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Tools: autotest: use reboot to apply parameter changes; avoid sim restart 

Previously we stopped the simulation to ensure parameter changes are
applied to the simulated vehicle.  We can now reboot the simulated
autopilot, so these patches make use of those changes.

One big advantage is that the --gdb option is in play for the applying
of the parameters to the vehicle.
This commit is contained in:
Peter Barker 2018-06-27 10:56:01 +10:00 committed by Peter Barker
parent b4d527a9f8
commit 975b8c2e5f
4 changed files with 24 additions and 24 deletions
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9
Tools/autotest/apmrover2.py
View File

@ -62,15 +62,14 @@ class AutoTestRover(AutoTest):
if self.frame is None:
self.frame = 'rover'
self.apply_parameters_using_sitl()
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
gdbserver=self.gdbserver,
wipe=True)
self.mavproxy = util.start_MAVProxy_SITL(
'APMrover2', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
@ -86,6 +85,7 @@ class AutoTestRover(AutoTest):
except Exception:
pass
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
@ -107,6 +107,9 @@ class AutoTestRover(AutoTest):
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.apply_defaultfile_parameters()
self.progress("Ready to start testing!")
# def reset_and_arm(self):

9
Tools/autotest/arducopter.py
View File

@ -84,17 +84,17 @@ class AutoTestCopter(AutoTest):
AVCHOME.alt,
AVCHOME.heading)
self.apply_parameters_using_sitl()
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
gdbserver=self.gdbserver,
wipe=True)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduCopter', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
@ -112,8 +112,11 @@ class AutoTestCopter(AutoTest):
(self.logfile, self.buildlog))
self.copy_tlog = True
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
self.apply_defaultfile_parameters()
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()

9
Tools/autotest/ardusub.py
View File

@ -51,15 +51,14 @@ class AutoTestSub(AutoTest):
if self.frame is None:
self.frame = 'vectored'
self.apply_parameters_using_sitl()
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
gdbserver=self.gdbserver,
wipe=True)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduSub', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
@ -75,6 +74,7 @@ class AutoTestSub(AutoTest):
except Exception:
pass
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
@ -96,6 +96,9 @@ class AutoTestSub(AutoTest):
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.apply_defaultfile_parameters()
self.progress("Ready to start testing!")
def dive_manual(self):

21
Tools/autotest/common.py
View File

@ -146,17 +146,8 @@ class AutoTest(ABC):
def vehicleinfo_key(self):
return self.log_name
def apply_parameters_using_sitl(self):
'''start SITL, apply parameter file, stop SITL'''
sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup_default)
self.mavproxy = util.start_MAVProxy_SITL(self.log_name)
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
def apply_defaultfile_parameters(self):
'''apply parameter file'''
# setup test parameters
vinfo = vehicleinfo.VehicleInfo()
@ -170,11 +161,11 @@ class AutoTest(ABC):
self.mavproxy.expect('Loaded [0-9]+ parameters')
self.set_parameter('LOG_REPLAY', 1)
self.set_parameter('LOG_DISARMED', 1)
self.reboot_sitl()
# kill this SITL instance off:
util.pexpect_close(self.mavproxy)
util.pexpect_close(sitl)
self.mavproxy = None
def reboot_sitl(self):
self.mavproxy.send("reboot\n")
self.mavproxy.expect("tilt alignment complete")
def close(self):
'''tidy up after running all tests'''