mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
autotest: augment relay tests to run as cmd_int, and more messages
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
b751224ae1
commit
d197ad6a90
@ -582,61 +582,105 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
||||
|
||||
def ServoRelayEvents(self):
|
||||
'''Test ServoRelayEvents'''
|
||||
self.do_set_relay(0, 0)
|
||||
off = self.get_parameter("SIM_PIN_MASK")
|
||||
self.do_set_relay(0, 1)
|
||||
on = self.get_parameter("SIM_PIN_MASK")
|
||||
if on == off:
|
||||
raise NotAchievedException(
|
||||
"Pin mask unchanged after relay cmd")
|
||||
self.progress("Pin mask changed after relay command")
|
||||
self.do_set_relay(0, 0)
|
||||
for method in self.run_cmd, self.run_cmd_int:
|
||||
self.context_push()
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
|
||||
off = self.get_parameter("SIM_PIN_MASK")
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
|
||||
on = self.get_parameter("SIM_PIN_MASK")
|
||||
if on == off:
|
||||
raise NotAchievedException(
|
||||
"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:
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 3,
|
||||
"on": 0,
|
||||
})
|
||||
self.do_set_relay(0, 1)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 3,
|
||||
"on": 1,
|
||||
})
|
||||
self.do_set_relay(1, 1)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 3,
|
||||
"on": 3,
|
||||
})
|
||||
self.do_set_relay(0, 0)
|
||||
self.do_set_relay(1, 0)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 3,
|
||||
"on": 0,
|
||||
})
|
||||
# default configuration for relays in sim have one relay:
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 3,
|
||||
"on": 0,
|
||||
})
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 3,
|
||||
"on": 1,
|
||||
})
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=1, p2=1)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 3,
|
||||
"on": 3,
|
||||
})
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=1, p2=0)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 3,
|
||||
"on": 0,
|
||||
})
|
||||
|
||||
# add another servo:
|
||||
self.set_parameter("RELAY_PIN6", 14)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 35,
|
||||
"on": 0,
|
||||
})
|
||||
self.do_set_relay(5, 1)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 35,
|
||||
"on": 32,
|
||||
})
|
||||
self.do_set_relay(0, 1)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 35,
|
||||
"on": 33,
|
||||
})
|
||||
self.do_set_relay(5, 0)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 35,
|
||||
"on": 1,
|
||||
})
|
||||
# add another servo:
|
||||
self.set_parameter("RELAY_PIN6", 14)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 35,
|
||||
"on": 0,
|
||||
})
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=5, p2=1)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 35,
|
||||
"on": 32,
|
||||
})
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 35,
|
||||
"on": 33,
|
||||
})
|
||||
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=5, p2=0)
|
||||
self.assert_received_message_field_values('RELAY_STATUS', {
|
||||
"present": 35,
|
||||
"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)
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user