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Tools: autotest: fix apmrover2 race condition on banner

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This commit is contained in:
Peter Barker 2017-10-26 17:18:25 +11:00
parent 51c8c1adb2
commit c498f17bc8
1 changed files with 14 additions and 2 deletions
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16
Tools/autotest/apmrover2.py
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@ -96,8 +96,18 @@ def drive_mission(mavproxy, mav, filename):
def do_get_banner(mavproxy, mav):
mavproxy.send("long DO_SEND_BANNER 1\n")
mavproxy.expect("APM:Rover")
return True;
start = time.time()
while True:
m = mav.recv_match(type='STATUSTEXT', blocking=True, timeout=1)
if m is not None and "APM:Rover" in m.text:
print("banner received: %s" % (m.text))
return True
if time.time() - start > 10:
break
print("banner not received")
return False
def do_get_autopilot_capabilities(mavproxy, mav):
mavproxy.send("long REQUEST_AUTOPILOT_CAPABILITIES 1\n")
@ -295,10 +305,12 @@ def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fa
# function may bite you.
print("Getting banner")
if not do_get_banner(mavproxy, mav):
print("FAILED: get banner")
failed = True
print("Getting autopilot capabilities")
if not do_get_autopilot_capabilities(mavproxy, mav):
print("FAILED: get capabilities")
failed = True
print("Setting mode via MAV_COMMAND_DO_SET_MODE")