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https://github.com/ArduPilot/ardupilot
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Tools: autotest: make Rover use new tests framework
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
8528bcf78c
commit
9eae7857dd
@ -853,102 +853,91 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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if ex is not None:
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raise ex
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def autotest(self):
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"""Autotest APMrover2 in SITL."""
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self.check_test_syntax(test_file=os.path.realpath(__file__))
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if not self.hasInit:
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self.init()
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self.progress("Started simulator")
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def tests(self):
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'''return list of all tests'''
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ret = super(AutoTestRover, self).tests()
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self.fail_list = []
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try:
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self.progress("Waiting for a heartbeat with mavlink protocol %s" %
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self.mav.WIRE_PROTOCOL_VERSION)
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self.wait_heartbeat()
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self.progress("Setting up RC parameters")
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self.set_rc_default()
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self.set_rc(8, 1800)
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self.progress("Waiting for GPS fix")
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self.mav.wait_gps_fix()
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self.homeloc = self.mav.location()
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self.progress("Home location: %s" % self.homeloc)
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ret.extend([
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("ArmFeatures", "Arm features", self.test_arm_feature),
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self.mavproxy.send('switch 6\n') # Manual mode
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self.wait_mode('MANUAL')
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("MAVProxy_SetModeUsingSwitch",
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"Set modes via mavproxy switch",
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self.test_setting_modes_via_mavproxy_switch),
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self.wait_ready_to_arm()
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self.run_test("Arm features", self.test_arm_feature)
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("MAVProxy_SetModeUsingMode",
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"Set modes via mavproxy mode command",
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self.test_setting_modes_via_mavproxy_mode_command),
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self.run_test("Set modes via mavproxy switch",
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self.test_setting_modes_via_mavproxy_switch)
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("ModeSwitch",
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"Set modes via modeswitch",
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self.test_setting_modes_via_modeswitch),
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self.run_test("Set modes via mavproxy mode command",
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self.test_setting_modes_via_mavproxy_mode_command)
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("AuxModeSwitch",
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"Set modes via auxswitches",
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self.test_setting_modes_via_auxswitches),
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self.run_test("Set modes via modeswitch",
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self.test_setting_modes_via_modeswitch)
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("DriveRTL",
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"Drive an RTL Mission", self.drive_rtl_mission),
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self.run_test("Set modes via auxswitches",
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self.test_setting_modes_via_auxswitches)
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("DriveSquare",
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"Learn/Drive Square with Ch7 option",
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self.drive_square),
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self.run_test("Drive an RTL Mission", self.drive_rtl_mission)
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self.run_test("Learn/Drive Square with Ch7 option",
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self.drive_square)
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self.run_test("Drive Mission %s" % "rover1.txt",
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lambda: self.drive_mission("rover1.txt"))
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("DriveMission",
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"Drive Mission %s" % "rover1.txt",
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lambda: self.drive_mission("rover1.txt")),
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# disabled due to frequent failures in travis. This test needs re-writing
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# self.run_test("Drive Brake", self.drive_brake)
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# ("Drive Brake", self.drive_brake),
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self.run_test("Get Banner", self.do_get_banner)
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("GetBanner", "Get Banner", self.do_get_banner),
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self.run_test("Get Capabilities",
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self.do_get_autopilot_capabilities)
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("GetCapabilities",
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"Get Capabilities",
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self.do_get_autopilot_capabilities),
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self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE",
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self.test_do_set_mode_via_command_long)
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("DO_SET_MODE",
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"Set mode via MAV_COMMAND_DO_SET_MODE",
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self.test_do_set_mode_via_command_long),
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self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
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self.test_mavproxy_do_set_mode_via_command_long)
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("MAVProxy_DO_SET_MODE",
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"Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
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self.test_mavproxy_do_set_mode_via_command_long),
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self.run_test("Test ServoRelayEvents",
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self.test_servorelayevents)
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("ServoRelayEvents",
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"Test ServoRelayEvents",
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self.test_servorelayevents),
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self.run_test("Test RC overrides", self.test_rc_overrides)
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("RCOverrides", "Test RC overrides", self.test_rc_overrides),
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self.run_test("Test Sprayer", self.test_sprayer)
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("Sprayer", "Test Sprayer", self.test_sprayer),
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self.run_test("Test AC Avoidance switch",
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self.drive_fence_ac_avoidance)
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("AC_Avoidance",
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"Test AC Avoidance switch",
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self.drive_fence_ac_avoidance),
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self.run_test("Test Camera Mission Items",
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self.test_camera_mission_items)
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("CameraMission",
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"Test Camera Mission Items",
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self.test_camera_mission_items),
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self.run_test("Test MAV_CMD_SET_MESSAGE_INTERVAL",
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self.test_set_message_interval)
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("SET_MESSAGE_INTERVAL",
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"Test MAV_CMD_SET_MESSAGE_INTERVAL",
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self.test_set_message_interval),
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self.run_test("SYSID_ENFORCE", self.test_sysid_enforce)
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("SYSID_ENFORCE",
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"Test enforcement of SYSID_MYGCS",
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self.test_sysid_enforce),
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self.run_test("Download logs", lambda:
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self.log_download(
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self.buildlogs_path("APMrover2-log.bin"),
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upload_logs=len(self.fail_list) > 0))
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# if not drive_left_circuit(self):
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# self.progress("Failed left circuit")
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# failed = True
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# if not drive_RTL(self):
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# self.progress("Failed RTL")
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# failed = True
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("DownLoadLogs", "Download logs", lambda:
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self.log_download(
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self.buildlogs_path("APMrover2-log.bin"),
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upload_logs=len(self.fail_list) > 0)),
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])
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return ret
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except pexpect.TIMEOUT:
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self.progress("Failed with timeout")
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self.fail_list.append(("*timeout*", None))
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def set_rc_default(self):
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super(AutoTestRover, self).set_rc_default()
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self.set_rc(8, 1800)
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self.close()
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if len(self.fail_list):
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self.progress("FAILED STEPS: %s" % self.fail_list)
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return False
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return True
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def default_mode(self):
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return 'MANUAL'
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