autotest: add test for auxfunc triggering via script

Tools/autotest/common.py

@@ -5060,6 +5060,19 @@ class AutoTest(ABC):
             **kwargs
         )
 
+    def wait_parameter_value(self, parameter, value, timeout=10):
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > timeout:
+                raise NotAchievedException("%s never got value %f" %
+                                           (parameter, value))
+            v = self.get_parameter(parameter, verbose=False)
+            self.progress("Got parameter value (%s=%f)" %
+                          (parameter, v))
+            if v == value:
+                return
+            self.delay_sim_time(0.1)
+
     def get_servo_channel_value(self, channel, timeout=2):
         channel_field = "servo%u_raw" % channel
         tstart = self.get_sim_time()

Tools/autotest/rover.py

@@ -5115,10 +5115,40 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         if ex is not None:
             raise ex
 
+    def test_scripting_auxfunc(self):
+        self.start_subtest("Scripting aufunc triggering")
+
+        self.context_push()
+        self.set_parameter('RELAY_PIN', 1)
+        self.context_collect("STATUSTEXT")
+
+        ex = None
+        example_script = "RCIN_test.lua"
+        try:
+            self.set_parameter("SCR_ENABLE", 1)
+            self.install_example_script(example_script)
+            self.reboot_sitl()
+            self.wait_parameter_value("SIM_PIN_MASK", 121)
+            self.wait_parameter_value("SIM_PIN_MASK", 123)
+            self.wait_parameter_value("SIM_PIN_MASK", 121)
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+
+        self.remove_example_script(example_script)
+
+        self.context_pop()
+
+        self.reboot_sitl()
+
+        if ex is not None:
+            raise ex
+
     def test_scripting(self):
         self.test_scripting_hello_world()
         self.test_scripting_simple_loop()
         self.test_scripting_internal_test()
+        self.test_scripting_auxfunc()
 
     def test_mission_frame(self, frame, target_system=1, target_component=1):
         self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION,