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autotest: flake8 compliance for ardusub.py

zr-v5.1
Peter Barker 4 years ago committed by Peter Barker
parent
628a3843b2
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e221e6ce45
1 changed files with 17 additions and 11 deletions
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  1. 28
      Tools/autotest/ardusub.py

28
Tools/autotest/ardusub.py
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@ -1,6 +1,11 @@
#!/usr/bin/env python #!/usr/bin/env python
# Dive ArduSub in SITL '''
Dive ArduSub in SITL
AP_FLAKE8_CLEAN
'''
from __future__ import print_function from __future__ import print_function
import os import os
import sys import sys
@ -55,7 +60,7 @@ class AutoTestSub(AutoTest):
return "ArduSub" return "ArduSub"
def test_filepath(self): def test_filepath(self):
return os.path.realpath(__file__) return os.path.realpath(__file__)
def set_current_test_name(self, name): def set_current_test_name(self, name):
self.current_test_name_directory = "ArduSub_Tests/" + name + "/" self.current_test_name_directory = "ArduSub_Tests/" + name + "/"
@ -92,7 +97,9 @@ class AutoTestSub(AutoTest):
self.progress('Altitude hold done: %f' % (previous_altitude)) self.progress('Altitude hold done: %f' % (previous_altitude))
return return
if abs(m.alt - previous_altitude) > delta: if abs(m.alt - previous_altitude) > delta:
raise NotAchievedException("Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" % (previous_altitude, delta, m.alt)) raise NotAchievedException(
"Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" %
(previous_altitude, delta, m.alt))
def test_alt_hold(self): def test_alt_hold(self):
"""Test ALT_HOLD mode """Test ALT_HOLD mode
@ -156,7 +163,7 @@ class AutoTestSub(AutoTest):
self.mavproxy.send('mode POSHOLD\n') self.mavproxy.send('mode POSHOLD\n')
self.wait_mode('POSHOLD') self.wait_mode('POSHOLD')
#dive a little # dive a little
self.set_rc(Joystick.Throttle, 1300) self.set_rc(Joystick.Throttle, 1300)
self.delay_sim_time(3) self.delay_sim_time(3)
self.set_rc(Joystick.Throttle, 1500) self.set_rc(Joystick.Throttle, 1500)
@ -172,7 +179,7 @@ class AutoTestSub(AutoTest):
self.delay_sim_time(10) self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location()) distance_m = self.get_distance(start_pos, self.mav.location())
if distance_m > 1: if distance_m > 1:
raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
# Hold in 1 m/s current # Hold in 1 m/s current
self.progress("Testing position hold in current") self.progress("Testing position hold in current")
@ -181,7 +188,7 @@ class AutoTestSub(AutoTest):
self.delay_sim_time(10) self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location()) distance_m = self.get_distance(start_pos, self.mav.location())
if distance_m > 1: if distance_m > 1:
raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
# Move forward slowly in 1 m/s current # Move forward slowly in 1 m/s current
start_pos = self.mav.location() start_pos = self.mav.location()
@ -191,7 +198,7 @@ class AutoTestSub(AutoTest):
distance_m = self.get_distance(start_pos, self.mav.location()) distance_m = self.get_distance(start_pos, self.mav.location())
bearing = self.get_bearing(start_pos, self.mav.location()) bearing = self.get_bearing(start_pos, self.mav.location())
if distance_m < 2 or (bearing > 30 and bearing < 330): if distance_m < 2 or (bearing > 30 and bearing < 330):
raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) # noqa
self.disarm_vehicle() self.disarm_vehicle()
def test_mot_thst_hover_ignore(self): def test_mot_thst_hover_ignore(self):
@ -208,7 +215,6 @@ class AutoTestSub(AutoTest):
self.set_parameter("MOT_THST_HOVER", value) self.set_parameter("MOT_THST_HOVER", value)
self.test_alt_hold() self.test_alt_hold()
def dive_manual(self): def dive_manual(self):
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -267,7 +273,7 @@ class AutoTestSub(AutoTest):
try: try:
try: try:
self.get_parameter("GRIP_ENABLE", timeout=5) self.get_parameter("GRIP_ENABLE", timeout=5)
except NotAchievedException as e: except NotAchievedException:
self.progress("Skipping; Gripper not enabled in config?") self.progress("Skipping; Gripper not enabled in config?")
return return
@ -362,7 +368,7 @@ class AutoTestSub(AutoTest):
batt = self.mav.recv_match(type='BATTERY_STATUS', batt = self.mav.recv_match(type='BATTERY_STATUS',
blocking=True, blocking=True,
timeout=1) timeout=1)
except ConnectionResetError as e: except ConnectionResetError:
pass pass
self.progress("Battery: %s" % str(batt)) self.progress("Battery: %s" % str(batt))
if batt is None: if batt is None:
@ -379,7 +385,7 @@ class AutoTestSub(AutoTest):
def disabled_tests(self): def disabled_tests(self):
ret = super(AutoTestSub, self).disabled_tests() ret = super(AutoTestSub, self).disabled_tests()
ret.update({ ret.update({
"ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", "ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", # noqa
}) })
return ret return ret

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