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autotest: add option to timeout parameter fetching in system time

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Peter Barker 2021-01-10 20:50:17 +11:00 committed by Peter Barker
parent 83f2f365c0
commit 2917c75f35
1 changed files with 15 additions and 19 deletions
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34
Tools/autotest/common.py
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@ -1529,20 +1529,10 @@ class AutoTest(ABC):
if required_bootcount is None:
required_bootcount = old_bootcount + 1
while True:
# get_parameter calls get_sim_time.... streamrates may
# be zero so we need to prompt for one of these...
self.send_cmd(mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
mavutil.mavlink.MAVLINK_MSG_ID_SYSTEM_TIME,
0,
0,
0,
0,
0,
0)
if time.time() - tstart > timeout:
raise AutoTestTimeoutException("Did not detect reboot")
try:
current_bootcount = self.get_parameter('STAT_BOOTCNT', timeout=1, attempts=1)
current_bootcount = self.get_parameter('STAT_BOOTCNT', timeout=1, attempts=1, verbose=True, timeout_in_wallclock=True)
self.progress("current=%s required=%u" % (str(current_bootcount), required_bootcount))
if current_bootcount == required_bootcount:
break
@ -3548,7 +3538,7 @@ class AutoTest(ABC):
# self.progress("Requesting (%s) (retry=%u)" % (name, i))
continue
delta = abs(autopilot_values[name] - value)
if delta < epsilon:
if delta <= epsilon:
# correct value
self.progress("%s is now %f" % (name, autopilot_values[name]))
if add_to_context:
@ -3606,21 +3596,27 @@ class AutoTest(ABC):
encname,
-1)
def get_parameter_direct(self, name, attempts=1, timeout=60, verbose=True):
def get_parameter_direct(self, name, attempts=1, timeout=60, verbose=True, timeout_in_wallclock=False):
while attempts > 0:
if verbose:
self.progress("Sending param_request_read for (%s)" % name)
# we MUST parse here or collections fail where we need
# them to work!
self.drain_mav(quiet=True)
tstart = self.get_sim_time()
if timeout_in_wallclock:
tstart = time.time()
else:
tstart = self.get_sim_time()
self.send_get_parameter_direct(name)
while True:
now = self.get_sim_time_cached()
if tstart > now:
self.progress("Time wrap detected")
# we're going to have to send another request...
break
if timeout_in_wallclock:
now = time.time()
else:
now = self.get_sim_time_cached()
if tstart > now:
self.progress("Time wrap detected")
# we're going to have to send another request...
break
delta_time = now - tstart
if delta_time > timeout:
break