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autotest: add test for setting streamrates from files

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This commit is contained in:
Peter Barker 2021-09-29 15:45:12 +10:00 committed by Peter Barker
parent df7b2982d3
commit d7f037e548
2 changed files with 51 additions and 4 deletions
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39
Tools/autotest/arducopter.py
View File

@ -6924,6 +6924,42 @@ class AutoTestCopter(AutoTest):
if not ok:
raise NotAchievedException("check_replay failed")
def DefaultIntervalsFromFiles(self):
ex = None
intervals_filepath = util.reltopdir("message-intervals-chan0.txt")
self.progress("Using filepath (%s)" % intervals_filepath)
try:
with open(intervals_filepath, "w") as f:
f.write("""30 50
28 100
29 200
""")
# other tests may have explicitly set rates, so wipe parameters:
def custom_stream_rate_setter():
for stream in mavutil.mavlink.MAV_DATA_STREAM_EXTRA3, mavutil.mavlink.MAV_DATA_STREAM_RC_CHANNELS:
self.set_streamrate(5, stream=stream)
self.customise_SITL_commandline(
[],
wipe=True,
set_streamrate_callback=custom_stream_rate_setter,
)
self.assert_message_rate_hz("ATTITUDE", 20)
self.assert_message_rate_hz("SCALED_PRESSURE", 5)
except Exception as e:
self.print_exception_caught(e)
ex = e
os.unlink(intervals_filepath)
self.reboot_sitl()
if ex is not None:
raise ex
def BaroDrivers(self):
sensors = [
("MS5611", 2),
@ -7919,6 +7955,9 @@ class AutoTestCopter(AutoTest):
"Change speed (down) during misison",
self.WPNAV_SPEED_DN),
("DefaultIntervalsFromFiles",
"Test setting default mavlink message intervals from files",
self.DefaultIntervalsFromFiles),
Test("GPSTypes",
"Test simulated GPS types",

16
Tools/autotest/common.py
View File

@ -1676,7 +1676,7 @@ class AutoTest(ABC):
self.progress("Calling initialise-after-reboot")
self.initialise_after_reboot_sitl()
def set_streamrate(self, streamrate, timeout=20):
def set_streamrate(self, streamrate, timeout=20, stream=mavutil.mavlink.MAV_DATA_STREAM_ALL):
'''set MAV_DATA_STREAM_ALL; timeout is wallclock time'''
tstart = time.time()
while True:
@ -1685,7 +1685,7 @@ class AutoTest(ABC):
self.mav.mav.request_data_stream_send(
1,
1,
mavutil.mavlink.MAV_DATA_STREAM_ALL,
stream,
streamrate,
1)
m = self.mav.recv_match(type='SYSTEM_TIME',
@ -2146,7 +2146,12 @@ class AutoTest(ABC):
self.set_streamrate(self.sitl_streamrate())
self.progress("Reboot complete")
def customise_SITL_commandline(self, customisations, model=None, defaults_filepath=None, wipe=False):
def customise_SITL_commandline(self,
customisations,
model=None,
defaults_filepath=None,
wipe=False,
set_streamrate_callback=None):
'''customisations could be "--uartF=sim:nmea" '''
self.contexts[-1].sitl_commandline_customised = True
self.stop_SITL()
@ -2166,7 +2171,10 @@ class AutoTest(ABC):
except IOError:
pass
break
self.set_streamrate(self.sitl_streamrate())
if set_streamrate_callback is not None:
set_streamrate_callback()
else:
self.set_streamrate(self.sitl_streamrate())
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=15)
if m is None:
raise NotAchievedException("No RC_CHANNELS message after restarting SITL")