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Tools: autotest: new wait_heartbeat raises exception if none received

This commit is contained in:
Peter Barker 2018-12-14 09:17:02 +11:00 committed by Peter Barker
parent ec288cd867
commit a320a54f66
5 changed files with 48 additions and 41 deletions
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14
Tools/autotest/apmrover2.py
View File

@ -99,13 +99,13 @@ class AutoTestRover(AutoTest):
# def reset_and_arm(self):
# """Reset RC, set to MANUAL and arm."""
# self.mav.wait_heartbeat()
# self.wait_heartbeat()
# # ensure all sticks in the middle
# self.set_rc_default()
# self.mavproxy.send('switch 1\n')
# self.mav.wait_heartbeat()
# self.wait_heartbeat()
# self.disarm_vehicle()
# self.mav.wait_heartbeat()
# self.wait_heartbeat()
# self.arm_vehicle()
#
@ -120,14 +120,14 @@ class AutoTestRover(AutoTest):
# self.progress("Test mission %s" % filename)
# num_wp = self.load_mission(filename)
# self.mavproxy.send('wp set 1\n')
# self.mav.wait_heartbeat()
# self.wait_heartbeat()
# self.mavproxy.send('switch 4\n') # auto mode
# self.wait_mode('AUTO')
# ret = self.wait_waypoint(0, num_wp-1, max_dist=5, timeout=500)
#
# if ret:
# self.mavproxy.expect("Mission Complete")
# self.mav.wait_heartbeat()
# self.wait_heartbeat()
# self.wait_mode('HOLD')
# self.progress("test: MISSION COMPLETE: passed=%s" % ret)
# return ret
@ -272,7 +272,7 @@ class AutoTestRover(AutoTest):
# self.mavproxy.send('rc 3 1500\n')
# self.mavproxy.expect('APM: Failsafe ended')
# self.mavproxy.send('switch 2\n') # manual mode
# self.mav.wait_heartbeat()
# self.wait_heartbeat()
# self.wait_mode('MANUAL')
#
# if success:
@ -812,7 +812,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
try:
self.progress("Waiting for a heartbeat with mavlink protocol %s" %
self.mav.WIRE_PROTOCOL_VERSION)
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.progress("Setting up RC parameters")
self.set_rc_default()
self.set_rc(8, 1800)

20
Tools/autotest/arducopter.py
View File

@ -1295,7 +1295,7 @@ class AutoTestCopter(AutoTest):
self.progress("Waiting for location")
self.mavproxy.send('switch 6\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_mode('STABILIZE')
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
@ -1382,7 +1382,7 @@ class AutoTestCopter(AutoTest):
self.load_mission("copter_nav_delay.txt")
self.mavproxy.send('mode loiter\n')
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_mode('LOITER')
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
@ -1635,7 +1635,7 @@ class AutoTestCopter(AutoTest):
self.progress("Starting mission")
self.mavproxy.send('mode loiter\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_mode('LOITER')
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
@ -1693,7 +1693,7 @@ class AutoTestCopter(AutoTest):
self.progress("Starting mission")
self.mavproxy.send('mode loiter\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_mode('LOITER')
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
@ -1925,7 +1925,7 @@ class AutoTestCopter(AutoTest):
self.mav.location()
self.set_rc(3, 1000)
self.mavproxy.send('switch 6\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_mode('STABILIZE')
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
@ -1933,7 +1933,7 @@ class AutoTestCopter(AutoTest):
self.arm_vehicle()
self.mavproxy.send('switch 4\n') # auto mode
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_mode('AUTO')
self.set_rc(3, 1500)
@ -2361,7 +2361,7 @@ class AutoTestCopter(AutoTest):
self.mav.location()
self.set_rc(3, 1000)
self.mavproxy.send('switch 6\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_mode('STABILIZE')
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
@ -2414,7 +2414,7 @@ class AutoTestCopter(AutoTest):
try:
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.progress("Setting up RC parameters")
self.set_rc_default()
self.set_rc(3, 1000)
@ -2443,7 +2443,7 @@ class AutoTestCopter(AutoTest):
self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc)
self.mavproxy.send('switch 6\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_mode('STABILIZE')
self.set_rc(3, 1000)
self.progress("Waiting reading for arm")
@ -2661,7 +2661,7 @@ class AutoTestCopter(AutoTest):
self.fail_list = []
try:
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.set_rc_default()
self.set_rc(3, 1000)
self.homeloc = self.mav.location()

12
Tools/autotest/arduplane.py
View File

@ -629,14 +629,14 @@ class AutoTestPlane(AutoTest):
if off:
raise PreconditionFailedException("SIM_MASK_PIN off")
self.set_rc(12, 2000)
self.mav.wait_heartbeat()
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_heartbeat()
on = self.get_parameter("SIM_PIN_MASK")
if not on:
raise NotAchievedException("SIM_PIN_MASK doesn't reflect ON")
self.set_rc(12, 1000)
self.mav.wait_heartbeat()
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_heartbeat()
off = self.get_parameter("SIM_PIN_MASK")
if off:
raise NotAchievedException("SIM_PIN_MASK doesn't reflect OFF")
@ -652,7 +652,7 @@ class AutoTestPlane(AutoTest):
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
if x is not None:
break
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.set_rc(12, 1000)
if x is None:
raise NotAchievedException("No CAMERA_FEEDBACK message received")
@ -687,7 +687,7 @@ class AutoTestPlane(AutoTest):
try:
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.progress("Setting up RC parameters")
self.set_rc_default()
self.set_rc(3, 1000)

