Tools: autotest: convert plane over to new tests structure
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
7ad299c526
commit
622549456c
@ -58,6 +58,8 @@ class AutoTestPlane(AutoTest):
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if self.frame is None:
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self.frame = 'plane-elevrev'
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self.mavproxy_logfile = self.open_mavproxy_logfile()
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defaults_file = os.path.join(testdir,
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'default_params/plane-jsbsim.parm')
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self.sitl = util.start_SITL(self.binary,
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@ -625,12 +627,21 @@ class AutoTestPlane(AutoTest):
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def test_rc_relay(self):
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'''test toggling channel 12 toggles relay'''
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self.set_parameter("RC12_OPTION", 28) # Relay On/Off
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self.set_rc(12, 1000)
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self.reboot_sitl() # needed for RC12_OPTION to take effect
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off = self.get_parameter("SIM_PIN_MASK")
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if off:
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raise PreconditionFailedException("SIM_MASK_PIN off")
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# allow time for the RC library to register initial value:
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self.delay_sim_time(1)
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self.set_rc(12, 2000)
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self.wait_heartbeat()
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self.wait_heartbeat()
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on = self.get_parameter("SIM_PIN_MASK")
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if not on:
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raise NotAchievedException("SIM_PIN_MASK doesn't reflect ON")
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@ -643,6 +654,9 @@ class AutoTestPlane(AutoTest):
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def test_rc_option_camera_trigger(self):
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'''test toggling channel 12 takes picture'''
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self.set_parameter("RC12_OPTION", 9) # CameraTrigger
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self.reboot_sitl() # needed for RC12_OPTION to take effect
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x = self.mav.messages.get("CAMERA_FEEDBACK", None)
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if x is not None:
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raise PreconditionFailedException("Receiving CAMERA_FEEDBACK?!")
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@ -663,8 +677,7 @@ class AutoTestPlane(AutoTest):
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try:
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self.load_mission("plane-gripper-mission.txt")
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self.mavproxy.send("wp set 1\n")
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self.mavproxy.send('switch 1\n') # auto mode
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self.wait_mode('AUTO')
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self.change_mode('AUTO')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.expect("Gripper Grabbed")
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@ -677,95 +690,84 @@ class AutoTestPlane(AutoTest):
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if ex is not None:
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raise ex
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def autotest(self):
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"""Autotest ArduPlane in SITL."""
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self.check_test_syntax(test_file=os.path.realpath(__file__))
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if not self.hasInit:
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self.init()
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def start_subtest(self, description):
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self.progress("-")
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self.progress("---------- %s ----------" % description)
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self.progress("-")
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self.fail_list = []
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try:
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self.progress("Waiting for a heartbeat with mavlink protocol %s"
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% self.mav.WIRE_PROTOCOL_VERSION)
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self.wait_heartbeat()
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self.progress("Setting up RC parameters")
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self.set_rc_default()
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self.set_rc(3, 1000)
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self.set_rc(8, 1800)
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def run_subtest(self, desc, func):
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self.start_subtest(desc)
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func()
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self.set_parameter("RC12_OPTION", 9)
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self.reboot_sitl() # needed for RC12_OPTION to take effect
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def test_main_flight(self):
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self.run_test("Test RC Option - Camera Trigger",
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self.test_rc_option_camera_trigger)
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self.change_mode('MANUAL')
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self.set_parameter("RC12_OPTION", 28)
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self.reboot_sitl() # needed for RC12_OPTION to take effect
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# grab home position:
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m = self.mav.recv_match(type='HOME_POSITION', blocking=True)
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self.homeloc = self.mav.location()
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self.run_test("Test Relay RC Channel Option",
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self.test_rc_relay)
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self.run_subtest("Takeoff", self.takeoff)
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self.progress("Waiting for GPS fix")
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self.mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
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self.mav.wait_gps_fix()
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while self.mav.location().alt < 10:
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self.mav.wait_gps_fix()
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self.homeloc = self.mav.location()
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self.progress("Home location: %s" % self.homeloc)
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self.wait_ready_to_arm()
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self.run_test("Arm features", self.test_arm_feature)
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self.run_subtest("Set Attitude Target", self.set_attitude_target)
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self.run_test("Flaps", self.fly_flaps)
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self.run_subtest("Fly left circuit", self.fly_left_circuit)
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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self.run_subtest("Left roll", lambda: self.axial_left_roll(1))
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self.run_test("Takeoff", self.takeoff)
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self.run_subtest("Inside loop", self.inside_loop)
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self.run_test("Set Attitude Target", self.set_attitude_target)
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self.run_subtest("Stablize test", self.test_stabilize)
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self.run_test("Fly left circuit", self.fly_left_circuit)
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self.run_subtest("ACRO test", self.test_acro)
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self.run_test("Left roll", lambda: self.axial_left_roll(1))
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self.run_subtest("FBWB test", self.test_FBWB)
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self.run_test("Inside loop", self.inside_loop)
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self.run_subtest("CRUISE test", lambda: self.test_FBWB(mode='CRUISE'))
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self.run_test("Stablize test", self.test_stabilize)
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self.run_subtest("RTL test", self.fly_RTL)
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self.run_test("ACRO test", self.test_acro)
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self.run_subtest("LOITER test", self.fly_LOITER)
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self.run_test("FBWB test", self.test_FBWB)
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self.run_subtest("CIRCLE test", self.fly_CIRCLE)
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self.run_test("CRUISE test", lambda: self.test_FBWB(mode='CRUISE'))
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self.run_subtest("Mission test",
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lambda: self.fly_mission(
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os.path.join(testdir, "ap1.txt")))
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self.run_test("RTL test", self.fly_RTL)
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def set_rc_default(self):
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super(AutoTestPlane, self).set_rc_default()
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self.set_rc(3, 1000)
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self.set_rc(8, 1800)
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self.run_test("LOITER test", self.fly_LOITER)
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def default_mode(self):
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return "MANUAL"
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self.run_test("CIRCLE test", self.fly_CIRCLE)
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def tests(self):
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'''return list of all tests'''
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ret = super(AutoTestPlane, self).tests()
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ret.extend([
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self.run_test("Mission test",
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lambda: self.fly_mission(
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os.path.join(testdir, "ap1.txt")))
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("TestRCCamera",
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"Test RC Option - Camera Trigger",
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self.test_rc_option_camera_trigger),
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self.run_test("Test Gripper mission items",
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self.test_gripper_mission)
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("TestRCRelay", "Test Relay RC Channel Option", self.test_rc_relay),
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self.run_test("Log download",
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lambda: self.log_download(
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self.buildlogs_path("ArduPlane-log.bin"),
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upload_logs=True))
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("TestFlaps", "Flaps", self.fly_flaps),
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except pexpect.TIMEOUT:
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self.progress("Failed with timeout")
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self.fail_list.append("timeout")
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("MainFlight",
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"Lots of things in one flight",
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self.test_main_flight),
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self.close()
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("TestGripperMission",
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"Test Gripper mission items",
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self.test_gripper_mission),
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if len(self.fail_list):
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self.progress("FAILED: %s" % self.fail_list)
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return False
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self.progress("Max set_rc_timeout=%s" % self.max_set_rc_timeout)
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return True
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("LogDownLoad",
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"Log download",
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lambda: self.log_download(
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self.buildlogs_path("ArduPlane-log.bin"),
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upload_logs=True))
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])
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return ret
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