mirror of https://github.com/ArduPilot/ardupilot
Tools: autotest: provide description of exceptions in constructors
This commit is contained in:
Peter Barker
Peter Barker
parent
b276034c60
commit
a66cc52573
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@ -197,7 +197,7 @@ class AutoTestRover(AutoTest):
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num_wp = self.save_mission_to_file(
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os.path.join(testdir, "rover-ch7_mission.txt"))
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if num_wp != 6:
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raise NotAchievedException()
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raise NotAchievedException("Did not get 6 waypoints")
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# TODO: actually drive the mission
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@ -386,8 +386,7 @@ class AutoTestRover(AutoTest):
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if time.time() - start > 10:
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break
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self.progress("banner not received")
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raise MsgRcvTimeoutException()
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raise MsgRcvTimeoutException("banner not received")
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def drive_brake_get_stopping_distance(self, speed):
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# measure our stopping distance:
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@ -444,12 +443,11 @@ class AutoTestRover(AutoTest):
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delta = distance_without_brakes - distance_with_brakes
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if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
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self.progress("Brakes have negligible effect"
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"(with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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(distance_with_brakes,
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distance_without_brakes,
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delta))
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raise NotAchievedException()
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raise NotAchievedException("""
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Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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""" % (distance_with_brakes,
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distance_without_brakes,
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delta))
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self.progress(
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"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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@ -470,13 +468,14 @@ class AutoTestRover(AutoTest):
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blocking=True,
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timeout=0.1)
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if m is None:
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self.progress("Did not receive NAV_CONTROLLER_OUTPUT message")
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raise MsgRcvTimeoutException()
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raise MsgRcvTimeoutException(
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"Did not receive NAV_CONTROLLER_OUTPUT message")
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wp_dist_min = 5
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if m.wp_dist < wp_dist_min:
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self.progress("Did not start at least 5 metres from destination")
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raise PreconditionFailedException()
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raise PreconditionFailedException(
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"Did not start at least %u metres from destination" %
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(wp_dist_min))
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self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" %
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(m.wp_dist, wp_dist_min,))
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@ -487,9 +486,9 @@ class AutoTestRover(AutoTest):
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home_distance = self.get_distance(HOME, pos)
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home_distance_max = 5
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if home_distance > home_distance_max:
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self.progress("Did not get home (%u metres distant > %u)" %
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(home_distance, home_distance_max))
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raise NotAchievedException()
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raise NotAchievedException(
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"Did not get home (%u metres distant > %u)" %
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(home_distance, home_distance_max))
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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self.progress("RTL Mission OK")
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@ -500,8 +499,8 @@ class AutoTestRover(AutoTest):
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self.mavproxy.send("relay set 0 1\n")
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on = self.get_parameter("SIM_PIN_MASK")
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if on == off:
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self.progress("Pin mask unchanged after relay command")
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raise NotAchievedException()
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raise NotAchievedException(
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"Pin mask unchanged after relay cmd")
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self.progress("Pin mask changed after relay command")
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def test_setting_modes_via_mavproxy_switch(self):
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@ -214,13 +214,13 @@ class AutoTestCopter(AutoTest):
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alt_delta = math.fabs(m.alt - start_altitude)
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self.progress("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
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if alt_delta > maxaltchange:
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self.progress("Loiter alt shifted %u meters (> limit of %u)" %
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(alt_delta, maxaltchange))
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raise NotAchievedException()
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raise NotAchievedException(
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"Loiter alt shifted %u meters (> limit %u)" %
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(alt_delta, maxaltchange))
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if delta > maxdistchange:
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self.progress("Loiter shifted %u meters (> limit of %u)" %
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raise NotAchievedException(
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"Loiter shifted %u meters (> limit of %u)" %
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(delta, maxdistchange))
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raise NotAchievedException()
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self.progress("Loiter OK for %u seconds" % holdtime)
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def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
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@ -350,8 +350,11 @@ class AutoTestCopter(AutoTest):
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(alt, home_distance, home))
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# our post-condition is that we are disarmed:
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if not self.armed():
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if home == "":
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raise NotAchievedException("Did not get home")
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# success!
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return
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raise AutoTestTimeoutException()
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raise AutoTestTimeoutException("Did not get home and disarm")
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def fly_throttle_failsafe(self, side=60, timeout=180):
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"""Fly east, Failsafe, return, land."""
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@ -413,8 +416,6 @@ class AutoTestCopter(AutoTest):
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self.set_rc(3, 1000)
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self.arm_vehicle()
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return
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self.progress("Failed to land on failsafe RTL - "
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"timed out after %u seconds" % timeout)
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# reduce throttle
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self.set_rc(3, 1100)
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# switch back to stabilize mode
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@ -422,7 +423,9 @@ class AutoTestCopter(AutoTest):
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self.wait_mode('LAND')
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self.mavproxy.send('switch 6\n') # stabilize mode
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self.wait_mode('STABILIZE')
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raise AutoTestTimeoutException()
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raise AutoTestTimeoutException(
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("Failed to land on failsafe RTL - "
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"timed out after %u seconds" % timeout))
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def fly_battery_failsafe(self, timeout=300):
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# switch to loiter mode so that we hold position
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@ -488,13 +491,13 @@ class AutoTestCopter(AutoTest):
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alt_delta = math.fabs(m.alt - start_altitude)
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self.progress("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
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if alt_delta > maxaltchange:
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self.progress("Loiter alt shifted %u meters (> limit of %u)" %
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(alt_delta, maxaltchange))
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raise NotAchievedException()
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raise NotAchievedException(
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"Loiter alt shifted %u meters (> limit %u)" %
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(alt_delta, maxaltchange))
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if delta > maxdistchange:
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self.progress("Loiter shifted %u meters (> limit of %u)" %
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(delta, maxdistchange))
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raise NotAchievedException()
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raise NotAchievedException(
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("Loiter shifted %u meters (> limit of %u)" %
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(delta, maxdistchange)))
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# restore motor 1 to 100% efficiency
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self.set_parameter("SIM_ENGINE_MUL", 1.0)
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@ -567,9 +570,10 @@ class AutoTestCopter(AutoTest):
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self.wait_mode('LAND')
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self.mavproxy.send('switch 6\n') # stabilize mode
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self.wait_mode('STABILIZE')
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self.progress("Fence test failed to reach home - "
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"timed out after %u seconds" % timeout)
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raise AutoTestTimeoutException()
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self.progress()
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raise AutoTestTimeoutException(
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("Fence test failed to reach home - "
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"timed out after %u seconds" % timeout))
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# fly_alt_fence_test - fly up until you hit the fence
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def fly_alt_max_fence_test(self):
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@ -703,9 +707,9 @@ class AutoTestCopter(AutoTest):
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moved_distance = self.get_distance(curr_pos, start_pos)
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self.progress("Alt: %u Moved: %.0f" % (alt, moved_distance))
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if moved_distance > max_distance:
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self.progress("Moved over %u meters, Failed!" %
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max_distance)
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raise NotAchievedException()
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self.progress()
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raise NotAchievedException(
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"Moved over %u meters, Failed!" % max_distance)
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# disable gps glitch
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if glitch_current != -1:
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@ -747,8 +751,7 @@ class AutoTestCopter(AutoTest):
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global num_wp
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num_wp = self.load_mission("copter_glitch_mission.txt")
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if not num_wp:
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self.progress("load copter_glitch_mission failed")
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raise NotAchievedException()
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raise NotAchievedException("load copter_glitch_mission failed")
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# turn on simulator display of gps and actual position
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if self.use_map:
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@ -809,9 +812,9 @@ class AutoTestCopter(AutoTest):
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dist_to_home = self.get_distance(HOME, pos)
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while dist_to_home > 5:
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if self.get_sim_time() > (tstart + timeout):
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self.progress("GPS Glitch testing failed"
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"- exceeded timeout %u seconds" % timeout)
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raise AutoTestTimeoutException()
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raise AutoTestTimeoutException(
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("GPS Glitch testing failed"
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"- exceeded timeout %u seconds" % timeout))
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self.mav.recv_match(type='VFR_HUD', blocking=True)
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pos = self.mav.location()
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@ -988,8 +991,8 @@ class AutoTestCopter(AutoTest):
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self.progress("%0.1f: Low Speed: %f" %
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(self.get_sim_time_cached() - tstart, spd))
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if spd > 8:
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self.progress("Speed should be limited by EKF optical flow limits")
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raise NotAchievedException()
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raise NotAchievedException(("Speed should be limited by"
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"EKF optical flow limits"))
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self.progress("Moving higher")
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self.change_alt(60)
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@ -1028,9 +1031,9 @@ class AutoTestCopter(AutoTest):
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# near enough for now:
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return
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self.progress("AUTOTUNE failed (%u seconds)" %
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(self.get_sim_time() - tstart))
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raise NotAchievedException()
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self.progress()
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raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
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(self.get_sim_time() - tstart))
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# fly_auto_test - fly mission which tests a significant number of commands
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def fly_auto_test(self):
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@ -1040,8 +1043,7 @@ class AutoTestCopter(AutoTest):
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global num_wp
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num_wp = self.load_mission("copter_mission.txt")
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if not num_wp:
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self.progress("load copter_mission failed")
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raise NotAchievedException()
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raise NotAchievedException("load copter_mission failed")
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self.progress("test: Fly a mission from 1 to %u" % num_wp)
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self.mavproxy.send('wp set 1\n')
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@ -1075,8 +1077,7 @@ class AutoTestCopter(AutoTest):
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global num_wp
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num_wp = self.load_mission("copter_AVC2013_mission.txt")
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if not num_wp:
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self.progress("load copter_AVC2013_mission failed")
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raise NotAchievedException()
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raise NotAchievedException("load copter_AVC2013_mission failed")
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self.progress("Fly AVC mission from 1 to %u" % num_wp)
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self.mavproxy.send('wp set 1\n')
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@ -1200,8 +1201,7 @@ class AutoTestCopter(AutoTest):
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self.progress("----")
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if alt_delta < -20:
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self.progress("Vehicle is descending")
