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autotest: accept statustext and ack in any order for mission errors

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Accept statustext/ack in any order; statustext may come after ack
This commit is contained in:
Peter Barker 2020-05-04 11:04:52 +10:00 committed by Peter Barker
parent e126b6d346
commit bd0ebb5778
1 changed files with 28 additions and 14 deletions
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42
Tools/autotest/rover.py
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@ -3833,7 +3833,13 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise NotAchievedException("Incorrect target component in MISSION_REQUEST") raise NotAchievedException("Incorrect target component in MISSION_REQUEST")
tstart = self.get_sim_time() tstart = self.get_sim_time()
rerequest_count = 0 rerequest_count = 0
received_text = False
received_ack = False
while True: while True:
if received_ack and received_text:
break
if self.get_sim_time_cached() - tstart > 10:
raise NotAchievedException("Did not get expected ack and statustext")
m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK', 'STATUSTEXT'], m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK', 'STATUSTEXT'],
blocking=True, blocking=True,
timeout=1) timeout=1)
@ -3852,17 +3858,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Valid re-request received.") self.progress("Valid re-request received.")
continue continue
if m.get_type() == "MISSION_ACK": if m.get_type() == "MISSION_ACK":
raise NotAchievedException("Received unexpected MISSION_ACK") if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_FENCE:
raise NotAchievedException("Wrong mission type")
if m.type != mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED:
raise NotAchievedException("Wrong result")
received_ack = True
continue
if m.get_type() == "STATUSTEXT": if m.get_type() == "STATUSTEXT":
if "upload time" in m.text: if "upload time" in m.text:
break received_text = True
continue
if rerequest_count < 3: if rerequest_count < 3:
raise NotAchievedException("Expected several re-requests of mission item") raise NotAchievedException("Expected several re-requests of mission item")
# timeouts come with an ack:
self.assert_receive_mission_ack(
mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
want_type=mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED,
)
def expect_request_for_item(self, item): def expect_request_for_item(self, item):
m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK'], m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK'],
@ -3933,7 +3940,13 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Now waiting for a timeout") self.progress("Now waiting for a timeout")
tstart = self.get_sim_time() tstart = self.get_sim_time()
rerequest_count = 0 rerequest_count = 0
received_text = False
received_ack = False
while True: while True:
if received_ack and received_text:
break
if self.get_sim_time_cached() - tstart > 10:
raise NotAchievedException("Did not get expected ack and statustext")
m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK', 'STATUSTEXT'], m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK', 'STATUSTEXT'],
blocking=True, blocking=True,
timeout=0.1) timeout=0.1)
@ -3952,17 +3965,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Valid re-request received.") self.progress("Valid re-request received.")
continue continue
if m.get_type() == "MISSION_ACK": if m.get_type() == "MISSION_ACK":
raise NotAchievedException("Received unexpected MISSION_ACK") if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_FENCE:
raise NotAchievedException("Wrong mission type")
if m.type != mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED:
raise NotAchievedException("Wrong result")
received_ack = True
continue
if m.get_type() == "STATUSTEXT": if m.get_type() == "STATUSTEXT":
if "upload time" in m.text: if "upload time" in m.text:
break received_text = True
continue
if rerequest_count < 3: if rerequest_count < 3:
raise NotAchievedException("Expected several re-requests of mission item") raise NotAchievedException("Expected several re-requests of mission item")
# timeouts come with an ack:
self.assert_receive_mission_ack(
mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
want_type=mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED,
)
def test_fence_upload_timeouts(self, target_system=1, target_component=1): def test_fence_upload_timeouts(self, target_system=1, target_component=1):
self.test_fence_upload_timeouts_1(target_system=target_system, self.test_fence_upload_timeouts_1(target_system=target_system,