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autotest: correct assert_prearm_failure to not try to arm vehicle

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Peter Barker 2022-08-04 13:26:04 +10:00 committed by Peter Barker
parent 5167cd1e48
commit d7d473d1f9
1 changed files with 60 additions and 1 deletions
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61
Tools/autotest/common.py
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@ -4429,6 +4429,22 @@ class AutoTest(ABC):
0,
0)
def send_mavlink_run_prearms_command(self):
target_sysid = 1
target_compid = 1
self.mav.mav.command_long_send(
target_sysid,
target_compid,
mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS,
0,
0,
0,
0,
0,
0,
0,
0)
def analog_rangefinder_parameters(self):
return {
"RNGFND1_TYPE": 1,
@ -6632,7 +6648,50 @@ class AutoTest(ABC):
if m is not None:
raise NotAchievedException("Fence status received unexpectedly")
def assert_prearm_failure(self, expected_statustext, timeout=5, ignore_prearm_failures=[]):
def assert_prearm_failure(self,
expected_statustext,
timeout=5,
ignore_prearm_failures=[],
other_prearm_failures_fatal=True):
seen_statustext = False
seen_command_ack = False
self.drain_mav()
tstart = self.get_sim_time_cached()
arm_last_send = 0
while True:
if seen_command_ack and seen_statustext:
break
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException(
"Did not see failure-to-arm messages (statustext=%s command_ack=%s" %
(seen_statustext, seen_command_ack))
if now - arm_last_send > 1:
arm_last_send = now
self.send_mavlink_run_prearms_command()
m = self.mav.recv_match(blocking=True, timeout=1)
if m is None:
continue
if m.get_type() == "STATUSTEXT":
if expected_statustext in m.text:
self.progress("Got: %s" % str(m))
seen_statustext = True
elif other_prearm_failures_fatal and "PreArm" in m.text and m.text[8:] not in ignore_prearm_failures:
self.progress("Got: %s" % str(m))
raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)
if m.get_type() == "COMMAND_ACK":
print("Got: %s" % str(m))
if m.command == mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS:
if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
raise NotAchievedException("command-ack says we didn't run prearms")
self.progress("Got: %s" % str(m))
seen_command_ack = True
if self.mav.motors_armed():
raise NotAchievedException("Armed when we shouldn't have")
def assert_arm_failure(self, expected_statustext, timeout=5, ignore_prearm_failures=[]):
seen_statustext = False
seen_command_ack = False