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raise NotAchievedException()
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raise NotAchievedException("Vehicle is descending")
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self.set_parameter("SIM_ENGINE_FAIL", 0)
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self.set_parameter("SIM_ENGINE_MUL", 1.0)
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@ -1265,7 +1265,7 @@ class AutoTestCopter(AutoTest):
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break
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if self.get_sim_time() - tstart > 10:
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raise AutoTestTimeoutException()
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raise AutoTestTimeoutException("Did not get non-zero lat")
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self.takeoff()
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self.set_rc(1, 1600)
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@ -1281,7 +1281,7 @@ class AutoTestCopter(AutoTest):
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break
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if self.get_sim_time() - tstart > 100:
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raise AutoTestTimeoutException()
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raise AutoTestTimeoutException("Vicon showed no movement")
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# recenter controls:
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self.set_rc(1, 1500)
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@ -1291,7 +1291,7 @@ class AutoTestCopter(AutoTest):
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time() - tstart > 200:
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raise NotAchievedException()
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raise NotAchievedException("Did not disarm")
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self.mav.recv_match(type='GLOBAL_POSITION_INT',
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blocking=True)
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# print("gpi=%s" % str(gpi))
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@ -1340,7 +1340,7 @@ class AutoTestCopter(AutoTest):
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while self.armed(): # we RTL at end of mission
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now = self.get_sim_time_cached()
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if now - tstart > 120:
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raise AutoTestTimeoutException()
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raise AutoTestTimeoutException("Did not disarm as expected")
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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if ((now - last_mission_current_msg) > 1 or
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m.seq != last_seq):
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@ -1364,7 +1364,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Stopped for %u seconds (want >=%u seconds)" %
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(calculated_delay, want_delay))
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if calculated_delay < want_delay:
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raise NotAchievedException()
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raise NotAchievedException("Did not delay for long enough")
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except Exception as e:
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self.progress("Exception caught")
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@ -1462,7 +1462,8 @@ class AutoTestCopter(AutoTest):
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time_cached() - tstart > 3:
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raise NotAchievedException()
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raise NotAchievedException(
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"Did not receive MISSION_REQUEST")
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self.mav.mav.mission_write_partial_list_send(1,
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1,
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seq,
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@ -1481,9 +1482,9 @@ class AutoTestCopter(AutoTest):
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# we have to change out the delay time...
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now = self.mav.messages["SYSTEM_TIME"]
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if now is None:
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raise PreconditionFailedException()
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raise PreconditionFailedException("Never got SYSTEM_TIME")
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if now.time_unix_usec == 0:
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raise PreconditionFailedException()
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raise PreconditionFailedException("system time is zero")
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(hours, mins, secs, ms) = self.calc_delay(
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now.time_unix_usec/1000000)
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@ -1543,7 +1544,7 @@ class AutoTestCopter(AutoTest):
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while self.armed(): # we RTL at end of mission
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now = self.get_sim_time()
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if now - tstart > 120:
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raise AutoTestTimeoutException()
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raise AutoTestTimeoutException("Did not disarm as expected")
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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self.progress("MISSION_CURRENT.seq=%u" % (m.seq,))
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if m.seq == delay_item_seq:
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@ -1558,8 +1559,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Stopped for %u seconds (want >=%u seconds)" %
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(calculated_delay, delay_for_seconds))
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if error > 2:
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self.progress("Too far outside expectations")
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raise NotAchievedException()
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raise NotAchievedException("delay outside expectations")
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except Exception as e:
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self.progress("Exception caught")
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@ -1612,13 +1612,13 @@ class AutoTestCopter(AutoTest):
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took_off = True
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delta_time = now - reset_at
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if abs(delta_time - delay_for_seconds) > 2:
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self.progress("Did not take off on time "
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"measured=%f want=%f" %
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(delta_time, delay_for_seconds))
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raise NotAchievedException()
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raise NotAchievedException((
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"Did not take off on time "
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"measured=%f want=%f" %
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(delta_time, delay_for_seconds)))
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if not took_off:
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raise NotAchievedException()
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raise NotAchievedException("Did not take off")
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except Exception as e:
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self.progress("Exception caught")
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@ -1731,7 +1731,7 @@ class AutoTestCopter(AutoTest):
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time() - tstart > 200:
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raise NotAchievedException()
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raise NotAchievedException("Did not move far enough")
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# send a position-control command
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self.mav.mav.set_position_target_global_int_send(
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0, # timestamp
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@ -1789,6 +1789,7 @@ class AutoTestCopter(AutoTest):
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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(3, 1000)
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self.run_test("Fly Nav Delay (takeoff)",
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self.fly_nav_takeoff_delay_abstime)
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@ -184,8 +184,7 @@ class AutoTestPlane(AutoTest):
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self.wait_mode('FBWA')
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if abs(final_alt - initial_alt) > 20:
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self.progress("Failed to maintain altitude")
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raise NotAchievedException()
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raise NotAchievedException("Failed to maintain altitude")
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self.progress("Completed Loiter OK")
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@ -214,8 +213,7 @@ class AutoTestPlane(AutoTest):
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self.wait_mode('FBWA')
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if abs(final_alt - initial_alt) > 20:
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self.progress("Failed to maintain altitude")
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raise NotAchievedException()
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raise NotAchievedException("Failed to maintain altitude")
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self.progress("Completed CIRCLE OK")
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@ -234,8 +232,7 @@ class AutoTestPlane(AutoTest):
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if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
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self.progress("Attained level flight")
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return
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self.progress("Failed to attain level flight")
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raise NotAchievedException()
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raise NotAchievedException("Failed to attain level flight")
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def change_altitude(self, altitude, accuracy=30):
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"""Get to a given altitude."""
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@ -323,7 +320,7 @@ class AutoTestPlane(AutoTest):
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state = state_roll_over
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while state != state_done:
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if self.get_sim_time() - tstart > 20:
|
||||
raise NotAchievedException()
|
||||
raise AutoTestTimeoutException("Manuevers not completed")
|
||||
|
||||
m = self.mav.recv_match(type='ATTITUDE',
|
||||
blocking=True,
|
||||
|
|
@ -347,14 +344,13 @@ class AutoTestPlane(AutoTest):
|
|||
if self.get_sim_time() - hold_start > 10:
|
||||
state = state_roll_back
|
||||
if abs(r - target_roll_degrees) > 10:
|
||||
self.progress("Failed to hold attitude")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to hold attitude")
|
||||
elif state == state_roll_back:
|
||||
target_roll_degrees = 0
|
||||
if abs(r - target_roll_degrees) < 10:
|
||||
state = state_done
|
||||
else:
|
||||
raise ValueError()
|
||||
raise ValueError("Unknown state %s" % str(state))
|
||||
|
||||
self.progress("%s Roll: %f desired=%f" %
|
||||
(state, r, target_roll_degrees))
|
||||
|
|
@ -524,8 +520,7 @@ class AutoTestPlane(AutoTest):
|
|||
self.wait_mode('FBWA')
|
||||
|
||||
if abs(final_alt - initial_alt) > 20:
|
||||
self.progress("Failed to maintain altitude")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to maintain altitude")
|
||||
|
||||
return self.wait_level_flight()
|
||||
|
||||
|
|
@ -584,9 +579,8 @@ class AutoTestPlane(AutoTest):
|
|||
delta_time_min = 0.5
|
||||
delta_time_max = 1.5
|
||||
if delta_time < delta_time_min or delta_time > delta_time_max:
|
||||
self.progress("Flaps Slew not working (%f seconds)" %
|
||||
(delta_time,))
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException((
|
||||
"Flaps Slew not working (%f seconds)" % (delta_time,)))
|
||||
# undeploy flaps:
|
||||
self.set_rc(flaps_ch, flaps_ch_min)
|
||||
self.wait_servo_channel_value(servo_ch, servo_ch_min)
|
||||
|
|
@ -639,25 +633,25 @@ class AutoTestPlane(AutoTest):
|
|||
'''test toggling channel 12 toggles relay'''
|
||||
off = self.get_parameter("SIM_PIN_MASK")
|
||||
if off:
|
||||
raise PreconditionFailedException()
|
||||
raise PreconditionFailedException("SIM_MASK_PIN off")
|
||||
self.set_rc(12, 2000)
|
||||
self.mav.wait_heartbeat()
|
||||
self.mav.wait_heartbeat()
|
||||
on = self.get_parameter("SIM_PIN_MASK")
|
||||
if not on:
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("SIM_PIN_MASK doesn't reflect ON")
|
||||
self.set_rc(12, 1000)
|
||||
self.mav.wait_heartbeat()
|
||||
self.mav.wait_heartbeat()
|
||||
off = self.get_parameter("SIM_PIN_MASK")
|
||||
if off:
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("SIM_PIN_MASK doesn't reflect OFF")
|
||||
|
||||
def test_rc_option_camera_trigger(self):
|
||||
'''test toggling channel 12 takes picture'''
|
||||
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
|
||||
if x is not None:
|
||||
raise PreconditionFailedException()
|
||||
raise PreconditionFailedException("Receiving CAMERA_FEEDBACK?!")
|
||||
self.set_rc(12, 2000)
|
||||
tstart = self.get_sim_time()
|
||||
while self.get_sim_time() - tstart < 10:
|
||||
|
|
@ -667,7 +661,7 @@ class AutoTestPlane(AutoTest):
|
|||
self.mav.wait_heartbeat()
|
||||
self.set_rc(12, 1000)
|
||||
if x is None:
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("No CAMERA_FEEDBACK message received")
|
||||
|
||||
def autotest(self):
|
||||
"""Autotest ArduPlane in SITL."""
|
||||
|
|
|
|||
|
|
@ -213,7 +213,7 @@ class AutoTest(ABC):
|
|||
break
|
||||
|
||||
if self.get_sim_time() - tstart > 10:
|
||||
raise AutoTestTimeoutException()
|
||||
raise AutoTestTimeoutException("SYSTEM_TIME not received")
|
||||
|
||||
m = self.mav.recv_match(type='SYSTEM_TIME',
|
||||
blocking=True,
|
||||
|
|
@ -435,8 +435,8 @@ class AutoTest(ABC):
|
|||
if delta > self.max_set_rc_timeout:
|
||||
self.max_set_rc_timeout = delta
|
||||
return True
|
||||
self.progress("Failed to send RC commands to channel %s" % str(chan))
|
||||
raise SetRCTimeout()
|
||||
raise SetRCTimeout((
|
||||
"Failed to send RC commands to channel %s" % str(chan)))
|
||||
|
||||
def set_throttle_zero(self):
|
||||
"""Set throttle to zero."""
|
||||
|
|
@ -507,8 +507,7 @@ class AutoTest(ABC):
|
|||
if self.mav.motors_armed():
|
||||
self.progress("Motors ARMED")
|
||||
return True
|
||||
self.progress("Unable to ARM with mavlink")
|
||||
raise AutoTestTimeoutException()
|
||||
raise AutoTestTimeoutException("Unable to ARM with mavlink")
|
||||
|
||||
def disarm_vehicle(self, timeout=20):
|
||||
"""Disarm vehicle with mavlink disarm message."""
|
||||
|
|
@ -528,8 +527,7 @@ class AutoTest(ABC):
|
|||
if not self.mav.motors_armed():
|
||||
self.progress("Motors DISARMED")
|
||||
return True
|
||||
self.progress("Unable to DISARM with mavlink")
|
||||
raise AutoTestTimeoutException()
|
||||
raise AutoTestTimeoutException("Unable to DISARM with mavlink")
|
||||
|
||||
def mavproxy_arm_vehicle(self):
|
||||
"""Arm vehicle with mavlink arm message send from MAVProxy."""
|
||||
|
|
@ -654,9 +652,8 @@ class AutoTest(ABC):
|
|||
if self.should_fetch_all_for_parameter_change(name.upper()) and value != 0:
|
||||
self.fetch_parameters()
|
||||
return
|
||||
self.progress("Param fetch returned incorrect value (%s) vs (%s)"
|
||||
raise ValueError("Param fetch returned incorrect value (%s) vs (%s)"
|
||||
% (returned_value, value))
|
||||
raise ValueError()
|
||||
|
||||
def get_parameter(self, name, retry=1, timeout=60):
|
||||
"""Get parameters from vehicle."""
|
||||
|
|
@ -716,7 +713,8 @@ class AutoTest(ABC):
|
|||
self.progress("ACK received: %s" % str(m))
|
||||
if m.command == command:
|
||||
if m.result != want_result:
|
||||
raise ValueError()
|
||||
raise ValueError("Expected %s got %s" % (command,
|
||||
m.command))
|
||||
break
|
||||
|
||||
#################################################
|
||||
|
|
@ -779,21 +777,20 @@ class AutoTest(ABC):
|
|||
if m is not None:
|
||||
self.progress("AUTOPILOT_VERSION received")
|
||||
return
|
||||
raise AutoTestTimeoutException()
|
||||
raise AutoTestTimeoutException("No AUTOPILOT_VERSION received")
|
||||
|
||||
def get_mode_from_mode_mapping(self, mode):
|
||||
"""Validate and return the mode number from a string or int."""
|
||||
mode_map = self.mav.mode_mapping()
|
||||
if mode_map is None:
|
||||
raise ErrorException()
|
||||
raise ErrorException("No mode map")
|
||||
if isinstance(mode, str):
|
||||
if mode in mode_map:
|
||||
return mode_map.get(mode)
|
||||
if mode in mode_map.values():
|
||||
return mode
|
||||
self.progress("Unknown mode '%s'" % mode)
|
||||
self.progress("Available modes '%s'" % mode_map)
|
||||
raise ErrorException()
|
||||
raise ErrorException("Unknown mode '%s'" % mode)
|
||||
|
||||
def do_set_mode_via_command_long(self, mode, timeout=30):
|
||||
"""Set mode with a command long message."""
