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autotest: augment relay tests to run as cmd_int, and more messages

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Peter Barker 2023-08-25 17:19:20 +10:00 committed by Andrew Tridgell
parent b751224ae1
commit d197ad6a90
1 changed files with 96 additions and 52 deletions
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148
Tools/autotest/rover.py
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@ -582,61 +582,105 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def ServoRelayEvents(self): def ServoRelayEvents(self):
'''Test ServoRelayEvents''' '''Test ServoRelayEvents'''
self.do_set_relay(0, 0) for method in self.run_cmd, self.run_cmd_int:
off = self.get_parameter("SIM_PIN_MASK") self.context_push()
self.do_set_relay(0, 1) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
on = self.get_parameter("SIM_PIN_MASK") off = self.get_parameter("SIM_PIN_MASK")
if on == off: method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
raise NotAchievedException( on = self.get_parameter("SIM_PIN_MASK")
"Pin mask unchanged after relay cmd") if on == off:
self.progress("Pin mask changed after relay command") raise NotAchievedException(
self.do_set_relay(0, 0) "Pin mask unchanged after relay cmd")
self.progress("Pin mask changed after relay command")
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
self.set_message_rate_hz("RELAY_STATUS", 10) self.set_message_rate_hz("RELAY_STATUS", 10)
# default configuration for relays in sim have one relay: # default configuration for relays in sim have one relay:
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3, "present": 3,
"on": 0, "on": 0,
}) })
self.do_set_relay(0, 1) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3, "present": 3,
"on": 1, "on": 1,
}) })
self.do_set_relay(1, 1) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=1, p2=1)
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3, "present": 3,
"on": 3, "on": 3,
}) })
self.do_set_relay(0, 0) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
self.do_set_relay(1, 0) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=1, p2=0)
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3, "present": 3,
"on": 0, "on": 0,
}) })
# add another servo: # add another servo:
self.set_parameter("RELAY_PIN6", 14) self.set_parameter("RELAY_PIN6", 14)
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35, "present": 35,
"on": 0, "on": 0,
}) })
self.do_set_relay(5, 1) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=5, p2=1)
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35, "present": 35,
"on": 32, "on": 32,
}) })
self.do_set_relay(0, 1) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35, "present": 35,
"on": 33, "on": 33,
}) })
self.do_set_relay(5, 0) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=5, p2=0)
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35, "present": 35,
"on": 1, "on": 1,
}) })
self.start_subtest("test MAV_CMD_DO_REPEAT_RELAY")
self.context_push()
self.set_parameter("SIM_SPEEDUP", 1)
method(
mavutil.mavlink.MAV_CMD_DO_REPEAT_RELAY,
p1=0, # servo 1
p2=5, # 5 times
p3=0.5, # 1 second between being on
)
for value in 0, 1, 0, 1, 0, 1, 0, 1:
self.wait_message_field_values('RELAY_STATUS', {
"on": value,
})
self.context_pop()
self.delay_sim_time(3)
self.assert_received_message_field_values('RELAY_STATUS', {
"on": 1, # back to initial state
})
self.context_pop()
self.start_subtest("test MAV_CMD_DO_SET_SERVO")
for value in 1678, 2300, 0:
method(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=13, p2=value)
self.wait_servo_channel_value(13, value)
self.start_subtest("test MAV_CMD_DO_REPEAT_SERVO")
self.context_push()
self.set_parameter("SIM_SPEEDUP", 1)
trim = self.get_parameter("SERVO13_TRIM")
value = 2000
method(
mavutil.mavlink.MAV_CMD_DO_REPEAT_SERVO,
p1=12, # servo12
p2=value, # pwm
p3=5, # count
p4=0.5, # cycle time (1 second between high and high)
)
for value in trim, value, trim, value, trim, value, trim, value:
self.wait_servo_channel_value(12, value)
self.context_pop()
self.set_message_rate_hz("RELAY_STATUS", 0) self.set_message_rate_hz("RELAY_STATUS", 0)