From 47aea5f44ce83ab14a213e6f8d48c67ce892a0f8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Jan 2021 10:30:36 +1100
Subject: [PATCH] autotest: print stack traces for caught exceptions

---
 Tools/autotest/arducopter.py | 18 ++++++++++++++++++
 Tools/autotest/arduplane.py  |  4 ++++
 Tools/autotest/rover.py      |  6 ++++++
 3 files changed, 28 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 8820b5f64c..51db5a006f 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -482,6 +482,8 @@ class AutoTestCopter(AutoTest):
 
             self.wait_disarmed()
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
 
         self.context_pop()
@@ -866,6 +868,8 @@ class AutoTestCopter(AutoTest):
         try:
             self.test_battery_failsafe(timeout=timeout)
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
 
         self.set_parameter('BATT_LOW_VOLT', 0)
@@ -1741,6 +1745,8 @@ class AutoTestCopter(AutoTest):
             self.set_parameter('SIM_SPEEDUP', old_speedup)
             self.do_RTL()
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 0)
         sr = self.sitl_streamrate()
@@ -1794,6 +1800,8 @@ class AutoTestCopter(AutoTest):
 
             self.wait_groundspeed(10, 100, timeout=60)
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
 
         self.set_rc(2, 1500)
@@ -2154,6 +2162,8 @@ class AutoTestCopter(AutoTest):
             else:
                 raise NotAchievedException("Detected peak %.1f Hz %.2f dB" % (freq, peakdB))
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
 
         self.context_pop()
@@ -4049,6 +4059,8 @@ class AutoTestCopter(AutoTest):
                 raise
 
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
 
@@ -4775,6 +4787,8 @@ class AutoTestCopter(AutoTest):
                     raise NotAchievedException("Failed to maintain takeoff alt")
             self.progress("takeoff OK")
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
 
         self.land_and_disarm()
@@ -5689,6 +5703,8 @@ class AutoTestCopter(AutoTest):
 
         except Exception as e:
             self.disarm_vehicle(force=True)
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
         if ex is not None:
@@ -6408,6 +6424,8 @@ class AutoTestHeli(AutoTestCopter):
 
             self.progress("takeoff OK")
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
 
         self.land_and_disarm()
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index b0c44da3f4..f9c05d356c 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -791,6 +791,8 @@ class AutoTestPlane(AutoTest):
 
             self.progress("Flaps OK")
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
         if ex:
@@ -1620,6 +1622,8 @@ class AutoTestPlane(AutoTest):
                 raise NotAchievedException("Got collision message when I shouldn't have")
 
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.context_pop()
         self.reboot_sitl()
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index c5773ffe62..8a8622ed54 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -4893,6 +4893,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.reboot_sitl()
             self.delay_sim_time(10)
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.remove_example_script(example_script)
         self.reboot_sitl()
@@ -4935,6 +4937,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 self.remove_example_script(script)
 
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
         self.reboot_sitl()
 
@@ -4969,6 +4973,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.reboot_sitl()
             self.wait_statustext('hello, world', check_context=True, timeout=30)
         except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
             ex = e
 
         self.remove_example_script(example_script)