autotest: create collections-on-context to record selected messages

Tools/autotest/arduplane.py

@@ -843,9 +843,11 @@ class AutoTestPlane(AutoTest):
 
         self.set_parameter("THR_FS_VALUE", 960)
         self.progress("Failing receiver (throttle-to-950)")
+        self.context_collect("HEARTBEAT")
         self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
-        self.wait_mode('CIRCLE') # short failsafe
         self.wait_mode('RTL') # long failsafe
+        if (not self.get_mode_from_mode_mapping("CIRCLE") in [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
+            raise NotAchievedException("Did not go via circle mode")
         self.progress("Ensure we've had our throttle squashed to 950")
         self.wait_rc_channel_value(3, 950)
         self.drain_mav_unparsed()
@@ -878,9 +880,11 @@ class AutoTestPlane(AutoTest):
         self.change_mode('MANUAL')
 
         self.progress("Failing receiver (no-pulses)")
+        self.context_collect("HEARTBEAT")
         self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
-        self.wait_mode('CIRCLE') # short failsafe
         self.wait_mode('RTL') # long failsafe
+        if (not self.get_mode_from_mode_mapping("CIRCLE") in [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
+            raise NotAchievedException("Did not go via circle mode")
         self.drain_mav_unparsed()
         m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
         print("%s" % str(m))
@@ -913,20 +917,22 @@ class AutoTestPlane(AutoTest):
 
         self.progress("Ensure long failsafe can trigger when short failsafe disabled")
         self.context_push()
+        self.context_collect("STATUSTEXT")
         ex = None
         try:
             self.set_parameter("FS_SHORT_ACTN", 3) # 3 means disabled
             self.set_parameter("SIM_RC_FAIL", 1)
-            self.wait_statustext("Long event on")
+            self.wait_statustext("Long event on", check_context=True)
             self.wait_mode("RTL")
+#            self.context_clear_collection("STATUSTEXT")
             self.set_parameter("SIM_RC_FAIL", 0)
-            self.wait_text("Long event off")
+            self.wait_text("Long event off", check_context=True)
             self.change_mode("MANUAL")
 
             self.progress("Trying again with THR_FS_VALUE")
             self.set_parameter("THR_FS_VALUE", 960)
             self.set_parameter("SIM_RC_FAIL", 2)
-            self.wait_statustext("Long event on")
+            self.wait_statustext("Long event on", check_context=True)
             self.wait_mode("RTL")
         except Exception as e:
             self.progress("Exception caught:")

Tools/autotest/common.py

@@ -134,6 +134,7 @@ class Context(object):
         self.parameters = []
         self.sitl_commandline_customised = False
         self.message_hooks = []
+        self.collections = {}
 
 # https://stackoverflow.com/questions/616645/how-do-i-duplicate-sys-stdout-to-a-log-file-in-python
 class TeeBoth(object):
@@ -2222,10 +2223,14 @@ class AutoTest(ABC):
     def install_message_hook_context(self, hook):
         '''installs a message hook which will be removed when the context goes
         away'''
+        if self.mav is None:
+            return
         self.mav.message_hooks.append(hook)
         self.context_get().message_hooks.append(hook)
 
     def remove_message_hook(self, hook):
+        if self.mav is None:
+            return
         oldlen = len(self.mav.message_hooks)
         self.mav.message_hooks = list(filter(lambda x : x != hook,
                                         self.mav.message_hooks))
@@ -3019,7 +3024,9 @@ class AutoTest(ABC):
         while attempts > 0:
             if verbose:
                 self.progress("Sending param_request_read for (%s)" % name)
-            self.drain_mav_unparsed(quiet=True)
+            # we MUST parse here or collections fail where we need
+            # them to work!
+            self.drain_mav(quiet=True)
             tstart = self.get_sim_time()
             encname = name
             if sys.version_info.major >= 3 and type(encname) != bytes:
@@ -3073,7 +3080,38 @@ class AutoTest(ABC):
 
     def context_push(self):
         """Save a copy of the parameters."""
-        self.contexts.append(Context())
+        context = Context()
+        self.contexts.append(context)
+        # add a message hook so we can collect messages conveniently:
+        def mh(mav, m):
+            t = m.get_type()
+            if t in context.collections:
+                print("m=%s" % str(m))
+                context.collections[t].append(m)
+        self.install_message_hook_context(mh)
+
+    def context_collect(self, msg_type):
+        '''start collecting messages of type msg_type into context collection'''
+        context = self.context_get()
+        if msg_type in context.collections:
+            return
+        context.collections[msg_type] = []
+
+    def context_clear_collection(self, msg_type):
+        '''clear collection of message type msg_type'''
+        context = self.context_get()
+        if msg_type not in context.collections:
+            raise NotAchievedException("Not collecting (%s)" % str(msg_type))
+        context.collections[msg_type] = []
+
+    def context_stop_collecting(self, msg_type):
+        '''stop collecting messages of type msg_type in context collection.  Returns the collected messages'''
+        context = self.context_get()
+        if msg_type not in context.collections:
+            raise Exception("Not collecting %s" % str(msg_type))
+        ret = context.collections[msg_type]
+        del context.collections[msg_type]
+        return ret
 
     def context_pop(self):
         """Set parameters to origin values in reverse order."""
@@ -4010,7 +4048,7 @@ Also, ignores heartbeats not from our target system'''
     def wait_text(self, *args, **kwargs):
         self.wait_statustext(*args, **kwargs)
 
-    def wait_statustext(self, text, timeout=20, the_function=None):
+    def wait_statustext(self, text, timeout=20, the_function=None, check_context=False):
         """Wait for a specific STATUSTEXT."""
 
         # Statustexts are often triggered by something we've just
@@ -4020,6 +4058,15 @@ Also, ignores heartbeats not from our target system'''
         # a new SYSTEM_TIME message), so we install a message hook
         # which checks all incoming messages.
         self.progress("Waiting for text : %s" % text.lower())
+        if check_context:
+            c = self.context_get()
+            if "STATUSTEXT" not in c.collections:
+                raise NotAchievedException("Asked to check context but it isn't collecting!")
+            for statustext in [x.text for x in c.collections["STATUSTEXT"]]:
+                if text.lower() in statustext.lower():
+                    self.progress("Found expected text in collection: %s" % text.lower())
+                    return
+
         global statustext_found
         statustext_found = False
         def mh(mav, m):
@@ -4027,7 +4074,7 @@ Also, ignores heartbeats not from our target system'''
             if m.get_type() != "STATUSTEXT":
                 return
             if text.lower() in m.text.lower():
-                self.progress("Received expected text : %s" % m.text.lower())
+                self.progress("Received expected text: %s" % m.text.lower())
                 statustext_found = True
         self.install_message_hook_context(mh)
         tstart = self.get_sim_time()
@@ -4037,7 +4084,7 @@ Also, ignores heartbeats not from our target system'''
             if the_function is not None:
                 the_function()
             m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=0.1)
-        raise AutoTestTimeoutException("Failed to received text : %s" %
+        raise AutoTestTimeoutException("Failed to receive text: %s" %
                                        text.lower())
 
     def get_mavlink_connection_going(self):