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autotest: add tests for RELAY_STATUS message

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Peter Barker 2023-08-03 13:29:50 +10:00 committed by Peter Barker
parent e9f9c21567
commit c80ef940fd
1 changed files with 49 additions and 0 deletions
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49
Tools/autotest/rover.py
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@ -607,6 +607,55 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise NotAchievedException(
"Pin mask unchanged after relay cmd")
self.progress("Pin mask changed after relay command")
self.do_set_relay(0, 0)
self.set_message_rate_hz("RELAY_STATUS", 10)
# default configuration for relays in sim have one relay:
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 0,
})
self.do_set_relay(0, 1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 1,
})
self.do_set_relay(1, 1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 3,
})
self.do_set_relay(0, 0)
self.do_set_relay(1, 0)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 0,
})
# add another servo:
self.set_parameter("RELAY_PIN6", 14)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 0,
})
self.do_set_relay(5, 1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 32,
})
self.do_set_relay(0, 1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 33,
})
self.do_set_relay(5, 0)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 1,
})
self.set_message_rate_hz("RELAY_STATUS", 0)
def MAVProxy_SetModeUsingSwitch(self):
"""Set modes via mavproxy switch"""