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autotest: test gripper as both long and int 

... and make use of context_collect for statustext
This commit is contained in:
Peter Barker 2023-11-07 11:41:29 +11:00 committed by Andrew Tridgell
parent abf32906d2
commit 8d03d7e15d
1 changed files with 30 additions and 52 deletions
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82
Tools/autotest/vehicle_test_suite.py
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@ -10297,62 +10297,40 @@ Also, ignores heartbeats not from our target system'''
self.set_rc(9, 2000)
self.wait_text("Gripper load grabb", check_context=True)
self.progress("Test gripper with Mavlink cmd")
self.context_collect('STATUSTEXT')
self.progress("Releasing load")
self.wait_text("Gripper load releas",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_RELEASE,
0,
0,
0,
0,
0,
))
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
p1=1,
p2=mavutil.mavlink.GRIPPER_ACTION_RELEASE
)
self.wait_text("Gripper load releas", check_context=True)
self.progress("Grabbing load")
self.wait_text("Gripper load grabb",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_GRAB,
0,
0,
0,
0,
0,
))
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
p1=1,
p2=mavutil.mavlink.GRIPPER_ACTION_GRAB
)
self.wait_text("Gripper load grabb", check_context=True)
self.context_clear_collection('STATUSTEXT')
self.progress("Releasing load")
self.wait_text("Gripper load releas",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_RELEASE,
0,
0,
0,
0,
0,
))
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
p1=1,
p2=mavutil.mavlink.GRIPPER_ACTION_RELEASE
)
self.wait_text("Gripper load releas", check_context=True)
self.progress("Grabbing load")
self.wait_text("Gripper load grabb",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_GRAB,
0,
0,
0,
0,
0,
))
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
p1=1,
p2=mavutil.mavlink.GRIPPER_ACTION_GRAB
)
self.wait_text("Gripper load grabb", check_context=True)
self.context_pop()
self.reboot_sitl()