2
Tools/autotest/ardusub.py
View File

@ -172,7 +172,7 @@ class AutoTestSub(AutoTest):
try:
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.set_parameter("FS_GCS_ENABLE", 0)
self.progress("Waiting for GPS fix")
self.mav.wait_gps_fix()

41
Tools/autotest/common.py
View File

@ -373,16 +373,16 @@ class AutoTest(ABC):
def log_download(self, filename, timeout=360, upload_logs=False):
"""Download latest log."""
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.mavproxy.send("log list\n")
self.mavproxy.expect("numLogs")
self.mav.wait_heartbeat()
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_heartbeat()
self.mavproxy.send("set shownoise 0\n")
self.mavproxy.send("log download latest %s\n" % filename)
self.mavproxy.expect("Finished downloading", timeout=timeout)
self.mav.wait_heartbeat()
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.wait_heartbeat()
if upload_logs and not os.getenv("AUTOTEST_NO_UPLOAD"):
# optionally upload logs to server so we can see travis failure logs
import datetime
@ -636,7 +636,7 @@ class AutoTest(ABC):
)
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < timeout:
self.mav.wait_heartbeat()
self.wait_heartbeat()
if self.mav.motors_armed():
self.progress("Motors ARMED")
return True
@ -656,7 +656,7 @@ class AutoTest(ABC):
)
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < timeout:
self.mav.wait_heartbeat()
self.wait_heartbeat()
if not self.mav.motors_armed():
self.progress("Motors DISARMED")
return True
@ -684,7 +684,7 @@ class AutoTest(ABC):
self.set_output_to_max(self.get_rudder_channel())
tstart = self.get_sim_time()
while True:
self.mav.wait_heartbeat()
self.wait_heartbeat()
if self.mav.motors_armed():
arm_delay = self.get_sim_time() - tstart
self.progress("MOTORS ARMED OK WITH RADIO")
@ -705,7 +705,7 @@ class AutoTest(ABC):
self.set_output_to_min(self.get_rudder_channel())
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat()
self.wait_heartbeat()
if not self.mav.motors_armed():
disarm_delay = self.get_sim_time() - tstart
self.progress("MOTORS DISARMED OK WITH RADIO")
@ -722,7 +722,7 @@ class AutoTest(ABC):
self.set_rc(switch_chan, 2000)
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < timeout:
self.mav.wait_heartbeat()
self.wait_heartbeat()
if self.mav.motors_armed():
self.progress("MOTORS ARMED OK WITH SWITCH")
return True
@ -735,7 +735,7 @@ class AutoTest(ABC):
self.set_rc(switch_chan, 1000)
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat()
self.wait_heartbeat()
if not self.mav.motors_armed():
self.progress("MOTORS DISARMED OK WITH SWITCH")
return True
@ -751,7 +751,7 @@ class AutoTest(ABC):
tstart = self.get_sim_time()
timeout = 15
while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat()
self.wait_heartbeat()
if not self.mav.motors_armed():
disarm_delay = self.get_sim_time() - tstart
self.progress("MOTORS AUTODISARMED")
@ -1282,12 +1282,12 @@ class AutoTest(ABC):
self.get_mode_from_mode_mapping(mode)
self.progress("Waiting for mode %s" % mode)
tstart = self.get_sim_time()
self.mav.wait_heartbeat()
self.wait_heartbeat()
while self.mav.flightmode != mode:
if (timeout is not None and
self.get_sim_time() > tstart + timeout):
raise WaitModeTimeout("Did not change mode")
self.mav.wait_heartbeat()
self.wait_heartbeat()
# self.progress("heartbeat mode %s Want: %s" % (
# self.mav.flightmode, mode))
self.progress("Got mode %s" % mode)
@ -1298,6 +1298,13 @@ class AutoTest(ABC):
return self.wait_ekf_happy(timeout=timeout,
require_absolute=require_absolute)
def wait_heartbeat(self, *args, **x):
'''as opposed to mav.wait_heartbeat, raises an exception on timeout'''
self.drain_mav()
m = self.mav.wait_heartbeat(*args, **x)
if m is None:
raise AutoTestTimeoutException("Did not receive heartbeat")
def wait_ekf_happy(self, timeout=30, require_absolute=True):
"""Wait for EKF to be happy"""
@ -1499,14 +1506,14 @@ class AutoTest(ABC):
if self.disarm_motors_with_rc_input():
raise NotAchievedException("Failed to NOT DISARM")
self.disarm_vehicle()
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.start_test("Test disarming failure with ARMING_RUDDER=1")
self.set_parameter("ARMING_RUDDER", 1)
self.arm_vehicle()
if self.disarm_motors_with_rc_input():
raise NotAchievedException("Failed to NOT ARM")
self.disarm_vehicle()
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.set_parameter("ARMING_RUDDER", 2)
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
@ -1522,7 +1529,7 @@ class AutoTest(ABC):
if self.arm_motors_with_switch(arming_switch):
raise NotAchievedException("Failed to NOT ARM")
self.disarm_vehicle()
self.mav.wait_heartbeat()
self.wait_heartbeat()
self.set_rc(arming_switch, 1000)
self.set_rc(interlock_channel, 1000)
if self.mav.mav_type is mavutil.mavlink.MAV_TYPE_HELICOPTER: