From b89256bec4e74645efe1b37c9146e56cdbbd057a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 24 Aug 2024 17:14:25 +1000
Subject: [PATCH] autotest: add test that jamming simulator works

---
 Tools/autotest/rover.py | 43 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 43 insertions(+)

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 65041324a9..eb7c8dbf59 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6803,6 +6803,48 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         })
         self.assert_arm_failure("Duplicate Aux Switch Options")
 
+    def JammingSimulation(self):
+        '''Test jamming simulation works'''
+        self.wait_ready_to_arm()
+        start_loc = self.assert_receive_message('GPS_RAW_INT')
+        self.set_parameter("SIM_GPS_JAM", 1)
+
+        class Requirement():
+            def __init__(self, field, min_value):
+                self.field = field
+                self.min_value = min_value
+
+            def met(self, m):
+                return getattr(m, self.field) > self.min_value
+
+        requirements = set([
+            Requirement('v_acc', 50000),
+            Requirement('h_acc', 50000),
+            Requirement('vel_acc', 1000),
+            Requirement('vel', 10000),
+        ])
+        low_sats_seen = False
+        seen_bad_loc = False
+        tstart = self.get_sim_time()
+
+        while True:
+            if self.get_sim_time() - tstart > 120:
+                raise NotAchievedException("Did not see all jamming")
+            m = self.assert_receive_message('GPS_RAW_INT')
+            new_requirements = copy.copy(requirements)
+            for requirement in requirements:
+                if requirement.met(m):
+                    new_requirements.remove(requirement)
+            requirements = new_requirements
+            if m.satellites_visible < 6:
+                low_sats_seen = True
+            here = self.assert_receive_message('GPS_RAW_INT')
+            if self.get_distance_int(start_loc, here) > 100:
+                seen_bad_loc = True
+
+            if len(requirements) == 0 and low_sats_seen and seen_bad_loc:
+                break
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6898,6 +6940,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.OpticalFlow,
             self.RCDuplicateOptionsExist,
             self.ClearMission,
+            self.JammingSimulation,
         ])
         return ret