait for a given roll in degrees."""
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def get_roll(timeout2):
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msg = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=timeout2)
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if msg:
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p = math.degrees(msg.pitch)
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r = math.degrees(msg.roll)
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self.progress("Roll %d Pitch %d" % (r, p))
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return r
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raise MsgRcvTimeoutException("Failed to get Roll")
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msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
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p = math.degrees(msg.pitch)
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r = math.degrees(msg.roll)
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self.progress("Roll %d Pitch %d" % (r, p))
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return r
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def validator(value2, target2):
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return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy
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@ -5879,13 +5866,11 @@ class AutoTest(ABC):
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def wait_pitch(self, pitch, accuracy, timeout=30, **kwargs):
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"""Wait for a given pitch in degrees."""
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def get_pitch(timeout2):
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msg = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=timeout2)
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if msg:
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p = math.degrees(msg.pitch)
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r = math.degrees(msg.roll)
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self.progress("Pitch %d Roll %d" % (p, r))
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return p
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raise MsgRcvTimeoutException("Failed to get Pitch")
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msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
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p = math.degrees(msg.pitch)
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r = math.degrees(msg.roll)
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self.progress("Pitch %d Roll %d" % (p, r))
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return p
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def validator(value2, target2):
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return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy
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@ -6118,10 +6103,8 @@ class AutoTest(ABC):
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def wait_yaw_speed(self, yaw_speed, accuracy=0.1, timeout=30, **kwargs):
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"""Wait for a given yaw speed in radians per second."""
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def get_yawspeed(timeout2):
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msg = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=timeout2)
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if msg:
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return msg.yawspeed
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raise MsgRcvTimeoutException("Failed to get yaw speed")
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msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
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return msg.yawspeed
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def validator(value2, target2):
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return math.fabs(value2 - target2) <= accuracy
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@ -6177,12 +6160,8 @@ class AutoTest(ABC):
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)
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def get_body_frame_velocity(self):
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gri = self.mav.recv_match(type='GPS_RAW_INT', blocking=True, timeout=1)
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if gri is None:
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raise NotAchievedException("No GPS_RAW_INT")
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att = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=1)
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if att is None:
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raise NotAchievedException("No ATTITUDE")
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gri = self.assert_receive_message('GPS_RAW_INT', timeout=1)
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att = self.assert_receive_message('ATTITUDE', timeout=1)
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return mavextra.gps_velocity_body(gri, att)
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def wait_speed_vector_bf(self, speed_vector, accuracy=0.2, timeout=30, **kwargs):
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@ -6305,10 +6284,7 @@ class AutoTest(ABC):
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def distance_to_local_position(self, local_pos, timeout=30):
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(x, y, z_down) = local_pos # alt is *up*
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pos = self.mav.recv_match(
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type='LOCAL_POSITION_NED',
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blocking=True
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)
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pos = self.assert_receive_message('LOCAL_POSITION_NED', timeout=timeout)
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delta_x = pos.x - x
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delta_y = pos.y - y
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@ -6531,7 +6507,7 @@ class AutoTest(ABC):
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seq = self.mav.waypoint_current()
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m = self.assert_receive_message('NAV_CONTROLLER_OUTPUT')
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wp_dist = m.wp_dist
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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m = self.assert_receive_message('VFR_HUD')
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# if we changed mode, fail
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if self.mav.flightmode != mode:
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@ -6677,17 +6653,12 @@ class AutoTest(ABC):
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def assert_fence_enabled(self, timeout=2):
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# Check fence is enabled
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m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=timeout)
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m = self.assert_receive_message('FENCE_STATUS', timeout=timeout)
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self.progress("Got (%s)" % str(m))
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if m is None:
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raise NotAchievedException("Fence status was not received")
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def assert_fence_disabled(self, timeout=2):
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# Check fence is not enabled
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m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=timeout)
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self.progress("Got (%s)" % str(m))
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if m is not None:
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raise NotAchievedException("Fence status received unexpectedly")
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self.assert_not_receiving_message('FENCE_STATUS', timeout=timeout)
