From d621fe0cde238e7bd0ac1daf0107af9bd5dc2671 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 27 Mar 2021 13:22:16 +1100 Subject: [PATCH] autotest: correct sub gripper mission Ordinarily not run because gripper is disabled --- Tools/autotest/ardusub.py | 33 +++++++++++---------------------- 1 file changed, 11 insertions(+), 22 deletions(-) diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py index 8f775620e1..3c05389054 100644 --- a/Tools/autotest/ardusub.py +++ b/Tools/autotest/ardusub.py @@ -267,30 +267,19 @@ class AutoTestSub(AutoTest): self.progress("Mission OK") def test_gripper_mission(self): - with self.Context(self): - self.test_gripper_body() - - def test_gripper_body(self): - ex = None try: - try: - self.get_parameter("GRIP_ENABLE", timeout=5) - except NotAchievedException: - self.progress("Skipping; Gripper not enabled in config?") - return + self.get_parameter("GRIP_ENABLE", timeout=5) + except NotAchievedException: + self.progress("Skipping; Gripper not enabled in config?") + return - self.load_mission("sub-gripper-mission.txt") - self.change_mode('LOITER') - self.wait_ready_to_arm() - self.arm_vehicle() - self.change_mode('AUTO') - self.wait_statustext("Gripper Grabbed", timeout=60) - self.wait_statustext("Gripper Released", timeout=60) - except Exception as e: - self.print_exception_caught(e) - ex = e - if ex is not None: - raise ex + self.load_mission("sub-gripper-mission.txt") + self.change_mode('LOITER') + self.wait_ready_to_arm() + self.arm_vehicle() + self.change_mode('AUTO') + self.wait_statustext("Gripper Grabbed", timeout=60) + self.wait_statustext("Gripper Released", timeout=60) def dive_set_position_target(self): self.change_mode('GUIDED')