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Tools: remove dependency on mavproxy for cmd_long based functions

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This commit is contained in:
Pierre Kancir 2018-08-06 10:46:25 +02:00 committed by Peter Barker
parent 87a7fd0fbb
commit d8c53bbd9c
2 changed files with 50 additions and 11 deletions
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4
Tools/autotest/apmrover2.py
View File

@ -747,6 +747,10 @@ class AutoTestRover(AutoTest):
self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE", self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE",
self.do_set_mode_via_command_long) self.do_set_mode_via_command_long)
self.mavproxy.send('switch 6\n') # Manual mode
self.wait_mode('MANUAL')
self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
self.mavproxy_do_set_mode_via_command_long())
self.run_test("Test ServoRelayEvents", self.run_test("Test ServoRelayEvents",
self.test_servorelayevents) self.test_servorelayevents)

57
Tools/autotest/common.py
View File

@ -673,20 +673,56 @@ class AutoTest(ABC):
return bearing return bearing
def do_get_autopilot_capabilities(self): def do_get_autopilot_capabilities(self):
self.mavproxy.send("long REQUEST_AUTOPILOT_CAPABILITIES 1\n") tstart = self.get_sim_time()
m = self.mav.recv_match(type='AUTOPILOT_VERSION', while self.get_sim_time() - tstart < 10:
blocking=True, # Cannot use run_cmd otherwise the respond is lost during the wait for ACK
timeout=10) self.mav.mav.command_long_send(1,
if m is None: 1,
self.progress("AUTOPILOT_VERSION not received") mavutil.mavlink.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
raise NotAchievedException() 0, # confirmation
self.progress("AUTOPILOT_VERSION received") 1, # 1: Request autopilot version
0,
0,
0,
0,
0,
0)
m = self.mav.recv_match(type='AUTOPILOT_VERSION',
blocking=True,
timeout=10)
if m is not None:
self.progress("AUTOPILOT_VERSION received")
return
raise AutoTestTimeoutException()
def do_set_mode_via_command_long(self): def do_set_mode_via_command_long(self):
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = 4 # hold custom_mode = 4 # hold
start = time.time() tstart = self.get_sim_time()
while time.time() - start < 5: while self.get_sim_time() - tstart < 5:
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MODE,
base_mode,
custom_mode,
0,
0,
0,
0,
0,
)
m = self.mav.recv_match(type='HEARTBEAT',
blocking=True,
timeout=10)
if m is None:
raise ErrorException()
if m.custom_mode == custom_mode:
return
raise AutoTestTimeoutException()
def mavproxy_do_set_mode_via_command_long(self):
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = 4 # hold
start = self.get_sim_time()
while self.get_sim_time() - start < 5:
self.mavproxy.send("long DO_SET_MODE %u %u\n" % self.mavproxy.send("long DO_SET_MODE %u %u\n" %
(base_mode, custom_mode)) (base_mode, custom_mode))
m = self.mav.recv_match(type='HEARTBEAT', m = self.mav.recv_match(type='HEARTBEAT',
@ -696,7 +732,6 @@ class AutoTest(ABC):
raise ErrorException() raise ErrorException()
if m.custom_mode == custom_mode: if m.custom_mode == custom_mode:
return return
time.sleep(0.1)
raise AutoTestTimeoutException() raise AutoTestTimeoutException()
def reach_heading_manual(self, heading): def reach_heading_manual(self, heading):