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autotest: drain self.mav while waiting on other link

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In the short period of time it takes for us to get organised/draining mavlink connections, the ArduPilot process might block writing to the primary mavlink connection - in which case we'll never get the message we requested.

Should solve

2022-08-31T23:17:43.6904119Z AT-0227.6: waiting for a message - any message....
2022-08-31T23:17:43.6904958Z AT-0227.6: Received (ATTITUDE {time_boot_ms : 3146, roll : 0.00013471684360411018, pitch : -4.076504410477355e-05, yaw : -2.1274349689483643, rollspeed : 6.679168291157112e-05, pitchspeed : 3.297374496469274e-05, yawspeed : 9.125166684498254e-07})
2022-08-31T23:17:43.6905505Z AT-0227.6: Waiting for mission count of (3) from (1:1) to (243:250)
2022-08-31T23:17:43.6905909Z AT-0227.6: Asserted mission count (type=2) is 3 after 0.100000s
2022-08-31T23:17:43.6906252Z AT-0227.6: Get first item on new link
2022-08-31T23:17:43.6906620Z AT-0289.2: Received exception (Did not receive MISSION_ITEM_INT
2022-08-31T23:17:43.6907047Z Traceback (most recent call last):
2022-08-31T23:17:43.6907386Z   File "/__w/ardupilot/ardupilot/Tools/autotest/rover.py", line 3067, in test_rally
2022-08-31T23:17:43.6907719Z     m2 = self.get_mission_item_int_on_link(
2022-08-31T23:17:43.6908080Z   File "/__w/ardupilot/ardupilot/Tools/autotest/rover.py", line 2288, in get_mission_item_int_on_link
2022-08-31T23:17:43.6908469Z     raise NotAchievedException("Did not receive MISSION_ITEM_INT")
2022-08-31T23:17:43.6908841Z common.NotAchievedException: Did not receive MISSION_ITEM_INT
2022-08-31T23:17:43.6909118Z )
2022-08-31T23:17:43.6909468Z AT-0289.2: Exception caught: Did not receive MISSION_ITEM_INT
This commit is contained in:
Peter Barker 2022-09-01 10:32:12 +10:00 committed by Peter Barker
parent 9ec13be880
commit 8777d68ac1
2 changed files with 25 additions and 9 deletions
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17
Tools/autotest/common.py
View File

@ -3858,15 +3858,26 @@ class AutoTest(ABC):
if self.get_sim_time_cached() - tstart > timeout:
return
def assert_receive_message(self, type, timeout=1, verbose=False, very_verbose=False, mav=None):
def assert_receive_message(self,
type,
timeout=1,
verbose=False,
very_verbose=False,
mav=None,
condition=None,
delay_fn=None):
if mav is None:
mav = self.mav
m = None
tstart = time.time() # timeout in wallclock
while m is None:
m = mav.recv_match(type=type, blocking=True, timeout=0.05)
while True:
m = mav.recv_match(type=type, blocking=True, timeout=0.05, condition=condition)
if m is not None:
break
if time.time() - tstart > timeout:
raise NotAchievedException("Did not get %s" % type)
if delay_fn is not None:
delay_fn()
if verbose:
self.progress("Received (%s)" % str(m))
if very_verbose:

17
Tools/autotest/rover.py
View File

@ -2296,16 +2296,17 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Asserted mission count (type=%u) is %u after %fs" % (
(mission_type, m.count, delta)))
def get_mission_item_int_on_link(self, item, mav, target_system, target_component, mission_type):
def get_mission_item_int_on_link(self, item, mav, target_system, target_component, mission_type, delay_fn=None):
self.drain_mav(mav=mav, unparsed=True)
mav.mav.mission_request_int_send(target_system,
target_component,
item,
mission_type)
m = mav.recv_match(type='MISSION_ITEM_INT',
blocking=True,
timeout=60,
condition='MISSION_ITEM_INT.mission_type==%u' % mission_type)
m = self.assert_receive_message(
'MISSION_ITEM_INT',
timeout=60,
condition='MISSION_ITEM_INT.mission_type==%u' % mission_type,
delay_fn=delay_fn)
if m is None:
raise NotAchievedException("Did not receive MISSION_ITEM_INT")
if m.mission_type != mission_type:
@ -3086,12 +3087,16 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target_component,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Get first item on new link")
def drain_self_mav_fn():
self.drain_mav(self.mav)
m2 = self.get_mission_item_int_on_link(
2,
mav2,
target_system,
target_component,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
delay_fn=drain_self_mav_fn)
self.progress("Get first item on original link")
m = self.get_mission_item_int_on_link(
2,