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AutoTest: Address race conditions in changes to fence tests

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This commit is contained in:
James O'Shannessy 2021-02-16 19:32:54 +11:00 committed by Peter Barker
parent 76a2a76b54
commit 2353b55452
1 changed files with 16 additions and 14 deletions
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30
Tools/autotest/arduplane.py
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@ -1147,7 +1147,9 @@ class AutoTestPlane(AutoTest):
self.set_parameter("FENCE_ALT_MIN", 50)
self.set_parameter("FENCE_TYPE", 8) # Enables minimum altitude breaches
self.do_fence_enable()
self.delay_sim_time(2) # Allow breach to propagate
self.assert_fence_enabled()
self.try_arm(False, "vehicle outside fence")
self.do_fence_disable()
self.set_parameter("FENCE_ALT_MIN", default_fence_alt_min)
@ -1156,19 +1158,21 @@ class AutoTestPlane(AutoTest):
self.progress("Test arming while vehicle outside of inclusion zone")
self.set_parameter("FENCE_TYPE", 4) # Enables polygon fence types
locs = [
mavutil.location(1, 1.0, 0, 0),
mavutil.location(1.0, 1.0, 0, 0),
mavutil.location(1.0, 1.001, 0, 0),
mavutil.location(1.001, 1.001, 0, 0),
mavutil.location(1.001, 1.0, 0, 0)
mavutil.location(1.001, 1.0, 0, 0)
]
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
[
locs
])
[
locs
]
)
self.delay_sim_time(10) # let fence check run so it loads-from-eeprom
self.do_fence_enable()
self.assert_fence_enabled()
self.delay_sim_time(2) # Allow breach to propagate
self.try_arm(False, "vehicle outside fence")
self.do_fence_disable()
self.clear_fence()
@ -1184,20 +1188,18 @@ class AutoTestPlane(AutoTest):
]
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
[
locs
])
[
locs
]
)
self.delay_sim_time(10) # let fence check run so it loads-from-eeprom
self.do_fence_enable()
self.assert_fence_enabled()
self.delay_sim_time(2) # Allow breach to propagate
self.try_arm(False, "vehicle outside fence")
self.do_fence_disable()
self.clear_fence()
except Exception as e:
self.print_exception_caught(e)
ex = e
@ -1356,7 +1358,7 @@ class AutoTestPlane(AutoTest):
self.set_parameter("FENCE_RET_ALT", return_alt)
self.do_fence_enable()
self.assert_fence_enabled()
self.takeoff(alt=50, alt_max=300)
# Trigger fence breach, fly to rally location
self.set_parameter("FENCE_RET_RALLY", 1)
@ -2504,7 +2506,7 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm(timeout=150)
def test_fence_disable_under_breach_action(self):
""" Fence breach will cause the vehicle to enter guided mode.
""" Fence breach will cause the vehicle to enter guided mode.
Upon breach clear, check the vehicle is in the expected mode"""
self.set_parameter("FENCE_ALT_MIN", 50) # Sets the fence floor
self.set_parameter("FENCE_TYPE", 8) # Only use fence floor for breaches