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autotest: drain mavlink queue to avoid failing on slow MISSION_COUNT 

It was observed from a log of a failed CI test that the ACK from
clearing the rally items took 6 wallclock seconds to arrive.

We were not waiting for that ACK to arrive before sending the request
for the mission item count, but if it has taken more than six seconds
for the ACK to arrive it is reasonable to assume that MISSION_COUNT
could very well take more than the 10 seconds we allow for it.

If we drain the mav before sending the request for the mission count we
should remove any signficiant timing problem due to a backlog of mavlnk
messages, but the amount of traffic here is problematic.

Also drain in lots of other places where we might be spending way too
long parsing messages.
c415-sdk
Peter Barker 5 years ago committed by Peter Barker
parent
14e01e21b7
commit
77e5236278
2 changed files with 38 additions and 4 deletions
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  1. 10
      Tools/autotest/common.py
  2. 32
      Tools/autotest/rover.py

10
Tools/autotest/common.py
Unescape View File

@ -1513,7 +1513,9 @@ class AutoTest(ABC): @@ -1513,7 +1513,9 @@ class AutoTest(ABC):
continue
util.pexpect_drain(p)
def drain_mav_unparsed(self, quiet=False):
def drain_mav_unparsed(self, mav=None, quiet=False, freshen_sim_time=False):
if mav is None:
mav = self.mav
count = 0
tstart = time.time()
while True:
@ -1529,8 +1531,12 @@ class AutoTest(ABC): @@ -1529,8 +1531,12 @@ class AutoTest(ABC):
else:
rate = "%f/s" % (count/float(tdelta),)
self.progress("Drained %u bytes from mav (%s). These were unparsed." % (count, rate))
if freshen_sim_time:
self.get_sim_time()
def drain_mav(self, mav=None):
def drain_mav(self, mav=None, unparsed=False, quiet=False):
if unparsed:
return self.drain_mav_unparsed(quiet=quiet, mav=mav)
if mav is None:
mav = self.mav
count = 0

