autotest: fix frsky passthrough test

Mainly through polling much faster, but also allowing for statustexts in
different orders from frsky/statustext

Tools/autotest/arducopter.py

@@ -2116,8 +2116,8 @@ class AutoTestCopter(AutoTest):
 
         self.reboot_sitl()
         # Test UAVCAN GPS ordering working
-        gps1_det_text = self.wait_statustext("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
+        gps1_det_text = self.wait_text("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
-        gps2_det_text = self.wait_statustext("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
+        gps2_det_text = self.wait_text("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
         gps1_nodeid = int(gps1_det_text.split('-')[1])
         gps2_nodeid = int(gps2_det_text.split('-')[1])
         if gps1_nodeid is None or gps2_nodeid is None:
@@ -2145,11 +2145,11 @@ class AutoTestCopter(AutoTest):
             gps1_det_text = None
             gps2_det_text = None
             try:
-                gps1_det_text = self.wait_statustext("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
+                gps1_det_text = self.wait_text("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
             except AutoTestTimeoutException:
                 pass
             try:
-                gps2_det_text = self.wait_statustext("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
+                gps2_det_text = self.wait_text("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
             except AutoTestTimeoutException:
                 pass
 

Tools/autotest/common.py

@@ -968,8 +968,8 @@ class FRSkySPort(FRSky):
         return ret
 
     def check_poll(self):
-        self.progress("check poll")
         now = self.get_time()
+        # self.progress("check poll (%u)" % now)
 
         # sometimes ArduPilot will not respond to a poll - for
         # example, if you poll an unhealthy RPM sensor then we will
@@ -4114,6 +4114,13 @@ class AutoTest(ABC):
             return
         context.collections[msg_type] = []
 
+    def context_collection(self, msg_type):
+        '''return messages in collection'''
+        context = self.context_get()
+        if msg_type not in context.collections:
+            raise NotAchievedException("Not collecting (%s)" % str(msg_type))
+        return context.collections[msg_type]
+
     def context_clear_collection(self, msg_type):
         '''clear collection of message type msg_type'''
         context = self.context_get()
@@ -4671,7 +4678,7 @@ class AutoTest(ABC):
     #################################################
     def delay_sim_time(self, seconds_to_wait):
         """Wait some second in SITL time."""
-        self.drain_mav_unparsed()
+        self.drain_mav()
         tstart = self.get_sim_time()
         tnow = tstart
         self.progress("Delaying %f seconds" % (seconds_to_wait,))
@@ -5386,7 +5393,7 @@ Also, ignores heartbeats not from our target system'''
 
     def wait_ekf_flags(self, required_value, error_bits, timeout=30):
         self.progress("Waiting for EKF value %u" % required_value)
-        self.drain_mav_unparsed()
+        self.drain_mav()
         last_print_time = 0
         tstart = self.get_sim_time()
         while timeout is None or self.get_sim_time_cached() < tstart + timeout:
@@ -5440,22 +5447,28 @@ Also, ignores heartbeats not from our target system'''
         raise AutoTestTimeoutException("Failed to get EKF.flags=%u disabled" % not_required_value)
 
     def wait_text(self, *args, **kwargs):
-        return self.wait_statustext(*args, **kwargs)
+        '''wait for text to appear from vehicle, return that text'''
+        statustext = self.wait_statustext(*args, **kwargs)
+        if statustext is None:
+            return None
+        return statustext.text
 
     def statustext_in_collections(self, text, regex=False):
+        '''searches for text in STATUSTEXT collection, returns message if found'''
         c = self.context_get()
         if "STATUSTEXT" not in c.collections:
             raise NotAchievedException("Asked to check context but it isn't collecting!")
-        for statustext in [x.text for x in c.collections["STATUSTEXT"]]:
+        for x in c.collections["STATUSTEXT"]:
+            self.progress("  statustext=%s vs text=%s" % (x.text, text))
             if regex:
-                if re.match(text, statustext):
+                if re.match(text, x.text):
-                    return statustext
+                    return x
-            elif text.lower() in statustext.lower():
+            elif text.lower() in x.text.lower():
-                return statustext
+                return x
         return None
 
     def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False, wallclock_timeout=False):
-        """Wait for a specific STATUSTEXT."""
+        """Wait for a specific STATUSTEXT, return that statustext message"""
 
