aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

autotest: avoid using mavproxy for testing message intervals

Browse Source
This commit is contained in:
Peter Barker 2020-08-24 11:14:56 +10:00 committed by Peter Barker
parent 886a7d44a7
commit bb697dd4b9
1 changed files with 33 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

54
Tools/autotest/common.py
View File

@ -5298,18 +5298,30 @@ Also, ignores heartbeats not from our target system'''
0,
0)
def send_get_message_interval(self, victim_message_id):
if False:
self.mavproxy.send("long GET_MESSAGE_INTERVAL %u\n" %
(victim_message_id))
else:
self.mav.mav.command_long_send(
1,
1,
mavutil.mavlink.MAV_CMD_GET_MESSAGE_INTERVAL,
1, # confirmation
float(victim_message_id),
0,
0,
0,
0,
0,
0)
def test_rate(self, desc, in_rate, expected_rate):
self.progress("###### %s" % desc)
self.progress("Setting rate to %u" % in_rate)
# SET_MESSAGE_INTERVAL rates are given in microseconds
if in_rate == 0 or in_rate == -1:
set_interval = in_rate
else:
set_interval = self.rate_to_interval_us(in_rate)
self.mavproxy.send("long SET_MESSAGE_INTERVAL %u %d\n" %
(self.victim_message_id, set_interval))
self.mav.recv_match(type='COMMAND_ACK', blocking=True)
self.set_message_rate_hz(self.victim_message_id, in_rate)
new_measured_rate = self.get_message_rate(self.victim_message, 10)
self.progress("Measured rate: %f (want %u)" %
(new_measured_rate, expected_rate))
@ -5318,12 +5330,16 @@ Also, ignores heartbeats not from our target system'''
(new_measured_rate, expected_rate))
# make sure get_message_interval works:
self.mavproxy.send("long GET_MESSAGE_INTERVAL %u\n" %
(self.victim_message_id))
self.send_get_message_interval(self.victim_message_id)
m = self.mav.recv_match(type='MESSAGE_INTERVAL', blocking=True)
want = set_interval
if set_interval == 0:
if in_rate == 0:
want = self.rate_to_interval_us(expected_rate)
elif in_rate == -1:
want = in_rate
else:
want = self.rate_to_interval_us(in_rate)
if m.interval_us != want:
raise NotAchievedException("Did not read same interval back from autopilot: want=%d got=%d)" %
@ -5355,10 +5371,8 @@ Also, ignores heartbeats not from our target system'''
raise PreconditionFailedException("Already getting CAMERA_FEEDBACK")
self.progress("try various message rates")
for want_rate in range(5, 14):
self.mavproxy.send(
"long SET_MESSAGE_INTERVAL %u %d\n" %
(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
self.rate_to_interval_us(want_rate)))
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
want_rate)
self.drain_mav()
rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20))
self.progress("Want=%u got=%u" % (want_rate, rate))
@ -5372,9 +5386,8 @@ Also, ignores heartbeats not from our target system'''
self.set_parameter("SIM_SPEEDUP", 1.0)
# ArduPilot currently limits message rate to 80% of main loop rate:
want_rate = self.get_parameter("SCHED_LOOP_RATE") * 0.8
self.mavproxy.send("long SET_MESSAGE_INTERVAL %u %d\n" %
(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
self.rate_to_interval_us(want_rate)))
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
want_rate)
rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20))
self.set_parameter("SIM_SPEEDUP", old_speedup)
self.progress("Want=%f got=%f" % (want_rate, rate))
@ -5387,8 +5400,7 @@ Also, ignores heartbeats not from our target system'''
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, -1)
non_existant_id = 145
self.mavproxy.send("long GET_MESSAGE_INTERVAL %u\n" %
(non_existant_id))
self.send_get_message_interval(non_existant_id)
m = self.mav.recv_match(type='MESSAGE_INTERVAL', blocking=True)
if m.interval_us != 0:
raise NotAchievedException("Supposed to get 0 back for unsupported stream")