32
Tools/autotest/rover.py
Unescape View File

@ -2169,7 +2169,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -2169,7 +2169,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
print("spgti: %s" % str(sptgi))
def assert_mission_count_on_link(self, mav, expected_count, target_system, target_component, mission_type):
self.drain_mav(mav)
self.drain_mav_unparsed(mav=mav, freshen_sim_time=True)
self.progress("waiting for a message - any message....")
m = mav.recv_match(blocking=True, timeout=1)
self.progress("Received (%s)" % str(m))
@ -2229,6 +2229,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -2229,6 +2229,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
(mission_type, m.count)))
def get_mission_item_int_on_link(self, item, mav, target_system, target_component, mission_type):
self.drain_mav(mav=mav, unparsed=True)
mav.mav.mission_request_int_send(target_system,
target_component,
item,
@ -2256,13 +2257,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -2256,13 +2257,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
return m
def get_mission_item_on_link(self, item, mav, target_system, target_component, mission_type):
self.drain_mav(mav=mav, unparsed=True)
mav.mav.mission_request_send(target_system,
target_component,
item,
mission_type)
m = mav.recv_match(type='MISSION_ITEM',
blocking=True,
timeout=1)
timeout=5)
if m is None:
raise NotAchievedException("Did not receive mission item int")
if m.target_system != mav.mav.srcSystem:
@ -3028,6 +3030,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3028,6 +3030,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
)
self.start_subtest("Should enforce items come from correct GCS")
self.drain_mav(unparsed=True)
self.mav.mav.mission_count_send(target_system,
target_component,
1,
@ -3037,6 +3040,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3037,6 +3040,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
old_sysid = self.mav.mav.srcSystem
self.mav.mav.srcSystem = 17
items[0].pack(self.mav.mav)
self.drain_mav(unparsed=True)
self.mav.mav.send(items[0])
self.mav.mav.srcSystem = old_sysid
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
@ -3044,6 +3048,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3044,6 +3048,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target_system=17)
self.progress("Sending from correct sysid")
items[0].pack(self.mav.mav)
self.drain_mav(unparsed=True)
self.mav.mav.send(items[0])
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
@ -3052,6 +3057,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3052,6 +3057,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subtest("Attempt to send item on different link to that which we are sending requests on")
self.progress("Sending count")
self.drain_mav(unparsed=True)
self.mav.mav.mission_count_send(target_system,
target_component,
2,
@ -3066,6 +3072,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3066,6 +3072,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
# this sysid/compid is on both links which may cause
# weirdness...
items[0].pack(mav2.mav)
self.drain_mav(mav=self.mav, unparsed=True)
mav2.mav.send(items[0])
mav2.mav.srcSystem = old_mav2_system
mav2.mav.srcComponent = old_mav2_component
@ -3080,6 +3087,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3080,6 +3087,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if m.seq != 1:
raise NotAchievedException("Unexpected sequence number (expected=%u got=%u)" % (1, m.seq))
items[1].pack(self.mav.mav)
self.drain_mav(unparsed=True)
self.mav.mav.send(items[1])
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
@ -3088,6 +3096,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3088,6 +3096,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subtest("Upload mission and rally points at same time")
self.progress("Sending rally count")
self.drain_mav(unparsed=True)
self.mav.mav.mission_count_send(target_system,
target_component,
3,
@ -3102,6 +3111,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3102,6 +3111,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 0)
self.progress("Answering request for mission item 0")
self.drain_mav(mav=self.mav, unparsed=True)
self.mav.mav.mission_item_int_send(
target_system,
target_component,
@ -3122,22 +3132,26 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3122,22 +3132,26 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Answering request for rally point 0")
items[0].pack(self.mav.mav)
self.drain_mav(unparsed=True)
self.mav.mav.send(items[0])
self.progress("Expecting request for rally item 1")
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 1)
self.progress("Answering request for rally point 1")
items[1].pack(self.mav.mav)
self.drain_mav(unparsed=True)
self.mav.mav.send(items[1])
self.progress("Expecting request for rally item 2")
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 2)
self.progress("Answering request for rally point 2")
items[2].pack(self.mav.mav)
self.drain_mav(unparsed=True)
self.mav.mav.send(items[2])
self.progress("Expecting mission ack for rally")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Answering request for waypoints item 1")
self.drain_mav(unparsed=True)
self.mav.mav.mission_item_int_send(
target_system,
target_component,
@ -3157,6 +3171,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3157,6 +3171,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 2)
self.progress("Answering request for waypoints item 2")
self.drain_mav(unparsed=True)
self.mav.mav.mission_item_int_send(
target_system,
target_component,
@ -3183,6 +3198,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3183,6 +3198,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Should not be able to set items completely past the waypoint count")
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
items)
self.drain_mav(unparsed=True)
self.mav.mav.mission_write_partial_list_send(
target_system,
target_component,
@ -3193,6 +3209,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3193,6 +3209,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
want_type=mavutil.mavlink.MAV_MISSION_ERROR)
self.progress("Should not be able to set items overlapping the waypoint count")
self.drain_mav(unparsed=True)
self.mav.mav.mission_write_partial_list_send(
target_system,
target_component,
@ -3203,6 +3220,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3203,6 +3220,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
want_type=mavutil.mavlink.MAV_MISSION_ERROR)
self.progress("try to overwrite items 1 and 2")
self.drain_mav(unparsed=True)
self.mav.mav.mission_write_partial_list_send(
target_system,
target_component,
@ -3211,6 +3229,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3211,6 +3229,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 1)
self.progress("Try shoving up an incorrectly sequenced item")
self.drain_mav(unparsed=True)
self.mav.mav.mission_item_int_send(
target_system,
target_component,
@ -3231,6 +3250,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3231,6 +3250,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE)
self.progress("Try shoving up an incorrectly sequenced item (but within band)")
self.drain_mav(unparsed=True)
self.mav.mav.mission_item_int_send(
target_system,
target_component,
@ -3252,6 +3272,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3252,6 +3272,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Now provide correct item")
item1_latitude = int(1.2345*1e7)
self.drain_mav(unparsed=True)
self.mav.mav.mission_item_int_send(
target_system,
target_component,
@ -3271,6 +3292,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3271,6 +3292,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 2)
self.progress("Answering request for rally point 2")
items[2].pack(self.mav.mav)
self.drain_mav(unparsed=True)
self.mav.mav.send(items[2])
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("TODO: ensure partial mission write was good")
@ -3278,20 +3300,26 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -3278,20 +3300,26 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.start_subtest("clear mission types")
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.drain_mav(unparsed=True)
self.mav.mav.mission_clear_all_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.drain_mav(unparsed=True)
self.mav.mav.mission_clear_all_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.start_subtest("try sending out-of-range counts")
self.drain_mav(unparsed=True)
self.mav.mav.mission_count_send(target_system,
target_component,
1,
230)
self.assert_receive_mission_ack(230,
want_type=mavutil.mavlink.MAV_MISSION_UNSUPPORTED)
self.drain_mav(unparsed=True)
self.mav.mav.mission_count_send(target_system,
target_component,
16000,

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