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autotest: make WaitAndMaintainEKFFlags progress nicer

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Peter Barker 2024-06-10 10:07:05 +10:00 committed by Peter Barker
parent 780352cd75
commit 9d7c8277a4
1 changed files with 38 additions and 4 deletions
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42
Tools/autotest/vehicle_test_suite.py
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@ -370,6 +370,7 @@ class WaitAndMaintain(object):
# check for timeout # check for timeout
if now - tstart > self.timeout: if now - tstart > self.timeout:
self.print_failure_text(now, current_value)
raise self.timeoutexception() raise self.timeoutexception()
# handle the case where we are are achieving our value: # handle the case where we are are achieving our value:
@ -401,6 +402,10 @@ class WaitAndMaintain(object):
text += f" (maintain={delta:.1f}/{self.minimum_duration})" text += f" (maintain={delta:.1f}/{self.minimum_duration})"
self.progress(text) self.progress(text)
def print_failure_text(self, now, value):
'''optionally print a more detailed error string'''
pass
def progress_text(self, value): def progress_text(self, value):
return f"want={self.get_target_value()} got={value}" return f"want={self.get_target_value()} got={value}"
@ -501,10 +506,39 @@ class WaitAndMaintainEKFFlags(WaitAndMaintain):
return AutoTestTimeoutException(f"Failed to get EKF.flags={self.required_flags}") return AutoTestTimeoutException(f"Failed to get EKF.flags={self.required_flags}")
def progress_text(self, current_value): def progress_text(self, current_value):
error_bits_str = "" error_bits = current_value & self.error_bits
if current_value & self.error_bits: return (f"Want={self.required_flags} got={current_value} errors={error_bits}")
error_bits_str = " (error bits present)"
return (f"Want=({self.required_flags}) got={current_value}{error_bits_str}") def ekf_flags_string(self, bits):
ret = []
for i in range(0, 16):
bit = 1 << i
try:
if not bits & bit:
continue
name = mavutil.mavlink.enums["ESTIMATOR_STATUS_FLAGS"][bit].name
trimmed_name = name.removeprefix("ESTIMATOR_")
ret.append(trimmed_name)
except KeyError:
ret.append(str(bit))
return "|".join(ret)
def failure_text(self, now, current_value):
components = []
components.append(("want", self.ekf_flags_string(self.required_flags)))
missing_bits = self.required_flags & ~current_value
if missing_bits:
components.append(("missing", self.ekf_flags_string(missing_bits)))
error_bits = current_value & self.error_bits
if error_bits:
components.append(("errors", self.ekf_flags_string(error_bits)))
return " ".join([f"{n}={v}" for (n, v) in components])
def print_failure_text(self, now, current_value):
self.progress(self.failure_text(now, current_value))
class WaitAndMaintainArmed(WaitAndMaintain): class WaitAndMaintainArmed(WaitAndMaintain):