|
||||
|
|
@ -803,7 +800,7 @@ class AutoTest(ABC):
|
|||
while True:
|
||||
remaining = timeout - (self.get_sim_time_cached() - tstart)
|
||||
if remaining <= 0:
|
||||
raise AutoTestTimeoutException()
|
||||
raise AutoTestTimeoutException("Failed to change mode")
|
||||
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MODE,
|
||||
base_mode,
|
||||
custom_mode,
|
||||
|
|
@ -815,9 +812,9 @@ class AutoTest(ABC):
|
|||
)
|
||||
m = self.mav.recv_match(type='HEARTBEAT',
|
||||
blocking=True,
|
||||
timeout=remaining)
|
||||
timeout=5)
|
||||
if m is None:
|
||||
raise ErrorException()
|
||||
raise ErrorException("Heartbeat not received")
|
||||
if m.custom_mode == custom_mode:
|
||||
return
|
||||
|
||||
|
|
@ -829,14 +826,14 @@ class AutoTest(ABC):
|
|||
while True:
|
||||
remaining = timeout - (self.get_sim_time_cached() - tstart)
|
||||
if remaining <= 0:
|
||||
raise AutoTestTimeoutException()
|
||||
raise AutoTestTimeoutException("Failed to change mode")
|
||||
self.mavproxy.send("long DO_SET_MODE %u %u\n" %
|
||||
(base_mode, custom_mode))
|
||||
m = self.mav.recv_match(type='HEARTBEAT',
|
||||
blocking=True,
|
||||
timeout=remaining)
|
||||
timeout=5)
|
||||
if m is None:
|
||||
raise ErrorException()
|
||||
raise ErrorException("Did not receive heartbeat")
|
||||
if m.custom_mode == custom_mode:
|
||||
return True
|
||||
|
||||
|
|
@ -901,7 +898,7 @@ class AutoTest(ABC):
|
|||
)
|
||||
while True:
|
||||
if self.get_sim_time() - tstart > 200:
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Did not achieve heading")
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
self.progress("heading=%f want=%f" % (m.heading, heading))
|
||||
if m.heading == heading:
|
||||
|
|
@ -943,8 +940,7 @@ class AutoTest(ABC):
|
|||
if alt >= alt_min and alt <= alt_max:
|
||||
self.progress("Altitude OK")
|
||||
return True
|
||||
self.progress("Failed to attain altitude range")
|
||||
raise WaitAltitudeTimout()
|
||||
raise WaitAltitudeTimout("Failed to attain altitude range")
|
||||
|
||||
def wait_groundspeed(self, gs_min, gs_max, timeout=30):
|
||||
"""Wait for a given ground speed range."""
|
||||
|
|
@ -960,8 +956,7 @@ class AutoTest(ABC):
|
|||
last_print = self.get_sim_time_cached();
|
||||
if m.groundspeed >= gs_min and m.groundspeed <= gs_max:
|
||||
return True
|
||||
self.progress("Failed to attain groundspeed range")
|
||||
raise WaitGroundSpeedTimeout()
|
||||
raise WaitGroundSpeedTimeout("Failed to attain groundspeed range")
|
||||
|
||||
def wait_roll(self, roll, accuracy, timeout=30):
|
||||
"""Wait for a given roll in degrees."""
|
||||
|
|
@ -975,8 +970,7 @@ class AutoTest(ABC):
|
|||
if math.fabs(r - roll) <= accuracy:
|
||||
self.progress("Attained roll %d" % roll)
|
||||
return True
|
||||
self.progress("Failed to attain roll %d" % roll)
|
||||
raise WaitRollTimeout()
|
||||
raise WaitRollTimeout("Failed to attain roll %d" % roll)
|
||||
|
||||
def wait_pitch(self, pitch, accuracy, timeout=30):
|
||||
"""Wait for a given pitch in degrees."""
|
||||
|
|
@ -990,8 +984,7 @@ class AutoTest(ABC):
|
|||
if math.fabs(p - pitch) <= accuracy:
|
||||
self.progress("Attained pitch %d" % pitch)
|
||||
return True
|
||||
self.progress("Failed to attain pitch %d" % pitch)
|
||||
raise WaitPitchTimeout()
|
||||
raise WaitPitchTimeout("Failed to attain pitch %d" % pitch)
|
||||
|
||||
def wait_heading(self, heading, accuracy=5, timeout=30):
|
||||
"""Wait for a given heading."""
|
||||
|
|
@ -1011,8 +1004,7 @@ class AutoTest(ABC):
|
|||
if math.fabs(m.heading - heading) <= accuracy:
|
||||
self.progress("Attained heading %u" % heading)
|
||||
return True
|
||||
self.progress("Failed to attain heading %u" % heading)
|
||||
raise WaitHeadingTimeout()
|
||||
raise WaitHeadingTimeout("Failed to attain heading %u" % heading)
|
||||
|
||||
def wait_distance(self, distance, accuracy=5, timeout=30):
|
||||
"""Wait for flight of a given distance."""
|
||||
|
|
@ -1030,11 +1022,10 @@ class AutoTest(ABC):
|
|||
self.progress("Attained distance %.2f meters OK" % delta)
|
||||
return True
|
||||
if delta > (distance + accuracy):
|
||||
self.progress("Failed distance - overshoot delta=%f dist=%f"
|
||||
% (delta, distance))
|
||||
raise WaitDistanceTimeout()
|
||||
self.progress("Failed to attain distance %u" % distance)
|
||||
raise WaitDistanceTimeout()
|
||||
raise WaitDistanceTimeout(
|
||||
"Failed distance - overshoot delta=%f dist=%f"
|
||||
% (delta, distance))
|
||||
raise WaitDistanceTimeout("Failed to attain distance %u" % distance)
|
||||
|
||||
def wait_servo_channel_value(self, channel, value, timeout=2):
|
||||
"""wait for channel to hit value"""
|
||||
|
|
@ -1043,7 +1034,7 @@ class AutoTest(ABC):
|
|||
while True:
|
||||
remaining = timeout - (self.get_sim_time_cached() - tstart)
|
||||
if remaining <= 0:
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Channel never achieved value")
|
||||
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
|
||||
blocking=True,
|
||||
timeout=remaining)
|
||||
|
|
@ -1051,7 +1042,7 @@ class AutoTest(ABC):
|
|||
self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" %
|
||||
(channel_field, m_value, value))
|
||||
if m_value is None:
|
||||
raise ValueError() #?
