mirror of https://github.com/ArduPilot/ardupilot
autotest: rover: remove pointless try/except block
This commit is contained in:
Peter Barker
Peter Barker
parent
0b7353bb89
commit
f5320f1691
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@ -5703,76 +5703,71 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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def EndMissionBehavior(self, timeout=60):
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'''Test end mission behavior'''
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self.context_push()
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ex = None
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try:
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self.load_mission("end-mission.txt")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.start_subtest("Test End Mission Behavior HOLD")
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self.context_collect("STATUSTEXT")
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self.change_mode("AUTO")
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self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
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# On Hold we should just stop and don't update the navigation target anymore
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tstart = self.get_sim_time()
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while True:
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self.load_mission("end-mission.txt")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.start_subtest("Test End Mission Behavior HOLD")
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self.context_collect("STATUSTEXT")
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self.change_mode("AUTO")
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self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
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# On Hold we should just stop and don't update the navigation target anymore
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time_cached() - tstart > 15:
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raise AutoTestTimeoutException("Still getting POSITION_TARGET_GLOBAL_INT")
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m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
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blocking=True,
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timeout=10)
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if m is None:
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self.progress("No POSITION_TARGET_GLOBAL_INT received, all good !")
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break
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self.context_clear_collection("STATUSTEXT")
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self.change_mode("GUIDED")
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self.context_collect("STATUSTEXT")
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self.start_subtest("Test End Mission Behavior LOITER")
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self.set_parameter("MIS_DONE_BEHAVE", 1)
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self.change_mode("AUTO")
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self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
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# On LOITER we should update the navigation target
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time_cached() - tstart > 15:
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raise AutoTestTimeoutException("Not getting POSITION_TARGET_GLOBAL_INT")
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m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
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blocking=True,
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timeout=5)
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if m is None:
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self.progress("No POSITION_TARGET_GLOBAL_INT received")
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continue
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else:
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if self.get_sim_time_cached() - tstart > 15:
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raise AutoTestTimeoutException("Still getting POSITION_TARGET_GLOBAL_INT")
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m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
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blocking=True,
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timeout=10)
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if m is None:
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self.progress("No POSITION_TARGET_GLOBAL_INT received, all good !")
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self.progress("Got POSITION_TARGET_GLOBAL_INT, all good !")
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break
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self.context_clear_collection("STATUSTEXT")
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self.change_mode("GUIDED")
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self.context_collect("STATUSTEXT")
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self.start_subtest("Test End Mission Behavior LOITER")
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self.set_parameter("MIS_DONE_BEHAVE", 1)
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self.change_mode("AUTO")
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self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
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# On LOITER we should update the navigation target
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time_cached() - tstart > 15:
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raise AutoTestTimeoutException("Not getting POSITION_TARGET_GLOBAL_INT")
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m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
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blocking=True,
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timeout=5)
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if m is None:
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self.progress("No POSITION_TARGET_GLOBAL_INT received")
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continue
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else:
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if self.get_sim_time_cached() - tstart > 15:
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self.progress("Got POSITION_TARGET_GLOBAL_INT, all good !")
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break
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self.start_subtest("Test End Mission Behavior ACRO")
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self.set_parameter("MIS_DONE_BEHAVE", 2)
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# race conditions here to do with get_sim_time()
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# swallowing heartbeats means we have to be a little
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# circuitous when testing here:
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self.change_mode("GUIDED")
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self.send_cmd_do_set_mode('AUTO')
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self.wait_mode("ACRO")
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self.start_subtest("Test End Mission Behavior ACRO")
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self.set_parameter("MIS_DONE_BEHAVE", 2)
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# race conditions here to do with get_sim_time()
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# swallowing heartbeats means we have to be a little
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# circuitous when testing here:
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self.change_mode("GUIDED")
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self.send_cmd_do_set_mode('AUTO')
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self.wait_mode("ACRO")
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self.start_subtest("Test End Mission Behavior MANUAL")
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self.set_parameter("MIS_DONE_BEHAVE", 3)
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# race conditions here to do with get_sim_time()
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# swallowing heartbeats means we have to be a little
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# circuitous when testing here:
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self.change_mode("GUIDED")
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self.send_cmd_do_set_mode("AUTO")
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self.wait_mode("MANUAL")
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self.disarm_vehicle()
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self.start_subtest("Test End Mission Behavior MANUAL")
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self.set_parameter("MIS_DONE_BEHAVE", 3)
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# race conditions here to do with get_sim_time()
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# swallowing heartbeats means we have to be a little
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# circuitous when testing here:
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self.change_mode("GUIDED")
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self.send_cmd_do_set_mode("AUTO")
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self.wait_mode("MANUAL")
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self.disarm_vehicle()
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.context_pop()
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self.reboot_sitl()
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if ex is not None:
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raise ex
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def MAVProxyParam(self):
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'''Test MAVProxy parameter handling'''
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