Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: autotest: add tests for GET_MESSAGE_INTERVAL

Browse Source
This commit is contained in:
Peter Barker 2019-01-23 17:03:06 +11:00 committed by Randy Mackay
parent 8b74ab32a3
commit 9aefaf5b92
1 changed files with 24 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
Tools/autotest/common.py
View File

@ -1752,6 +1752,21 @@ class AutoTest(ABC):
raise NotAchievedException("Rate not achieved (got %f want %u)" %
(new_measured_rate, expected_rate))
# make sure get_message_interval works:
self.mavproxy.send("long GET_MESSAGE_INTERVAL %u\n" %
(self.victim_message_id))
m = self.mav.recv_match(type='MESSAGE_INTERVAL', blocking=True)
want = set_interval
if set_interval == 0:
want = self.rate_to_interval_us(expected_rate)
if m.interval_us != want:
raise NotAchievedException("Did not read same interval back from autopilot: want=%d got=%d)" %
(want, m.interval_us))
m = self.mav.recv_match(type='COMMAND_ACK', blocking=True)
if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
raise NotAchievedException("Expected ACCEPTED for reading message interval")
def test_set_message_interval(self):
self.victim_message = 'VFR_HUD'
self.victim_message_id = mavutil.mavlink.MAVLINK_MSG_ID_VFR_HUD
@ -1799,6 +1814,15 @@ class AutoTest(ABC):
if abs(rate - want_rate) > 2:
raise NotAchievedException("Did not get expected rate")
non_existant_id = 145
self.mavproxy.send("long GET_MESSAGE_INTERVAL %u\n" %
(non_existant_id))
m = self.mav.recv_match(type='MESSAGE_INTERVAL', blocking=True)
if m.interval_us != 0:
raise NotAchievedException("Supposed to get 0 back for unsupported stream")
m = self.mav.recv_match(type='COMMAND_ACK', blocking=True)
if m.result != mavutil.mavlink.MAV_RESULT_FAILED:
raise NotAchievedException("Getting rate of unsupported message is a failure")
sr = self.sitl_streamrate()
self.mavproxy.send("set streamrate %u\n" % sr)