def test_fence_breach_failsafe(self, checkGPS=True):
wait_seconds(self.DELAY)
self.mavproxy.send('fence load %sRegressionFence\n' % self.resource_path)
wait_seconds(self.DELAY)
self.mavproxy.send('fence enable\n')
wait_seconds(5)
assert testutils.check_mode(self, 'GUIDED')
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_heartbeat_failsafe(self, checkGPS=True):
self.mavproxy.send('fence disable\n')
wait_seconds(self.DELAY)
self.mavproxy.send('set heartbeat 0\n')
wait_seconds(self.DELAY)
assert testutils.check_mode(self, 'RTL', 3, delay=21)
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_heartbeat_failsafe(self, checkGPS=True):
self.mavproxy.send('fence disable\n')
wait_seconds(self.DELAY)
self.mavproxy.send('set heartbeat 0\n')
wait_seconds(self.DELAY)
assert testutils.check_mode(self, 'RTL', 3, delay=21)
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_fence_breach_failsafe(self, checkGPS=True):
wait_seconds(self.DELAY)
self.mavproxy.send('fence load %sRegressionFence\n' % self.resource_path)
wait_seconds(self.DELAY)
self.mavproxy.send('fence enable\n')
wait_seconds(5)
assert testutils.check_mode(self, 'GUIDED')
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_battery_current_failsafe(self, checkGPS=True):
self.oldCurrentValue = testutils.get_old_value(self, 'FS_BATT_MAH')
wait_seconds(self.DELAY)
self.mavproxy.send('param set FS_BATT_MAH 123456\n')
#Should trigger immediately
assert testutils.check_mode(self, 'RTL', delay=1)
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_battery_current_failsafe(self, checkGPS=True):
self.oldCurrentValue = testutils.get_old_value(self, 'FS_BATT_MAH')
wait_seconds(self.DELAY)
self.mavproxy.send('param set FS_BATT_MAH 123456\n')
#Should trigger immediately
assert testutils.check_mode(self, 'RTL', delay=1)
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def check_overrides(cls, startMode):
#TODO: Why isnt setup running?
cls.mavproxy.send('set heartbeat 1\n')
wait_seconds(cls.DELAY)
cls.mavproxy.send('mode AUTO\n')
wait_seconds(cls.DELAY)
print("STARTING %s OVERRIDE TESTS" % startMode)
cls.mavproxy.send('wp set 3\n')
wait_seconds(cls.DELAY)
testList = [test_battery_current_failsafe,
#cls.test_battery_voltage_failsafe,
test_gps_failsafe,
test_fence_breach_failsafe,
test_heartbeat_failsafe
]
testResults = {}
testutils.wait_altitude(cls, 1400, 1500, timeout=180)
for test in testList:
print("Running %s" % test.__name__)
try:
print("Starting try")
wait_seconds(cls.DELAY)
print("Test starting.")
cls.setup(altCheck=False)
print("GOING UP")
cls.mavproxy.send('wp set 3\n')
testutils.wait_altitude(cls, 1300, 1500, timeout=50)
wait_seconds(cls.DELAY)
testutils.wait_altitude(cls, 1300, 1500, timeout=50)
print("NOW UP")
cls.mavproxy.send('mode %s\n' % startMode)
testutils.check_mode(cls, '%s' % startMode)
wait_seconds(cls.DELAY)
cls.mavproxy.send('fence disable\n')
wait_seconds(cls.DELAY)
test(cls, False)
wait_seconds(cls.DELAY)
cls.mavproxy.send('fence disable\n')
wait_seconds(cls.DELAY)
cls.teardown()
print("Test finished.")
wait_seconds(cls.DELAY)
#Exception is thrown by test's assert if the failsafe RTL is not triggered
except Exception as e:
wait_seconds(cls.DELAY)
print("Failsafe didn't trip -- this means %s override is working" % startMode)
print(e)
success = True
wait_seconds(cls.DELAY)
else:
wait_seconds(cls.DELAY)
print("Failsafe tripped -- this shouldn't happen")
success = False
wait_seconds(cls.DELAY)
finally:
testResults[test.__name__] = success
print testResults
print '%s overrides successfully passed: %r' %(startMode, (not False in testResults.values()))
assert not False in testResults.values()
def check_overrides(cls, startMode):
#TODO: Why isnt setup running?
cls.mavproxy.send('set heartbeat 1\n')
wait_seconds(cls.DELAY)
cls.mavproxy.send('mode AUTO\n')
wait_seconds(cls.DELAY)
print("STARTING %s OVERRIDE TESTS" % startMode)
cls.mavproxy.send('wp set 3\n')
wait_seconds(cls.DELAY)
testList = [
test_battery_current_failsafe,
#cls.test_battery_voltage_failsafe,
test_gps_failsafe,
test_fence_breach_failsafe,
test_heartbeat_failsafe
]
testResults = {}
testutils.wait_altitude(cls, 1400, 1500, timeout=180)
for test in testList:
print("Running %s" % test.__name__)
try:
print("Starting try")
wait_seconds(cls.DELAY)
print("Test starting.")
cls.setup(altCheck=False)
print("GOING UP")
cls.mavproxy.send('wp set 3\n')
testutils.wait_altitude(cls, 1300, 1500, timeout=50)
wait_seconds(cls.DELAY)
testutils.wait_altitude(cls, 1300, 1500, timeout=50)
print("NOW UP")
cls.mavproxy.send('mode %s\n' % startMode)
testutils.check_mode(cls, '%s' % startMode)
wait_seconds(cls.DELAY)
cls.mavproxy.send('fence disable\n')
wait_seconds(cls.DELAY)
test(cls, False)
wait_seconds(cls.DELAY)
cls.mavproxy.send('fence disable\n')
wait_seconds(cls.DELAY)
cls.teardown()
print("Test finished.")
wait_seconds(cls.DELAY)
#Exception is thrown by test's assert if the failsafe RTL is not triggered
except Exception as e:
wait_seconds(cls.DELAY)
print("Failsafe didn't trip -- this means %s override is working" %
startMode)
print(e)
success = True
wait_seconds(cls.DELAY)
else:
wait_seconds(cls.DELAY)
print("Failsafe tripped -- this shouldn't happen")
success = False
wait_seconds(cls.DELAY)
finally:
testResults[test.__name__] = success
print testResults
print '%s overrides successfully passed: %r' % (startMode,
(not False
in testResults.values()))
assert not False in testResults.values()