From 81b1270db9cd6eb3d08ca865664b99e4cc34c0a9 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 4 Aug 2018 10:04:19 +1000 Subject: [PATCH] Tools: autotest: use tcp for mavproxy-to-autotest mavlink --- Tools/autotest/common.py | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py index cc58663ec4..0358706e88 100644 --- a/Tools/autotest/common.py +++ b/Tools/autotest/common.py @@ -142,10 +142,21 @@ class AutoTest(ABC): '''allow subclasses to override SITL streamrate''' return 10 + def autotest_connection_hostport(self): + '''returns host and port of connection between MAVProxy and autotest, + colon-separated''' + return "127.0.0.1:19550" + + def autotest_connection_string_from_mavproxy(self): + return "tcpin:" + self.autotest_connection_hostport() + + def autotest_connection_string_to_mavproxy(self): + return "tcp:" + self.autotest_connection_hostport() + def mavproxy_options(self): '''returns options to be passed to MAVProxy''' ret = ['--sitl=127.0.0.1:5501', - '--out=127.0.0.1:19550', + '--out=' + self.autotest_connection_string_from_mavproxy(), '--streamrate=%u' % self.sitl_streamrate()] if self.viewerip: ret.append("--out=%s:14550" % self.viewerip) @@ -863,7 +874,7 @@ class AutoTest(ABC): def get_mavlink_connection_going(self): # get a mavlink connection going - connection_string = '127.0.0.1:19550' + connection_string = self.autotest_connection_string_to_mavproxy() try: self.mav = mavutil.mavlink_connection(connection_string, robust_parsing=True)