autotest: add support for testing mavlink in lua

Tools/autotest/common.py

@@ -37,6 +37,7 @@ from pymavlink import mavwp, mavutil, DFReader
 from pymavlink import mavextra
 from pymavlink.rotmat import Vector3
 from pymavlink import quaternion
+from pymavlink.generator import mavgen
 
 from pysim import util, vehicleinfo
 
@@ -4237,6 +4238,12 @@ class AutoTest(ABC):
         self.install_test_modules()
         self.context_get().installed_modules.append("test")
 
+    def install_mavlink_module_context(self):
+        '''installs mavlink module which will be removed when the context goes
+        away'''
+        self.install_mavlink_module()
+        self.context_get().installed_modules.append("mavlink")
+
     def install_applet_script_context(self, scriptname):
         '''installs an applet script which will be removed when the context goes
         away'''
@@ -7667,6 +7674,13 @@ Also, ignores heartbeats not from our target system'''
         self.progress("Copying (%s) to (%s)" % (source, dest))
         shutil.copytree(source, dest)
 
+    def install_mavlink_module(self):
+        dest = os.path.join("scripts", "modules", "mavlink")
+        ardupilotmega_xml = os.path.join(self.rootdir(), "modules", "mavlink",
+                                         "message_definitions", "v1.0", "ardupilotmega.xml")
+        mavgen.mavgen(mavgen.Opts(output=dest, wire_protocol='2.0', language='Lua'), [ardupilotmega_xml])
+        self.progress("Installed mavlink module")
+
     def install_example_script(self, scriptname):
         source = self.script_example_source_path(scriptname)
         self.install_script(source, scriptname)

Tools/autotest/rover.py

@@ -5221,15 +5221,19 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
 
         self.context_push()
 
-        test_scripts = ["scripting_test.lua", "math.lua", "strings.lua"]
+        test_scripts = ["scripting_test.lua", "math.lua", "strings.lua", "mavlink_test.lua"]
-        success_text = ["Internal tests passed", "Math tests passed", "String tests passed"]
+        success_text = ["Internal tests passed", "Math tests passed", "String tests passed", "Received heartbeat from"]
+        named_value_float_types = ["test"]
 
         messages = []
+        named_value_float = []
 
         def my_message_hook(mav, message):
-            if message.get_type() != 'STATUSTEXT':
+            if message.get_type() == 'STATUSTEXT':
-                return
+                messages.append(message)
-            messages.append(message)
+            # also sniff for named value float messages
+            if message.get_type() == 'NAMED_VALUE_FLOAT':
+                named_value_float.append(message)
 
         self.install_message_hook_context(my_message_hook)
         self.set_parameters({
@@ -5238,6 +5242,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             "SCR_VM_I_COUNT": 1000000,
         })
         self.install_test_modules_context()
+        self.install_mavlink_module_context()
         for script in test_scripts:
             self.install_test_script_context(script)
         self.reboot_sitl()
@@ -5255,9 +5260,21 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 if text in m.text:
                     script_success = True
             success = script_success and success
-        self.progress("Success")
         if not success:
-            raise NotAchievedException("Scripting internal test failed")
+            raise NotAchievedException("Failed to receive STATUS_TEXT")
+        else:
+            self.progress("Success STATUS_TEXT")
+
+        for type in named_value_float_types:
+            script_success = False
+            for m in named_value_float:
+                if type == m.name:
+                    script_success = True
+            success = script_success and success
+        if not success:
+            raise NotAchievedException("Failed to receive NAMED_VALUE_FLOAT")
+        else:
+            self.progress("Success NAMED_VALUE_FLOAT")
 
     def test_scripting_hello_world(self):
         self.start_subtest("Scripting hello world")