Tools: add arm and disarm tests

Tools/autotest/apmrover2.py

@@ -108,53 +108,7 @@ class AutoTestRover(AutoTest):
     #     self.mav.wait_heartbeat()
     #     self.arm_vehicle()
     #
-    # # TEST ARM RADIO
-    # def test_arm_motors_radio(self):
-    #     """Test Arming motors with radio."""
-    #     self.progress("Test arming motors with radio")
-    #     self.mavproxy.send('switch 6\n')  # stabilize/manual mode
-    #     self.wait_mode('MANUAL')
-    #     self.mavproxy.send('rc 3 1500\n')  # throttle at zero
-    #     self.mavproxy.send('rc 1 2000\n')  # steer full right
-    #     self.mavproxy.expect('APM: Throttle armed')
-    #     self.mavproxy.send('rc 1 1500\n')
-    #
-    #     self.mav.motors_armed_wait()
-    #     self.progress("MOTORS ARMED OK")
-    #     return True
-    #
-    # # TEST DISARM RADIO
-    # def test_disarm_motors_radio(self):
-    #     """Test Disarm motors with radio."""
-    #     self.progress("Test disarming motors with radio")
-    #     self.mavproxy.send('switch 6\n')  # stabilize/manual mode
-    #     self.wait_mode('MANUAL')
-    #     self.mavproxy.send('rc 3 1500\n')  # throttle at zero
-    #     self.mavproxy.send('rc 1 1000\n')  # steer full right
-    #     tstart = self.get_sim_time()
-    #     self.mav.wait_heartbeat()
-    #     timeout = 15
-    #     while self.get_sim_time() < tstart + timeout:
-    #         self.mav.wait_heartbeat()
-    #         if not self.mav.motors_armed():
-    #             disarm_delay = self.get_sim_time() - tstart
-    #             self.progress("MOTORS DISARMED OK WITH RADIO")
-    #             self.mavproxy.send('rc 1 1500\n')  # steer full right
-    #             self.mavproxy.send('rc 4 1500\n')  # yaw full right
-    #             self.progress("Disarm in %ss" % disarm_delay)
-    #             return True
-    #     self.progress("FAILED TO DISARM WITH RADIO")
-    #     return False
-    #
-    # # TEST AUTO DISARM
-    # def test_autodisarm_motors(self):
-    #     """Test Autodisarm motors."""
-    #     self.progress("Test Autodisarming motors")
-    #     self.mavproxy.send('switch 6\n')  # stabilize/manual mode
-    #     #  NOT IMPLEMENTED ON ROVER
-    #     self.progress("MOTORS AUTODISARMED OK")
-    #     return True
-    #
+
     # # TEST RC OVERRIDE
     # # TEST RC OVERRIDE TIMEOUT
     # def test_rtl(self, home, distance_min=5, timeout=250):
@@ -598,6 +552,7 @@ class AutoTestRover(AutoTest):
             self.mavproxy.send('switch 6\n')  # Manual mode
             self.wait_mode('MANUAL')
             self.wait_ready_to_arm()
+            self.run_test("Arm features", self.test_arm_feature)
             self.arm_vehicle()
 
             self.run_test("Set modes via mavproxy switch",

Tools/autotest/arducopter.py

@@ -1662,7 +1662,8 @@ class AutoTestCopter(AutoTest):
             self.wait_mode('STABILIZE')
 
             # Arm
-            self.run_test("Arm motors", self.arm_vehicle)
+            self.run_test("Arm features", self.test_arm_feature)
+            self.arm_vehicle()
 
             # Takeoff
             self.run_test("Takeoff to test fly Square",

Tools/autotest/arduplane.py

@@ -568,6 +568,9 @@ class AutoTestPlane(AutoTest):
                 self.mav.wait_gps_fix()
             self.homeloc = self.mav.location()
             self.progress("Home location: %s" % self.homeloc)
+            self.wait_ready_to_arm()
+            self.run_test("Arm features", self.test_arm_feature)
+            self.arm_vehicle()
 
             self.run_test("Flaps", self.fly_flaps)
 

Tools/autotest/ardusub.py

@@ -147,6 +147,8 @@ class AutoTestSub(AutoTest):
             # wait for EKF and GPS checks to pass
             self.progress("Waiting for ready-to-arm")
             self.wait_ready_to_arm()
+            self.run_test("Arm features", self.test_arm_feature)
+            self.arm_vehicle()
 
             self.homeloc = self.mav.location()
             self.progress("Home location: %s" % self.homeloc)

Tools/autotest/common.py

@@ -397,6 +397,13 @@ class AutoTest(ABC):
         self.progress("Failed to send RC commands to channel %s" % str(chan))
         raise SetRCTimeout()
 
