From b9d62e7ff2fc06fed7369b63b787405ac8bd2dae Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 30 Aug 2021 15:39:39 +1000
Subject: [PATCH] autotest: add test for setting multiple messages to same rate

---
 Tools/autotest/common.py | 43 +++++++++++++++++++++++++++++++++++-----
 1 file changed, 38 insertions(+), 5 deletions(-)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 98791dcd88..b446a51a5a 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -7850,6 +7850,43 @@ Also, ignores heartbeats not from our target system'''
             raise NotAchievedException("Expected ACCEPTED for reading message interval")
 
     def test_set_message_interval(self):
+        self.start_subtest('Basic tests')
+        self.test_set_message_interval_basic()
+        self.start_subtest('Many-message tests')
+        self.test_set_message_interval_many()
+
+    def test_set_message_interval_many(self):
+        messages = [
+            'CAMERA_FEEDBACK',
+            'RAW_IMU',
+            'ATTITUDE',
+        ]
+        ex = None
+        try:
+            rate = 5
+            for message in messages:
+                self.set_message_rate_hz(message, rate)
+            for message in messages:
+                self.assert_message_rate_hz(message, rate)
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+
+        # reset message rates to default:
+        for message in messages:
+            self.set_message_rate_hz(message, -1)
+
+        if ex is not None:
+            raise ex
+
+    def assert_message_rate_hz(self, message, want_rate, sample_period=20):
+        self.drain_mav()
+        rate = round(self.get_message_rate(message, sample_period))
+        self.progress("%s: Want=%u got=%u" % (message, want_rate, rate))
+        if rate != want_rate:
+            raise NotAchievedException("Did not get expected rate (want=%u got=%u" % (want_rate, rate))
+
+    def test_set_message_interval_basic(self):
         self.victim_message = 'VFR_HUD'
         self.victim_message_id = mavutil.mavlink.MAVLINK_MSG_ID_VFR_HUD
         ex = None
@@ -7871,11 +7908,7 @@ Also, ignores heartbeats not from our target system'''
             for want_rate in range(5, 14):
                 self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
                                          want_rate)
-                self.drain_mav()
-                rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20))
-                self.progress("Want=%u got=%u" % (want_rate, rate))
-                if rate != want_rate:
-                    raise NotAchievedException("Did not get expected rate (want=%u got=%u" % (want_rate, rate))
+                self.assert_message_rate_hz('CAMERA_FEEDBACK', want_rate)
 
             self.progress("try at the main loop rate")
             # have to reset the speedup as MAVProxy can't keep up otherwise