autotest: add additional tests for private channels

Tools/autotest/common.py

@@ -3848,7 +3848,7 @@ class AutoTest(ABC):
                 raise ValueError("count %u not handled" % count)
         self.progress("Files same")
 
-    def assert_not_receive_message(self, message, timeout=1, mav=None):
+    def assert_not_receive_message(self, message, timeout=1, mav=None, condition=None):
         '''this is like assert_not_receiving_message but uses sim time not
         wallclock time'''
         self.progress("making sure we're not getting %s messages" % message)
@@ -3857,7 +3857,7 @@ class AutoTest(ABC):
 
         tstart = self.get_sim_time_cached()
         while True:
-            m = mav.recv_match(type=message, blocking=True, timeout=0.1)
+            m = mav.recv_match(type=message, blocking=True, timeout=0.1, condition=condition)
             if m is not None:
                 self.progress("Received: %s" % self.dump_message_verbose(m))
                 raise PreconditionFailedException("Receiving %s messages" % message)

Tools/autotest/rover.py

@@ -6144,6 +6144,36 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.send_poll_message("AUTOPILOT_VERSION", mav=mav2, target_sysid=134)
         self.assert_not_receive_message("AUTOPILOT_VERSION", mav=mav2, timeout=10)
 
+        # make sure we get heartbeats on the main channel from the non-private mav2:
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > 5:
+                raise NotAchievedException("Did not get expected heartbeat from %u" % 7)
+            m = self.assert_receive_message("HEARTBEAT")
+            if m.get_srcSystem() == 7:
+                self.progress("Got heartbeat from (%u) on non-private channel" % 7)
+                break
+
+        # make sure we receive heartbeats from the autotest suite into
+        # the component:
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > 5:
+                raise NotAchievedException("Did not get expected heartbeat from %u" % self.mav.source_system)
+            m = self.assert_receive_message("HEARTBEAT", mav=mav2)
+            if m.get_srcSystem() == self.mav.source_system:
+                self.progress("Got heartbeat from (%u) on non-private channel" % self.mav.source_system)
+                break
+
+        def printmessage(mav, m):
+            global mav2
+            if mav == mav2:
+                return
+
+            print("Got (%u/%u) (%s) " % (m.get_srcSystem(), m.get_srcComponent(), str(m)))
+
+#        self.install_message_hook_context(printmessage)
+
         # ensure setting the private channel mask doesn't cause us to
         # execute these commands:
         self.set_parameter("SERIAL2_OPTIONS", 1024)
@@ -6156,6 +6186,33 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.send_poll_message("AUTOPILOT_VERSION", mav=mav2, target_sysid=134)
         self.assert_not_receive_message("AUTOPILOT_VERSION", mav=mav2, timeout=10)
 
+        # make sure messages from a private channel don't make it to
+        # the main channel:
+        self.drain_mav(self.mav)
+        self.drain_mav(mav2)
+
+        # make sure we do NOT get heartbeats on the main channel from
+        # the private mav2:
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > 5:
+                break
+            m = self.assert_receive_message("HEARTBEAT")
+            if m.get_srcSystem() == 7:
+                raise NotAchievedException("Got heartbeat from private channel")
+
+        self.progress("ensure no outside heartbeats reach private channels")
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > 5:
+                break
+            m = self.assert_receive_message("HEARTBEAT")
+            if m.get_srcSystem() == 1 and m.get_srcComponent() == 1:
+                continue
+            # note the above test which shows we get heartbeats from
+            # both the vehicle and this tests's special heartbeat
+            raise NotAchievedException("Got heartbeat on private channel from non-vehicle")
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()