Tools: autotest: add test for delay-until-absolute-hour-minute-second
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Peter Barker
Peter Barker
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e932f873cc
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eba8dee371
@ -1295,6 +1295,185 @@ class AutoTestCopter(AutoTest):
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if ex is not None:
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raise ex
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def get_system_clock_utc(self, time):
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# this is a copy of ArduPilot's AP_RTC function!
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# separate time into ms, sec, min, hour and days but all expressed
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# in milliseconds
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time_ms = time * 1000
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ms = time_ms % 1000;
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sec_ms = (time_ms % (60 * 1000)) - ms;
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min_ms = (time_ms % (60 * 60 * 1000)) - sec_ms - ms;
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hour_ms = (time_ms % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms;
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# convert times as milliseconds into appropriate units
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sec = sec_ms / 1000;
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min = min_ms / (60 * 1000);
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hour = hour_ms / (60 * 60 * 1000);
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return (hour, min, sec, 0)
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def calc_delay(self, seconds):
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# delay-for-seconds has to be long enough that we're at the
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# waypoint before that time. Otherwise we'll try to wait a
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# day....
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(hours,
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mins,
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secs,
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ms) = self.get_system_clock_utc(seconds)
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self.progress("Now is %uh %um %us" % (hours, mins, secs))
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secs += 17 # add seventeen seconds
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if secs >= 60:
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secs %= 60
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mins += 1 # add sixty seconds
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mins += 1
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if mins >= 60:
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mins %= 60
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hours += 1
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if hours >= 24:
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hours %= 24
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return (hours, mins, secs, 0)
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def reset_delay_item_seventyseven(self):
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seq = 3
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while True:
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self.progress("Requesting request for seq %u" % (seq,))
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self.mav.mav.mission_write_partial_list_send(1, # target system
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1, # target component
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seq, # start index
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seq)
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req = self.mav.recv_match(type='MISSION_REQUEST',
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blocking=True,
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timeout=1)
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if req is not None and req.seq == seq:
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if req.get_srcSystem() == 255:
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self.progress("Shutup MAVProxy")
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continue
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# notionally this might be in the message cache before
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# we prompt for it... *shrug*
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break
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# we have received a request for the item. Supply it:
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frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
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command = mavutil.mavlink.MAV_CMD_NAV_DELAY
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# retrieve mission item and check it:
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tried_set = False
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while True:
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st = self.mav.recv_match(type='MISSION_ITEM',
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blocking=True,
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timeout=1)
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if st is not None:
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print("Item: %s" % str(st))
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if (tried_set and
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st.seq == 3 and
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st.command == command and
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st.param2 == hours and
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st.param3 == mins and
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st.param4 == secs):
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return
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self.progress("Mission mismatch")
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self.mav.mav.mission_write_partial_list_send(1,
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1,
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3,
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3)
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m = self.mav.messages.get("MISSION_REQUEST", None)
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if m is not None:
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if m.seq == 3:
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self.progress("Sending absolute-time mission item")
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# we have to change out the delay time...
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now = self.mav.recv_match(type='SYSTEM_TIME',
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blocking=True)
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if now.time_unix_usec == 0:
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raise PreconditionFailedException()
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(hours, mins, secs, ms) = self.calc_delay(
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now.time_unix_usec/1000000)
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self.progress("Delay until %uh %um %us" %
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(hours, mins, secs))
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self.mav.mav.mission_item_send(
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1, # target system
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1, # target component
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seq, # seq
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frame, # frame
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command, # command
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0, # current
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1, # autocontinue
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0, # p1 (relative seconds)
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hours, # p2
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mins, # p3
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secs, # p4
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0, # p5
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0, # p6
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0) # p7
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tried_set = True
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self.progress("Requesting item")
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self.mav.mav.mission_request_send(1,
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1,
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3
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)
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def fly_nav_delay_abstime(self):
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'''fly a simple mission that has a delay in it'''
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num_wp = self.load_mission("copter_nav_delay.txt")
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self.progress("Starting mission")
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self.mavproxy.send('mode loiter\n') # stabilize mode
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self.mav.wait_heartbeat()
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self.wait_mode('LOITER')
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self.progress("Waiting reading for arm")
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self.wait_ready_to_arm()
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self.reset_delay_item_seventyseven()
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delay_for_seconds = 77
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reset_at_m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
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reset_at = reset_at_m.time_unix_usec/1000000
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self.context_push();
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ex = None
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try:
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self.arm_vehicle()
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self.mavproxy.send('mode auto\n') # stabilize mode
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self.wait_mode('AUTO')
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self.set_rc(3, 1600)
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count_stop = -1
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tstart = self.get_sim_time()
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while self.armed(): # we RTL at end of mission
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now = self.get_sim_time()
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if now - tstart > 120:
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raise AutoTestTimeoutException()
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m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
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self.progress("MISSION_CURRENT.seq=%u" % (m.seq,))
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if m.seq == 3:
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self.progress("At delay item")
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if m.seq > 3:
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if count_stop == -1:
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count_stop_m = self.mav.recv_match(type='SYSTEM_TIME',
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blocking=True)
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count_stop = count_stop_m.time_unix_usec/1000000
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print("count_stop=%f reste at %f", count_stop, reset_at)
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calculated_delay = count_stop - reset_at
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error = abs(calculated_delay - delay_for_seconds)
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self.progress("Stopped for %u seconds (want >=%u seconds)" %
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(calculated_delay, delay_for_seconds))
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if error > 2:
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self.progress("Too far outside expectations")
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raise NotAchievedException()
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except Exception as e:
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self.progress("Exception caught")
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ex = e
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self.set_rc(3, 1000)
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if ex is not None:
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raise ex
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def test_setting_modes_via_modeswitch(self):
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self.context_push();
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ex = None
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@ -1456,6 +1635,9 @@ class AutoTestCopter(AutoTest):
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self.set_rc_default()
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self.set_rc(3, 1000)
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self.run_test("Fly Nav Delay (AbsTime)",
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self.fly_nav_delay_abstime)
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self.run_test("Fly Nav Delay", self.fly_nav_delay)
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self.run_test("Test submode change",
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