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autotest: pause/unpause SITL while draining mav

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If Python can't keep up with the message volume coming from the autopilot we never manage to drain all messages from the vehicle.

So try pausing/unpausing the simulation so we can drain the link...

AT-1968.6: AP: PreArm: Radio failsafe on
AT-1969.9: AP: PreArm: Radio failsafe on
AT-1971.2: AP: PreArm: Radio failsafe on
AT-1972.4: AP: PreArm: Radio failsafe on
AT-1973.7: AP: PreArm: Radio failsafe on
AT-1974.9: AP: PreArm: Radio failsafe on
AT-1975.3: Drained 2000283 messages from mav (7218.974791/s)
AT-1975.3: Exception caught: Traceback (most recent call last):
  File "/mnt/volume_nyc3_01/autotest/APM/APM/Tools/autotest/common.py", line 699
8, in run_one_test_attempt
    self.context_pop()
  File "/mnt/volume_nyc3_01/autotest/APM/APM/Tools/autotest/common.py", line 499
3, in context_pop
    self.set_parameters(dead_parameters_dict, add_to_context=False)
This commit is contained in:
Peter Barker 2022-07-18 11:15:22 +10:00 committed by Peter Barker
parent 2eb3f75a57
commit e38adc7d14
1 changed files with 13 additions and 0 deletions
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13
Tools/autotest/common.py
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@ -14,6 +14,7 @@ import math
import os import os
import re import re
import shutil import shutil
import signal
import sys import sys
import time import time
import traceback import traceback
@ -2558,6 +2559,16 @@ class AutoTest(ABC):
self.apply_default_parameters() self.apply_default_parameters()
self.progress("Reset SITL commandline to default") self.progress("Reset SITL commandline to default")
def pause_SITL(self):
'''temporarily stop the SITL process from running. Note that
simulation time will not move forward!'''
# self.progress("Pausing SITL")
self.sitl.kill(signal.SIGSTOP)
def unpause_SITL(self):
# self.progress("Unpausing SITL")
self.sitl.kill(signal.SIGCONT)
def stop_SITL(self): def stop_SITL(self):
self.progress("Stopping SITL") self.progress("Stopping SITL")
self.expect_list_remove(self.sitl) self.expect_list_remove(self.sitl)
@ -2737,6 +2748,7 @@ class AutoTest(ABC):
tstart = time.time() tstart = time.time()
timeout = 120 timeout = 120
failed_to_drain = False failed_to_drain = False
self.pause_SITL()
while mav.recv_msg() is not None: while mav.recv_msg() is not None:
count += 1 count += 1
if time.time() - tstart > timeout: if time.time() - tstart > timeout:
@ -2745,6 +2757,7 @@ class AutoTest(ABC):
# just die if that seems to be the case: # just die if that seems to be the case:
failed_to_drain = True failed_to_drain = True
quiet = False quiet = False
self.unpause_SITL()
if quiet: if quiet:
self.in_drain_mav = False self.in_drain_mav = False
return return