Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-08 17:03:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: Python3 fixes for Frsky tests

Browse Source
This commit is contained in:
Peter Barker 2020-01-15 20:30:19 +11:00 committed by Peter Barker
parent 2ebfdefc11
commit f42c42df02
1 changed files with 26 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
Tools/autotest/common.py
View File

@ -170,7 +170,7 @@ class FRSky(object):
def __init__(self, destination_address): def __init__(self, destination_address):
self.destination_address = destination_address self.destination_address = destination_address
self.buffer = "" self.buffer = bytes()
self.connected = False self.connected = False
self.port = None self.port = None
@ -221,11 +221,11 @@ class FRSky(object):
if e.errno not in [ errno.EAGAIN, errno.EWOULDBLOCK ]: if e.errno not in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
self.progress("Exception: %s" % str(e)) self.progress("Exception: %s" % str(e))
self.connected = False self.connected = False
return "" return bytes()
if len(data) == 0: if len(data) == 0:
self.progress("EOF") self.progress("EOF")
self.connected = False self.connected = False
return "" return bytes()
# self.progress("Read %u bytes" % len(data)) # self.progress("Read %u bytes" % len(data))
return data return data
@ -268,7 +268,10 @@ class FRSkyD(FRSky):
if len(self.buffer) == 0: if len(self.buffer) == 0:
break break
consume = 1 consume = 1
b = ord(self.buffer[0]) if sys.version_info.major >= 3:
b = self.buffer[0]
else:
b = ord(self.buffer[0])
if self.state == self.state_WANT_START_STOP_D: if self.state == self.state_WANT_START_STOP_D:
if b != self.START_STOP_D: if b != self.START_STOP_D:
# we may come into a stream mid-way, so we can't judge # we may come into a stream mid-way, so we can't judge
@ -379,18 +382,26 @@ class FRSkySPort(FRSky):
self.data_by_id[dataid] = value self.data_by_id[dataid] = value
def read_bytestuffed_byte(self): def read_bytestuffed_byte(self):
if ord(self.buffer[0]) == 0x7D: if sys.version_info.major >= 3:
b = self.buffer[0]
else:
b = ord(self.buffer[0])
if b == 0x7D:
# byte-stuffed # byte-stuffed
if len(self.buffer) < 2: if len(self.buffer) < 2:
self.consume = 0 self.consume = 0
return None return None
self.consume = 2 self.consume = 2
if ord(self.buffer[1]) == 0x5E: if sys.version_info.major >= 3:
b2 = self.buffer[1]
else:
b2 = ord(self.buffer[1])
if b2 == 0x5E:
return self.START_STOP_SPORT return self.START_STOP_SPORT
if ord(self.buffer[1]) == 0x5D: if b2 == 0x5D:
return self.BYTESTUFF_SPORT return self.BYTESTUFF_SPORT
raise ValueError("Unknown stuffed byte (0x%02x)" % ord(self.buffer[1])) raise ValueError("Unknown stuffed byte (0x%02x)" % b2)
return ord(self.buffer[0]) return b
def calc_crc(self, byte): def calc_crc(self, byte):
self.crc += byte self.crc += byte
@ -436,7 +447,10 @@ class FRSkySPort(FRSky):
if len(self.buffer) == 0: if len(self.buffer) == 0:
break break
self.consume = 1 self.consume = 1
b = ord(self.buffer[0]) if sys.version_info.major >= 3:
b = self.buffer[0]
else:
b = ord(self.buffer[0])
# self.progress("Have (%s) bytes state=%s b=0x%02x" % (str(len(self.buffer)), str(self.state), b)); # self.progress("Have (%s) bytes state=%s b=0x%02x" % (str(len(self.buffer)), str(self.state), b));
if self.state == self.state_WANT_FRAME_TYPE: if self.state == self.state_WANT_FRAME_TYPE:
if b != self.SPORT_DATA_FRAME: if b != self.SPORT_DATA_FRAME:
@ -4323,7 +4337,7 @@ switch value'''
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1) m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1)
if m is None: if m is None:
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT") raise NotAchievedException("Did not receive GLOBAL_POSITION_INT")
gpi_abs_alt = m.alt / 1000 # mm -> m gpi_abs_alt = int(m.alt / 1000) # mm -> m
tstart = self.get_sim_time_cached() tstart = self.get_sim_time_cached()
while True: while True:
t2 = self.get_sim_time_cached() t2 = self.get_sim_time_cached()
@ -4331,7 +4345,7 @@ switch value'''
raise AutoTestTimeoutException("Failed to get frsky data") raise AutoTestTimeoutException("Failed to get frsky data")
frsky.update() frsky.update()
alt = frsky.get_data(frsky.dataid_GPS_ALT_BP) alt = frsky.get_data(frsky.dataid_GPS_ALT_BP)
self.progress("Got alt (%s)" % str(alt)) self.progress("Got alt (%s) mav=%s" % (str(alt), str(gpi_abs_alt)))
if alt is None: if alt is None:
continue continue
self.drain_mav_unparsed() self.drain_mav_unparsed()