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autotest: rover: remove pointless try/except block

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Peter Barker 2023-01-04 21:23:49 +11:00 committed by Peter Barker
parent 0b7353bb89
commit f5320f1691
1 changed files with 57 additions and 62 deletions
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119
Tools/autotest/rover.py
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@ -5703,76 +5703,71 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def EndMissionBehavior(self, timeout=60): def EndMissionBehavior(self, timeout=60):
'''Test end mission behavior''' '''Test end mission behavior'''
self.context_push() self.context_push()
ex = None
try:
self.load_mission("end-mission.txt")
self.wait_ready_to_arm()
self.arm_vehicle()
self.start_subtest("Test End Mission Behavior HOLD") self.load_mission("end-mission.txt")
self.context_collect("STATUSTEXT") self.wait_ready_to_arm()
self.change_mode("AUTO") self.arm_vehicle()
self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
# On Hold we should just stop and don't update the navigation target anymore self.start_subtest("Test End Mission Behavior HOLD")
tstart = self.get_sim_time() self.context_collect("STATUSTEXT")
while True: self.change_mode("AUTO")
self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
# On Hold we should just stop and don't update the navigation target anymore
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 15:
raise AutoTestTimeoutException("Still getting POSITION_TARGET_GLOBAL_INT")
m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
blocking=True,
timeout=10)
if m is None:
self.progress("No POSITION_TARGET_GLOBAL_INT received, all good !")
break
self.context_clear_collection("STATUSTEXT")
self.change_mode("GUIDED")
self.context_collect("STATUSTEXT")
self.start_subtest("Test End Mission Behavior LOITER")
self.set_parameter("MIS_DONE_BEHAVE", 1)
self.change_mode("AUTO")
self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
# On LOITER we should update the navigation target
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 15:
raise AutoTestTimeoutException("Not getting POSITION_TARGET_GLOBAL_INT")
m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
blocking=True,
timeout=5)
if m is None:
self.progress("No POSITION_TARGET_GLOBAL_INT received")
continue
else:
if self.get_sim_time_cached() - tstart > 15: if self.get_sim_time_cached() - tstart > 15:
raise AutoTestTimeoutException("Still getting POSITION_TARGET_GLOBAL_INT") self.progress("Got POSITION_TARGET_GLOBAL_INT, all good !")
m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
blocking=True,
timeout=10)
if m is None:
self.progress("No POSITION_TARGET_GLOBAL_INT received, all good !")
break break
self.context_clear_collection("STATUSTEXT")
self.change_mode("GUIDED")
self.context_collect("STATUSTEXT")
self.start_subtest("Test End Mission Behavior LOITER") self.start_subtest("Test End Mission Behavior ACRO")
self.set_parameter("MIS_DONE_BEHAVE", 1) self.set_parameter("MIS_DONE_BEHAVE", 2)
self.change_mode("AUTO") # race conditions here to do with get_sim_time()
self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2) # swallowing heartbeats means we have to be a little
# On LOITER we should update the navigation target # circuitous when testing here:
tstart = self.get_sim_time() self.change_mode("GUIDED")
while True: self.send_cmd_do_set_mode('AUTO')
if self.get_sim_time_cached() - tstart > 15: self.wait_mode("ACRO")
raise AutoTestTimeoutException("Not getting POSITION_TARGET_GLOBAL_INT")
m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
blocking=True,
timeout=5)
if m is None:
self.progress("No POSITION_TARGET_GLOBAL_INT received")
continue
else:
if self.get_sim_time_cached() - tstart > 15:
self.progress("Got POSITION_TARGET_GLOBAL_INT, all good !")
break
self.start_subtest("Test End Mission Behavior ACRO") self.start_subtest("Test End Mission Behavior MANUAL")
self.set_parameter("MIS_DONE_BEHAVE", 2) self.set_parameter("MIS_DONE_BEHAVE", 3)
# race conditions here to do with get_sim_time() # race conditions here to do with get_sim_time()
# swallowing heartbeats means we have to be a little # swallowing heartbeats means we have to be a little
# circuitous when testing here: # circuitous when testing here:
self.change_mode("GUIDED") self.change_mode("GUIDED")
self.send_cmd_do_set_mode('AUTO') self.send_cmd_do_set_mode("AUTO")
self.wait_mode("ACRO") self.wait_mode("MANUAL")
self.disarm_vehicle()
self.start_subtest("Test End Mission Behavior MANUAL")
self.set_parameter("MIS_DONE_BEHAVE", 3)
# race conditions here to do with get_sim_time()
# swallowing heartbeats means we have to be a little
# circuitous when testing here:
self.change_mode("GUIDED")
self.send_cmd_do_set_mode("AUTO")
self.wait_mode("MANUAL")
self.disarm_vehicle()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop() self.context_pop()
self.reboot_sitl() self.reboot_sitl()
if ex is not None:
raise ex
def MAVProxyParam(self): def MAVProxyParam(self):
'''Test MAVProxy parameter handling''' '''Test MAVProxy parameter handling'''