         # Statustexts are often triggered by something we've just
         # done, so we have to be careful not to read any traffic that
@@ -5484,11 +5497,11 @@ Also, ignores heartbeats not from our target system'''
                 self.re_match = re.match(text, m.text)
                 if self.re_match:
                     statustext_found = True
-                    statustext_full = m.text
+                    statustext_full = m
             if text.lower() in m.text.lower():
                 self.progress("Received expected text: %s" % m.text.lower())
                 statustext_found = True
-                statustext_full = m.text
+                statustext_full = m
 
         self.install_message_hook(mh)
         if wallclock_timeout:
@@ -5937,7 +5950,7 @@ Also, ignores heartbeats not from our target system'''
         '''mavlink2 required'''
         target_system = 1
         target_component = 1
-        self.drain_mav_unparsed()
+        self.drain_mav()
         self.progress("Sending mission_request_list")
         tstart = self.get_sim_time()
         self.mav.mav.mission_request_list_send(target_system,
@@ -7525,7 +7538,7 @@ Also, ignores heartbeats not from our target system'''
     def poll_message(self, message_id, timeout=10):
         if type(message_id) == str:
             message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
-        self.drain_mav_unparsed()
+        self.drain_mav()
         tstart = self.get_sim_time() # required for timeout in run_cmd_get_ack to work
         self.send_poll_message(message_id)
         self.run_cmd_get_ack(
@@ -9342,7 +9355,7 @@ switch value'''
         self.progress("received param (0x%02x) (id=%u value=%u)" %
                       (value, param_id, param_value))
         frame_type = param_value
-        hb = self.wait_heartbeat()
+        hb = self.mav.messages['HEARTBEAT']
         hb_type = hb.type
         self.progress("validate_params: HEARTBEAT type==%f frsky==%f param_id=%u" % (hb_type, frame_type, param_id))
         if param_id != 1:
@@ -9390,7 +9403,8 @@ switch value'''
         while len(wants):
             self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()]))
             wants_copy = copy.copy(wants)
-            t2 = self.get_sim_time()
+            self.drain_mav()
+            t2 = self.get_sim_time_cached()
             if t2 - tstart > 300:
                 self.progress("Failed to get frsky passthrough data")
                 self.progress("Counts of sensor_id polls sent:")
@@ -9425,17 +9439,24 @@ switch value'''
         # test we get statustext strings.  This relies on ArduPilot
         # emitting statustext strings when we fetch parameters. (or,
         # now, an updating-barometer statustext)
-        tstart = self.get_sim_time_cached()
+        tstart = self.get_sim_time()
         old_data = None
         text = ""
-        target_text = self.mav.recv_match(
+        self.context_collect('STATUSTEXT')
-            type='STATUSTEXT',
+        self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
-            blocking=True,
+                     0, # p1
-            timeout=10
+                     0, # p2
-        )
+                     1, # p3, baro
-        self.progress("Got STATUSTEXT: %s, waiting for same text from frsky" % target_text.text)
+                     0, # p4
+                     0, # p5
+                     0, # p6
+                     0) # p7
+
+        received_frsky_texts = []
+        last_len_received_statustexts = 0
         while True:
-            now = self.get_sim_time()
+            self.drain_mav()
+            now = self.get_sim_time_cached()
             if now - tstart > 60: # it can take a *long* time to get these messages down!
                 raise NotAchievedException("Did not get statustext in time")
             frsky.update()
@@ -9459,14 +9480,32 @@ switch value'''
                 if (x & 0x7f) == 0x00:
                     last = True
             if last:
-                m = re.match(target_text.text, text)
+                m = None
+                text = text.rstrip("\0")
+                self.progress("Received frsky text (%s)" % (text,))
+                self.progress("context texts: %s" % str([x.text for x in self.context_collection('STATUSTEXT')]))
+                m = self.statustext_in_collections(text)
                 if m is not None:
-                    want_sev = target_text.severity
+                    want_sev = m.severity
                     if severity != want_sev:
                         raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity))
-                    self.progress("Got statustext (%s)" % m.group(0))
+                    self.progress("Got statustext (%s)" % m.text)
                     break
+                received_frsky_texts.append((severity, text))
                 text = ""
+            received_statustexts = self.context_collection('STATUSTEXT')
+            if len(received_statustexts) != last_len_received_statustexts:
+                last_len_received_statustexts = len(received_statustexts)
+                self.progress("received statustexts: %s" % str([x.text for x in received_statustexts]))
+                self.progress("received frsky texts: %s" % str(received_frsky_texts))
+                for (want_sev, text) in received_frsky_texts:
+                    for m in received_statustexts:
+                        if m.text == text:
+                            if want_sev != m.severity:
+                                raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity))
+                            self.progress("Got statustext (%s)" % text)
+                            break
+        self.context_stop_collecting('STATUSTEXT')
 
         self.wait_ready_to_arm()