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autotest: move mission upload functions from rover to common

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Peter Barker 2021-02-25 11:37:39 +11:00 committed by Peter Barker
parent 34a52e9cfe
commit 993d87469c
2 changed files with 99 additions and 99 deletions
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99
Tools/autotest/common.py
View File

@ -3193,6 +3193,105 @@ class AutoTest(ABC):
self.progress("num_wp: %d" % num_wp)
return num_wp
def string_for_frame(self, frame):
return mavutil.mavlink.enums["MAV_FRAME"][frame].name
def frames_equivalent(self, f1, f2):
pairs = [
(mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT),
(mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT),
(mavutil.mavlink.MAV_FRAME_GLOBAL,
mavutil.mavlink.MAV_FRAME_GLOBAL_INT),
]
for pair in pairs:
if (f1 == pair[0] and f2 == pair[1]):
return True
if (f1 == pair[1] and f2 == pair[0]):
return True
return f1 == f2
def check_mission_items_same(self,
check_atts,
want,
got,
epsilon=None,
skip_first_item=False):
self.progress("Checking mission items same")
if epsilon is None:
epsilon = 1
if len(want) != len(got):
raise NotAchievedException("Incorrect item count (want=%u got=%u)" % (len(want), len(got)))
self.progress("Checking %u items" % len(want))
for i in range(0, len(want)):
if skip_first_item and i == 0:
continue
item = want[i]
downloaded_item = got[i]
check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1']
# z is not preserved
self.progress("Comparing (%s) and (%s)" % (str(item), str(downloaded_item)))
for att in check_atts:
item_val = getattr(item, att)
downloaded_item_val = getattr(downloaded_item, att)
if abs(item_val - downloaded_item_val) > epsilon:
raise NotAchievedException(
"Item %u (%s) has different %s after download want=%s got=%s (got-item=%s)" %
(i, str(item), att, str(item_val), str(downloaded_item_val), str(downloaded_item)))
# for waypoint items ensure z and frame are preserved:
self.progress("Type is %u" % got[0].mission_type)
if got[0].mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
item_val = getattr(item, 'frame')
downloaded_item_val = getattr(downloaded_item, 'frame')
if not self.frames_equivalent(item_val, downloaded_item_val):
raise NotAchievedException("Frame not same (got=%s want=%s)" %
(self.string_for_frame(downloaded_item_val),
self.string_for_frame(item_val)))
if abs(item.z - downloaded_item.z) > 0.00001:
raise NotAchievedException("Z not preserved (got=%f want=%f)" %
(item.z, downloaded_item.z))
def check_fence_items_same(self, want, got):
check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1']
return self.check_mission_items_same(check_atts, want, got)
def check_mission_waypoint_items_same(self, want, got):
check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1']
return self.check_mission_items_same(check_atts, want, got, skip_first_item=True)
def check_mission_item_upload_download(self, items, itype, mission_type):
self.progress("check %s _upload/download: upload %u items" %
(itype, len(items),))
self.upload_using_mission_protocol(mission_type, items)
self.progress("check %s upload/download: download items" % itype)
downloaded_items = self.download_using_mission_protocol(mission_type)
self.progress("Downloaded items: (%s)" % str(downloaded_items))
if len(items) != len(downloaded_items):
raise NotAchievedException("Did not download same number of items as uploaded want=%u got=%u" %
(len(items), len(downloaded_items)))
if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_FENCE:
self.check_fence_items_same(items, downloaded_items)
elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
self.check_mission_waypoint_items_same(items, downloaded_items)
else:
raise NotAchievedException("Unhandled")
def check_fence_upload_download(self, items):
self.check_mission_item_upload_download(
items,
"fence",
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
def check_mission_upload_download(self, items):
self.check_mission_item_upload_download(
items,
"waypoints",
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
def rc_defaults(self):
return {
1: 1500,

99
Tools/autotest/rover.py
View File

@ -1252,105 +1252,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_location(loc, accuracy=accuracy)
self.disarm_vehicle()
def string_for_frame(self, frame):
return mavutil.mavlink.enums["MAV_FRAME"][frame].name
def frames_equivalent(self, f1, f2):
pairs = [
(mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT),
(mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT),
(mavutil.mavlink.MAV_FRAME_GLOBAL,
mavutil.mavlink.MAV_FRAME_GLOBAL_INT),
]
for pair in pairs:
if (f1 == pair[0] and f2 == pair[1]):
return True
if (f1 == pair[1] and f2 == pair[0]):
return True
return f1 == f2
def check_mission_items_same(self,
check_atts,
want,
got,
epsilon=None,
skip_first_item=False):
self.progress("Checking mission items same")
if epsilon is None:
epsilon = 1
if len(want) != len(got):
raise NotAchievedException("Incorrect item count (want=%u got=%u)" % (len(want), len(got)))
self.progress("Checking %u items" % len(want))
for i in range(0, len(want)):
if skip_first_item and i == 0:
continue
item = want[i]
downloaded_item = got[i]
check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1']
# z is not preserved
self.progress("Comparing (%s) and (%s)" % (str(item), str(downloaded_item)))
for att in check_atts:
item_val = getattr(item, att)
downloaded_item_val = getattr(downloaded_item, att)
if abs(item_val - downloaded_item_val) > epsilon:
raise NotAchievedException(
"Item %u (%s) has different %s after download want=%s got=%s (got-item=%s)" %
(i, str(item), att, str(item_val), str(downloaded_item_val), str(downloaded_item)))
# for waypoint items ensure z and frame are preserved:
self.progress("Type is %u" % got[0].mission_type)
if got[0].mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
item_val = getattr(item, 'frame')
downloaded_item_val = getattr(downloaded_item, 'frame')
if not self.frames_equivalent(item_val, downloaded_item_val):
raise NotAchievedException("Frame not same (got=%s want=%s)" %
(self.string_for_frame(downloaded_item_val),
self.string_for_frame(item_val)))
if abs(item.z - downloaded_item.z) > 0.00001:
raise NotAchievedException("Z not preserved (got=%f want=%f)" %
(item.z, downloaded_item.z))
def check_fence_items_same(self, want, got):
check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1']
return self.check_mission_items_same(check_atts, want, got)
def check_mission_waypoint_items_same(self, want, got):
check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1']
return self.check_mission_items_same(check_atts, want, got, skip_first_item=True)
def check_mission_item_upload_download(self, items, itype, mission_type):
self.progress("check %s _upload/download: upload %u items" %
(itype, len(items),))
self.upload_using_mission_protocol(mission_type, items)
self.progress("check %s upload/download: download items" % itype)
downloaded_items = self.download_using_mission_protocol(mission_type)
self.progress("Downloaded items: (%s)" % str(downloaded_items))
if len(items) != len(downloaded_items):
raise NotAchievedException("Did not download same number of items as uploaded want=%u got=%u" %
(len(items), len(downloaded_items)))
if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_FENCE:
self.check_fence_items_same(items, downloaded_items)
elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
self.check_mission_waypoint_items_same(items, downloaded_items)
else:
raise NotAchievedException("Unhandled")
def check_fence_upload_download(self, items):
self.check_mission_item_upload_download(
items,
"fence",
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
def check_mission_upload_download(self, items):
self.check_mission_item_upload_download(
items,
"waypoints",
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
def fence_with_bad_frame(self, target_system=1, target_component=1):
return [
self.mav.mav.mission_item_int_encode(