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Tools: autotest: better streamrate reset

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This commit is contained in:
Peter Barker 2019-03-05 22:09:26 +11:00 committed by Peter Barker
parent 086b4c1cfd
commit f23c6e1624
1 changed files with 26 additions and 15 deletions
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41
Tools/autotest/common.py
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@ -287,26 +287,37 @@ class AutoTest(ABC):
self.initialise_after_reboot_sitl()
def set_streamrate(self, streamrate):
tstart = time.time()
while True:
if time.time() - tstart > 10:
raise AutoTestTimeoutException("stream rate change failed")
self.mavproxy.send("set streamrate %u\n" % (streamrate))
self.mavproxy.send("set streamrate\n")
self.mavproxy.expect('.*streamrate ([0-9]+)', timeout=1)
rate = self.mavproxy.match.group(1)
print("rate: %s" % str(rate))
if int(rate) == int(streamrate):
break
if streamrate <= 0:
return
m = self.mav.recv_match(type='SYSTEM_TIME',
blocking=True,
timeout=10)
print("Received (%s)" % str(m))
if m is None:
raise NotAchievedException("Did not get SYSTEM_TIME")
def initialise_after_reboot_sitl(self):
# after reboot stream-rates may be zero. Prompt MAVProxy to
# send a rate-change message by changing away from our normal
# stream rates and back again:
tstart = self.get_sim_time()
while True:
self.mavproxy.send("set streamrate %u\n" % (self.sitl_streamrate()+1))
if self.get_sim_time() - tstart > 10:
raise AutoTestTimeoutException("SYSTEM_TIME not received")
m = self.mav.recv_match(type='SYSTEM_TIME',
blocking=True,
timeout=1)
if m is not None:
print("Received (%s)" % str(m))
break
self.mavproxy.send("set streamrate %u\n" % self.sitl_streamrate())
self.set_streamrate(self.sitl_streamrate()+1)
self.set_streamrate(self.sitl_streamrate())
self.progress("Reboot complete")
def close(self):