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Tools: added a test for serial over CAN

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download a log with mavproxy from a serial over CAN port which then
comes out as UDP
This commit is contained in:
Andrew Tridgell 2023-11-21 17:22:45 +11:00
parent f30ac4052c
commit d23c633b2c
2 changed files with 33 additions and 0 deletions
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1
Tools/autotest/arducopter.py
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@ -10672,6 +10672,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def testcan(self):
ret = ([
self.CANGPSCopterMission,
self.TestLogDownloadMAVProxyCAN,
])
return ret

32
Tools/autotest/vehicle_test_suite.py
View File

@ -4166,6 +4166,38 @@ class TestSuite(ABC):
self.stop_mavproxy(mavproxy)
self.context_pop()
def TestLogDownloadMAVProxyCAN(self, upload_logs=False):
"""Download latest log over CAN serial port"""
self.context_push()
self.set_parameters({
"CAN_P1_DRIVER": 1,
"LOG_DISARMED": 1,
})
self.reboot_sitl()
self.set_parameters({
"CAN_D1_UC_SER_EN": 1,
"CAN_D1_UC_S1_NOD": 125,
"CAN_D1_UC_S1_IDX": 4,
"CAN_D1_UC_S1_BD": 57600,
"CAN_D1_UC_S1_PRO": 2,
})
self.reboot_sitl()
filename = "MAVProxy-downloaded-can-log.BIN"
# port 15550 is in SITL_Periph_State.h as SERIAL4 udpclient:127.0.0.1:15550
mavproxy = self.start_mavproxy(master=':15550')
mavproxy.expect("Detected vehicle")
self.mavproxy_load_module(mavproxy, 'log')
mavproxy.send("log list\n")
mavproxy.expect("numLogs")
self.wait_heartbeat()
self.wait_heartbeat()
mavproxy.send("set shownoise 0\n")
mavproxy.send("log download latest %s\n" % filename)
mavproxy.expect("Finished downloading", timeout=120)
self.mavproxy_unload_module(mavproxy, 'log')
self.stop_mavproxy(mavproxy)
self.context_pop()
def show_gps_and_sim_positions(self, on_off):
"""Allow to display gps and actual position on map."""
if on_off is True: