From bf0a9473172a19905ad21712705f30fd94784901 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Aug 2019 14:58:25 +1000
Subject: [PATCH] Tools: autotest: improve test diagnostics

---
 Tools/autotest/apmrover2.py  |  9 ++++++---
 Tools/autotest/arducopter.py | 17 +++++++++++------
 Tools/autotest/arduplane.py  |  4 ++--
 Tools/autotest/common.py     |  8 +++++++-
 4 files changed, 26 insertions(+), 12 deletions(-)

diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py
index 67b05a31a6..35aa424e5b 100644
--- a/Tools/autotest/apmrover2.py
+++ b/Tools/autotest/apmrover2.py
@@ -144,7 +144,8 @@ class AutoTestRover(AutoTest):
 
             self.clear_wp(9)
         except Exception as e:
-            self.progress("Caught exception: %s" % str(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
 
         self.disarm_vehicle()
@@ -291,7 +292,8 @@ class AutoTestRover(AutoTest):
 
             self.progress("Sprayer OK")
         except Exception as e:
-            self.progress("Caught exception: %s" % str(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
         self.disarm_vehicle(force=True)
@@ -507,7 +509,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.wait_groundspeed(0, 0.2, timeout=120)
 
         except Exception as e:
-            self.progress("Caught exception: %s" % str(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
         self.mavproxy.send("fence clear\n")
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 25deb903d4..951bf33725 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1597,7 +1597,8 @@ class AutoTestCopter(AutoTest):
                                     blocking=True,
                                     timeout=5)
         except Exception as e:
-            print("Caught exception %s" % str(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
 
         if m is not None:
             raise NotAchievedException("Received unexpected RANGEFINDER msg")
@@ -3305,7 +3306,8 @@ class AutoTestCopter(AutoTest):
             self.set_rc(10, 2000)
             self.check_avoidance_corners()
         except Exception as e:
-            self.progress("Caught exception: %s" % str(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
         self.mavproxy.send("fence clear\n")
@@ -3322,10 +3324,11 @@ class AutoTestCopter(AutoTest):
             self.set_parameter("FENCE_ENABLE", 1)
             self.check_avoidance_corners()
         except Exception as e:
-            self.progress("Caught exception: %s" % str(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
-        self.mavproxy.send("fence clear\n")
+        self.clear_fence()
         self.disarm_vehicle(force=True)
         if ex is not None:
             raise ex
@@ -3382,7 +3385,8 @@ class AutoTestCopter(AutoTest):
                                            (pos_delta, max_delta))
 
         except Exception as e:
-            self.progress("Caught exception: %s" % str(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
         self.disarm_vehicle(force=True)
@@ -3421,7 +3425,8 @@ class AutoTestCopter(AutoTest):
             self.do_RTL()
 
         except Exception as e:
-            self.progress("Caught exception: %s" % str(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
         self.mavproxy.send("fence clear\n")
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 3b59840264..833c69ad11 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1246,8 +1246,8 @@ class AutoTestPlane(AutoTest):
                                     blocking=True,
                                     timeout=5)
         except Exception as e:
-            print("Caught exception:")
-            self.progress(self.get_exception_stacktrace(e))
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
 
         if m is not None:
             raise NotAchievedException("Received unexpected RANGEFINDER msg")
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index dff500f194..0ea28ffe2f 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -2768,7 +2768,7 @@ class AutoTest(ABC):
             self.mavproxy.send("set streamrate %u\n" % sr)
 
         except Exception as e:
-            self.progress("Caught exception %s" %
+            self.progress("Caught exception: %s" %
                           self.get_exception_stacktrace(e))
             # tell MAVProxy to start stuffing around with the rates:
             sr = self.sitl_streamrate()
@@ -2795,6 +2795,12 @@ class AutoTest(ABC):
         if m is None:
             raise NotAchievedException("Requested CAMERA_FEEDBACK did not arrive")
 
+    def clear_fence_using_mavproxy(self):
+        self.mavproxy.send("fence clear\n")
+
+    def clear_fence(self):
+        self.clear_fence_using_mavproxy()
+
     def clear_mission_using_mavproxy(self):
         self.mavproxy.send("wp clear\n")
         self.mavproxy.send('wp list\n')