+    def set_throttle_zero(self):
+        """Set throttle to zero."""
+        if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
+            self.set_rc(3, 1500)
+        else:
+            self.set_rc(3, 1000)
+
     def armed(self):
         '''Return true if vehicle is armed and safetyoff'''
         return self.mav.motors_armed()
@@ -415,6 +422,63 @@ class AutoTest(ABC):
         self.progress("DISARMED")
         return True
 
+    def arm_motors_with_rc_input(self):
+        """Arm motors with radio."""
+        self.progress("Arm motors with radio")
+        self.set_throttle_zero()
+        self.mavproxy.send('rc 1 2000\n')
+        tstart = self.get_sim_time()
+        timeout = 15
+        while self.get_sim_time() < tstart + timeout:
+            self.mav.wait_heartbeat()
+            if not self.mav.motors_armed():
+                arm_delay = self.get_sim_time() - tstart
+                self.progress("MOTORS ARMED OK WITH RADIO")
+                self.mavproxy.send('rc 1 1500\n')
+                self.progress("Arm in %ss" % arm_delay)  # TODO check arming time
+                return True
+        self.progress("FAILED TO ARM WITH RADIO")
+        self.mavproxy.send('rc 1 1500\n')
+        return False
+
+    def disarm_motors_with_rc_input(self):
+        """Disarm motors with radio."""
+        self.progress("Disarm motors with radio")
+        self.set_throttle_zero()
+        self.mavproxy.send('rc 1 1000\n')
+        tstart = self.get_sim_time()
+        timeout = 15
+        while self.get_sim_time() < tstart + timeout:
+            self.mav.wait_heartbeat()
+            if not self.mav.motors_armed():
+                disarm_delay = self.get_sim_time() - tstart
+                self.progress("MOTORS DISARMED OK WITH RADIO")
+                self.mavproxy.send('rc 1 1500\n')
+                self.progress("Disarm in %ss" % disarm_delay)  # TODO check disarming time
+                return True
+        self.progress("FAILED TO DISARM WITH RADIO")
+        self.mavproxy.send('rc 1 1500\n')
+        return False
+
+    def autodisarm_motors(self):
+        """Autodisarm motors."""
+        self.progress("Autodisarming motors")
+        self.set_throttle_zero()
+        if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:  # NOT IMPLEMENTED ON ROVER
+            self.progress("MOTORS AUTODISARMED OK")
+            return True
+        tstart = self.get_sim_time()
+        timeout = 15
+        while self.get_sim_time() < tstart + timeout:
+            self.mav.wait_heartbeat()
+            if not self.mav.motors_armed():
+                disarm_delay = self.get_sim_time() - tstart
+                self.progress("MOTORS AUTODISARMED")
+                self.progress("Autodisarm in %ss" % disarm_delay)  # TODO check disarming time
+                return True
+        self.progress("FAILED TO AUTODISARM")
+        return False
+
     def set_parameter(self, name, value, add_to_context=True):
         old_value = self.get_parameter(name)
         for i in range(1, 10):
@@ -907,26 +971,23 @@ class AutoTest(ABC):
         """Initilialize autotest feature."""
         pass
 
-    # def test_common_feature(self):
-    #     """Common feature to test."""
-    #     sucess = True
-    #     # TEST ARMING/DISARM
-    #     if not self.arm_vehicle():
-    #         self.progress("Failed to ARM")
-    #         sucess = False
-    #     if not self.disarm_vehicle():
-    #         self.progress("Failed to DISARM")
-    #         sucess = False
-    #     if not self.test_arm_motors_radio():
-    #         self.progress("Failed to ARM with radio")
-    #         sucess = False
-    #     if not self.test_disarm_motors_radio():
-    #         self.progress("Failed to ARM with radio")
-    #         sucess = False
-    #     if not self.test_autodisarm_motors():
-    #         self.progress("Failed to AUTO DISARM")
-    #         sucess = False
-    #     # TODO: Test failure on arm (with arming check)
+    def test_arm_feature(self):
+        """Common feature to test."""
+        # TEST ARMING/DISARM
+        if not self.arm_vehicle():
+            self.progress("Failed to ARM")
+            raise NotAchievedException()
+        if not self.disarm_vehicle():
+            self.progress("Failed to DISARM")
+            raise NotAchievedException()
+        if not self.arm_motors_with_rc_input():
+            raise NotAchievedException()
+        if not self.disarm_motors_with_rc_input():
+            raise NotAchievedException()
+        if not self.autodisarm_motors():
+            raise NotAchievedException()
+        # TODO : add failure test : arming check, wrong mode; Test arming magic; Same for disarm
+
     #     # TEST MISSION FILE
     #     # TODO : rework that to work on autotest server
     #     # self.progress("TEST LOADING MISSION")

Tools/autotest/quadplane.py

@@ -152,6 +152,7 @@ class AutoTestQuadPlane(AutoTest):
             self.progress("Waiting reading for arm")
             self.wait_seconds(30)
 
+            self.run_test("Arm features", self.test_arm_feature)
             self.arm_vehicle()
 
             m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")