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def assert_prearm_failure(self,
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expected_statustext,
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@ -7702,8 +7673,7 @@ Also, ignores heartbeats not from our target system'''
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m = self.mav.messages.get("HOME_POSITION", None)
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if use_cached_home is False or m is None:
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m = self.poll_home_position(quiet=True)
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here = self.mav.recv_match(type='GLOBAL_POSITION_INT',
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blocking=True)
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here = self.assert_receive_message('GLOBAL_POSITION_INT')
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return self.get_distance_int(m, here)
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def home_position_as_mav_location(self):
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@ -7726,7 +7696,7 @@ Also, ignores heartbeats not from our target system'''
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while True:
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if self.get_sim_time_cached() - tstart > timeout:
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break
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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m = self.assert_receive_message('VFR_HUD', timeout=timeout)
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if m.groundspeed > want+tolerance:
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raise NotAchievedException("Too fast (%f > %f)" %
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(m.groundspeed, want))
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@ -8125,7 +8095,7 @@ Also, ignores heartbeats not from our target system'''
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while True:
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if self.get_sim_time_cached() - tstart > timeout:
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raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS")
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m = self.mav.recv_match(type=["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], blocking=True, timeout=10)
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m = self.assert_receive_message(["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], timeout=10)
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if m.get_type() == "MAG_CAL_REPORT":
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if report_get[m.compass_id] == 0:
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self.progress("Report: %s" % str(m))
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@ -8162,7 +8132,7 @@ Also, ignores heartbeats not from our target system'''
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while True:
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if self.get_sim_time_cached() - tstart > timeout:
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raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS")
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m = self.mav.recv_match(type=["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], blocking=True, timeout=5)
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m = self.assert_receive_message(["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], timeout=5)
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if m.get_type() == "MAG_CAL_REPORT":
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if report_get[m.compass_id] == 0:
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self.progress("Report: %s" % self.dump_message_verbose(m))
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@ -8505,10 +8475,7 @@ Also, ignores heartbeats not from our target system'''
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# wait until we definitely know where we are:
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self.poll_home_position(timeout=120)
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ss = self.mav.recv_match(type='SIMSTATE', blocking=True, timeout=1)
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if ss is None:
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raise NotAchievedException("Did not get SIMSTATE")
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self.progress("Got SIMSTATE (%s)" % str(ss))
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ss = self.assert_receive_message('SIMSTATE', timeout=1, verbose=True)
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self.run_cmd(mavutil.mavlink.MAV_CMD_FIXED_MAG_CAL_YAW,
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math.degrees(ss.yaw), # param1
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@ -9146,7 +9113,7 @@ Also, ignores heartbeats not from our target system'''
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# make sure get_message_interval works:
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self.send_get_message_interval(victim_message, mav=mav)
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m = mav.recv_match(type='MESSAGE_INTERVAL', blocking=True)
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m = self.assert_receive_message('MESSAGE_INTERVAL', timeout=30, mav=mav)
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if in_rate == 0:
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want = self.rate_to_interval_us(expected_rate)
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@ -9158,7 +9125,7 @@ Also, ignores heartbeats not from our target system'''
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if m.interval_us != want:
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raise NotAchievedException("Did not read same interval back from autopilot: want=%d got=%d)" %
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(want, m.interval_us))
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m = mav.recv_match(type='COMMAND_ACK', blocking=True)
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m = self.assert_receive_message('COMMAND_ACK', mav=mav)
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if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
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raise NotAchievedException("Expected ACCEPTED for reading message interval")
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@ -9244,10 +9211,10 @@ Also, ignores heartbeats not from our target system'''
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non_existant_id = 145
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self.send_get_message_interval(non_existant_id)
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m = self.mav.recv_match(type='MESSAGE_INTERVAL', blocking=True)
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m = self.assert_receive_message('MESSAGE_INTERVAL')
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if m.interval_us != 0:
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raise NotAchievedException("Supposed to get 0 back for unsupported stream")
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m = self.mav.recv_match(type='COMMAND_ACK', blocking=True)
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m = self.assert_receive_message('COMMAND_ACK')
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if m.result != mavutil.mavlink.MAV_RESULT_FAILED:
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raise NotAchievedException("Getting rate of unsupported message is a failure")
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@ -11959,7 +11926,7 @@ switch value'''
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a = ltm.a()
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if a is None:
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return
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m = self.mav.recv_match(type='ATTITUDE', blocking=True)
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m = self.assert_receive_message('ATTITUDE')
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pitch = a.pitch()
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print("pitch: %s" % str(pitch))
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