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Tools: add gripper tests

master
Pierre Kancir 7 years ago committed by Peter Barker
parent
3ab635f100
commit
7f601db05b
1 changed files with 99 additions and 0 deletions
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  1. 99
      Tools/autotest/common.py

99
Tools/autotest/common.py
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@ -962,6 +962,20 @@ class AutoTest(ABC): @@ -962,6 +962,20 @@ class AutoTest(ABC):
self.progress("Failed to get EKF.flags=%u" % required_value)
raise AutoTestTimeoutException()
def wait_text(self, text, timeout=20, the_function=None):
"""Wait a specific STATUS_TEXT."""
self.progress("Waiting for text : %s" % text.lower())
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
if the_function is not None:
the_function()
m = self.mav.recv_match(type='STATUSTEXT', blocking=True)
if text.lower() in m.text.lower():
self.progress("Received expected text : %s" % m.text.lower())
return True
self.progress("Failed to received text : %s" % text.lower())
raise AutoTestTimeoutException()
def get_mavlink_connection_going(self):
# get a mavlink connection going
connection_string = self.autotest_connection_string_to_mavproxy()
@ -1032,6 +1046,91 @@ class AutoTest(ABC): @@ -1032,6 +1046,91 @@ class AutoTest(ABC):
raise NotAchievedException()
# TODO : add failure test : arming check, wrong mode; Test arming magic; Same for disarm
def test_gripper(self):
self.context_push()
self.set_parameter("GRIP_ENABLE", 1)
self.fetch_parameters()
self.set_parameter("GRIP_GRAB", 2000)
self.set_parameter("GRIP_RELEASE", 1000)
self.set_parameter("GRIP_TYPE", 1)
self.set_parameter("SIM_GRPS_ENABLE", 1)
self.set_parameter("SIM_GRPS_PIN", 8)
self.set_parameter("SERVO8_FUNCTION", 28)
self.set_parameter("SERVO8_MIN", 1000)
self.set_parameter("SERVO8_MAX", 2000)
self.set_parameter("RC9_OPTION", 19)
self.reboot_sitl()
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
self.progress("Test gripper with RC9_OPTION")
self.progress("Releasing load")
# non strict string matching because of catching text issue....
self.wait_text("Gripper load releas", the_function=lambda: self.set_rc(9, 1000))
self.progress("Grabbing load")
self.wait_text("Gripper load grabb", the_function=lambda: self.set_rc(9, 2000))
self.progress("Releasing load")
self.wait_text("Gripper load releas", the_function=lambda: self.set_rc(9, 1000))
self.progress("Grabbing load")
self.wait_text("Gripper load grabb", the_function=lambda: self.set_rc(9, 2000))
self.progress("Test gripper with Mavlink cmd")
self.progress("Releasing load")
self.wait_text("Gripper load releas",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_RELEASE,
0,
0,
0,
0,
0,
))
self.progress("Grabbing load")
self.wait_text("Gripper load grabb",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_GRAB,
0,
0,
0,
0,
0,
))
self.progress("Releasing load")
self.wait_text("Gripper load releas",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_RELEASE,
0,
0,
0,
0,
0,
))
self.progress("Grabbing load")
self.wait_text("Gripper load grabb",
the_function=lambda: self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_GRIPPER,
0,
1,
mavutil.mavlink.GRIPPER_ACTION_GRAB,
0,
0,
0,
0,
0,
))
self.context_pop()
self.reboot_sitl()
# # TEST MISSION FILE
# # TODO : rework that to work on autotest server
# # self.progress("TEST LOADING MISSION")

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