Autotest: add EndMissionBehavior Test for rover

Tools/autotest/ArduRover_Tests/EndMissionBehavior/end-mission.txt

@@ -0,0 +1,3 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	0.000000	1
+1	0	3	16	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	100.000000	1

Tools/autotest/rover.py

@@ -5441,6 +5441,73 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 break
         self.disarm_vehicle()
 
+    def test_end_mission_behavior(self, timeout=60):
+        self.context_push()
+        ex = None
+        try:
+            self.load_mission("end-mission.txt")
+            self.wait_ready_to_arm()
+            self.arm_vehicle()
+
+            self.start_subtest("Test End Mission Behavior HOLD")
+            self.context_collect("STATUSTEXT")
+            self.change_mode("AUTO")
+            self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
+            # On Hold we should just stop and don't update the navigation target anymore
+            tstart = self.get_sim_time()
+            while True:
+                if self.get_sim_time_cached() - tstart > 15:
+                    raise AutoTestTimeoutException("Still getting POSITION_TARGET_GLOBAL_INT")
+                m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
+                                        blocking=True,
+                                        timeout=10)
+                if m is None:
+                    self.progress("No POSITION_TARGET_GLOBAL_INT received, all good !")
+                    break
+            self.context_clear_collection("STATUSTEXT")
+            self.change_mode("GUIDED")
+            self.context_collect("STATUSTEXT")
+
+            self.start_subtest("Test End Mission Behavior LOITER")
+            self.set_parameter("MIS_DONE_BEHAVE", 1)
+            self.change_mode("AUTO")
+            self.wait_text("Mission Complete", check_context=True, wallclock_timeout=2)
+            # On LOITER we should update the navigation target
+            tstart = self.get_sim_time()
+            while True:
+                if self.get_sim_time_cached() - tstart > 15:
+                    raise AutoTestTimeoutException("Not getting POSITION_TARGET_GLOBAL_INT")
+                m = self.mav.recv_match(type="POSITION_TARGET_GLOBAL_INT",
+                                        blocking=True,
+                                        timeout=5)
+                if m is None:
+                    self.progress("No POSITION_TARGET_GLOBAL_INT received")
+                    continue
+                else:
+                    if self.get_sim_time_cached() - tstart > 15:
+                        self.progress("Got POSITION_TARGET_GLOBAL_INT, all good !")
+                        break
+            self.change_mode("GUIDED")
+
+            self.start_subtest("Test End Mission Behavior ACRO")
+            self.set_parameter("MIS_DONE_BEHAVE", 2)
+            self.change_mode("AUTO")
+            self.wait_mode("ACRO")
+
+            self.start_subtest("Test End Mission Behavior MANUAL")
+            self.set_parameter("MIS_DONE_BEHAVE", 3)
+            self.change_mode("AUTO")
+            self.wait_mode("MANUAL")
+            self.disarm_vehicle()
+        except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
+            ex = e
+        self.context_pop()
+        self.reboot_sitl()
+        if ex is not None:
+            raise ex
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -5647,6 +5714,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
              "Test MAV proximity backend",
              self.ap_proximity_mav),
 
+            ("EndMissionBehavior",
+             "Test end mission behavior",
+             self.test_end_mission_behavior),
+
             ("LogUpload",
              "Upload logs",
              self.log_upload),