|
||||
raise ValueError("message has no field %s" % channel_field)
|
||||
if m_value == value:
|
||||
return
|
||||
|
||||
|
|
@ -1081,8 +1072,7 @@ class AutoTest(ABC):
|
|||
continue
|
||||
self.progress("Reached location (%.2f meters)" % delta)
|
||||
return True
|
||||
self.progress("Failed to attain location")
|
||||
raise WaitLocationTimeout()
|
||||
raise WaitLocationTimeout("Failed to attain location")
|
||||
|
||||
def wait_waypoint(self,
|
||||
wpnum_start,
|
||||
|
|
@ -1100,9 +1090,9 @@ class AutoTest(ABC):
|
|||
self.progress("wait for waypoint ranges start=%u end=%u"
|
||||
% (wpnum_start, wpnum_end))
|
||||
# if start_wp != wpnum_start:
|
||||
# self.progress("test: Expected start waypoint %u but got %u" %
|
||||
# raise WaitWaypointTimeout("test: Expected start waypoint %u "
|
||||
# "but got %u" %
|
||||
# (wpnum_start, start_wp))
|
||||
# raise WaitWaypointTimeout()
|
||||
|
||||
last_wp_msg = 0
|
||||
while self.get_sim_time_cached() < tstart + timeout:
|
||||
|
|
@ -1114,8 +1104,7 @@ class AutoTest(ABC):
|
|||
|
||||
# if we changed mode, fail
|
||||
if self.mav.flightmode != mode:
|
||||
self.progress('Exited %s mode' % mode)
|
||||
raise WaitWaypointTimeout()
|
||||
raise WaitWaypointTimeout('Exited %s mode' % mode)
|
||||
|
||||
if self.get_sim_time_cached() - last_wp_msg > 1:
|
||||
self.progress("WP %u (wp_dist=%u Alt=%d), current_wp: %u,"
|
||||
|
|
@ -1137,12 +1126,11 @@ class AutoTest(ABC):
|
|||
self.progress("Reached final waypoint %u" % seq)
|
||||
return True
|
||||
if seq > current_wp+1:
|
||||
self.progress("Failed: Skipped waypoint! Got wp %u expected %u"
|
||||
% (seq, current_wp+1))
|
||||
raise WaitWaypointTimeout()
|
||||
self.progress("Failed: Timed out waiting for waypoint %u of %u" %
|
||||
(wpnum_end, wpnum_end))
|
||||
raise WaitWaypointTimeout()
|
||||
raise WaitWaypointTimeout((
|
||||
"Skipped waypoint! Got wp %u expected %u"
|
||||
% (seq, current_wp+1)))
|
||||
raise WaitWaypointTimeout("Timed out waiting for waypoint %u of %u" %
|
||||
(wpnum_end, wpnum_end))
|
||||
|
||||
def wait_mode(self, mode, timeout=60):
|
||||
"""Wait for mode to change."""
|
||||
|
|
@ -1153,7 +1141,7 @@ class AutoTest(ABC):
|
|||
while self.mav.flightmode != mode:
|
||||
if (timeout is not None and
|
||||
self.get_sim_time() > tstart + timeout):
|
||||
raise WaitModeTimeout()
|
||||
raise WaitModeTimeout("Did not change mode")
|
||||
self.mav.wait_heartbeat()
|
||||
# self.progress("heartbeat mode %s Want: %s" % (
|
||||
# self.mav.flightmode, mode))
|
||||
|
|
@ -1206,8 +1194,8 @@ class AutoTest(ABC):
|
|||
if (current & required_value == required_value):
|
||||
self.progress("EKF Flags OK")
|
||||
return True
|
||||
self.progress("Failed to get EKF.flags=%u" % required_value)
|
||||
raise AutoTestTimeoutException()
|
||||
raise AutoTestTimeoutException("Failed to get EKF.flags=%u" %
|
||||
required_value)
|
||||
|
||||
def wait_text(self, text, timeout=20, the_function=None):
|
||||
"""Wait a specific STATUS_TEXT."""
|
||||
|
|
@ -1220,8 +1208,9 @@ class AutoTest(ABC):
|
|||
if text.lower() in m.text.lower():
|
||||
self.progress("Received expected text : %s" % m.text.lower())
|
||||
return True
|
||||
self.progress("Failed to received text : %s" % text.lower())
|
||||
raise AutoTestTimeoutException()
|
||||
self.progress()
|
||||
raise AutoTestTimeoutException("Failed to received text : %s" %
|
||||
text.lower())
|
||||
|
||||
def get_mavlink_connection_going(self):
|
||||
# get a mavlink connection going
|
||||
|
|
@ -1263,9 +1252,9 @@ class AutoTest(ABC):
|
|||
# check for lambda: test_function without paranthesis
|
||||
faulty_strings = re.findall(r"lambda\s*:\s*\w+.\w+\s*\)", f.read())
|
||||
if faulty_strings:
|
||||
self.progress("Syntax error in autotest lamda at : ")
|
||||
print(faulty_strings)
|
||||
raise ErrorException()
|
||||
desc = ("Syntax error in autotest lamda at : " +
|
||||
faulty_strings)
|
||||
raise ErrorException(desc)
|
||||
except ErrorException:
|
||||
self.progress('FAILED: "%s"' % "Check for syntax mistake in autotest lambda")
|
||||
exit(1)
|
||||
|
|
@ -1289,25 +1278,21 @@ class AutoTest(ABC):
|
|||
self.set_throttle_zero()
|
||||
self.start_test("Test normal arm and disarm features")
|
||||
if not self.arm_vehicle():
|
||||
self.progress("Failed to ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to ARM")
|
||||
if not self.disarm_vehicle():
|
||||
self.progress("Failed to DISARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to DISARM")
|
||||
if not self.mavproxy_arm_vehicle():
|
||||
self.progress("Failed to ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to ARM")
|
||||
if not self.mavproxy_disarm_vehicle():
|
||||
self.progress("Failed to DISARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to DISARM")
|
||||
if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE:
|
||||
if not self.arm_motors_with_rc_input():
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to arm with RC input")
|
||||
if not self.disarm_motors_with_rc_input():
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to disarm with RC input")
|
||||
# self.arm_vehicle()
|
||||
# if not self.autodisarm_motors():
|
||||
# raise NotAchievedException()
|
||||
# raise NotAchievedException("Did not autodisarm")
|
||||
# Disable auto disarm for next test
|
||||
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_HELICOPTER,
|
||||
|
|
@ -1324,9 +1309,9 @@ class AutoTest(ABC):
|
|||
self.set_parameter("RC%d_OPTION" % arming_switch, 41)
|
||||
self.set_rc(arming_switch, 1000)
|
||||
if not self.arm_motors_with_switch(arming_switch):
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to arm with switch")
|
||||
if not self.disarm_motors_with_switch(arming_switch):
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to disarm with switch")
|
||||
self.set_rc(arming_switch, 1000)
|
||||
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_HELICOPTER,
|
||||
|
|
@ -1338,38 +1323,32 @@ class AutoTest(ABC):
|
|||
self.set_rc(3, 1800)
|
||||
try:
|
||||
if self.arm_vehicle():
|
||||
self.progress("Failed to NOT ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to NOT ARM")
|
||||
except AutoTestTimeoutException():
|
||||
pass
|
||||
except ValueError:
|
||||
pass
|
||||
if self.arm_motors_with_rc_input():
|
||||
self.progress("Failed to NOT ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to NOT ARM")
|
||||
if self.arm_motors_with_switch(arming_switch):
|
||||
self.progress("Failed to NOT ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to NOT ARM")
|
||||
self.set_throttle_zero()
|
||||
self.set_rc(arming_switch, 1000)
|
||||
self.start_test("Test arming failure with ARMING_RUDDER=0")
|
||||
self.set_parameter("ARMING_RUDDER", 0)
|
||||
if self.arm_motors_with_rc_input():
|
||||
self.progress("Failed to NOT ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to NOT ARM")
|
||||
self.start_test("Test disarming failure with ARMING_RUDDER=0")
|
||||
self.arm_vehicle()
|
||||
if self.disarm_motors_with_rc_input():
|
||||
self.progress("Failed to NOT DISARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to NOT DISARM")
|
||||
self.disarm_vehicle()
|
||||
self.mav.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():
|
||||
self.progress("Failed to NOT ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to NOT ARM")
|
||||
self.disarm_vehicle()
|
||||
self.mav.wait_heartbeat()
|
||||
self.set_parameter("ARMING_RUDDER", 2)
|
||||
|
|
@ -1382,11 +1361,9 @@ class AutoTest(ABC):
|
|||
self.start_test("Test arming failure with interlock enabled")
|
||||
self.set_rc(interlock_channel, 2000)
|
||||
if self.arm_motors_with_rc_input():
|
||||
self.progress("Failed to NOT ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to NOT ARM")
|
||||
if self.arm_motors_with_switch(arming_switch):
|
||||
self.progress("Failed to NOT ARM")
|
||||
raise NotAchievedException()
|
||||
raise NotAchievedException("Failed to NOT ARM")
|
||||
self.disarm_vehicle()
|
||||
self.mav.wait_heartbeat()
|
||||
self.set_rc(arming_switch, 1000)
|
||||
|
|
@ -1406,11 +1383,13 @@ class AutoTest(ABC):
|
|||
timeout=remaining)
|
||||
m_value = getattr(m, channel_field, None)
|
||||
if m_value is None:
|
||||
raise ValueError()
|
||||
raise ValueError("Message has no %s field" %
|
||||
channel_field)
|
||||
self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" %
|
||||
(channel_field, m_value, interlock_value))
|
||||
if m_value != interlock_value:
|
||||
raise NotAchievedException("Motor interlock was changed while disarmed")
|
||||
raise NotAchievedException(
|
||||
"Motor interlock was changed while disarmed")
|
||||
self.set_rc(8, 1000)
|
||||
self.progress("ALL PASS")
|
||||
self.context_pop()
|
||||
|
|
|
|||
Loading…
Reference in New Issue