From 912b356b939d42786fcf90fcf88237d7e49f7285 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 1 Jul 2023 13:26:10 +1000 Subject: [PATCH] Tools: support MISSION_CHECKSUM message --- .../ArduPlane_Tests/MissionOpaqueID/empty.txt | 1 + .../ArduPlane_Tests/MissionOpaqueID/flaps.txt | 13 + .../MissionOpaqueID/jumpcount.txt | 9 + .../MissionOpaqueID/justhome.txt | 2 + .../ArduPlane_Tests/MissionOpaqueID/text.txt | 374 ++++++++++++++++++ Tools/autotest/arduplane.py | 43 ++ Tools/autotest/vehicle_test_suite.py | 12 + 7 files changed, 454 insertions(+) create mode 100644 Tools/autotest/ArduPlane_Tests/MissionOpaqueID/empty.txt create mode 100644 Tools/autotest/ArduPlane_Tests/MissionOpaqueID/flaps.txt create mode 100644 Tools/autotest/ArduPlane_Tests/MissionOpaqueID/jumpcount.txt create mode 100644 Tools/autotest/ArduPlane_Tests/MissionOpaqueID/justhome.txt create mode 100644 Tools/autotest/ArduPlane_Tests/MissionOpaqueID/text.txt diff --git a/Tools/autotest/ArduPlane_Tests/MissionOpaqueID/empty.txt b/Tools/autotest/ArduPlane_Tests/MissionOpaqueID/empty.txt new file mode 100644 index 00000000000000..1d0bc59ad651f5 --- /dev/null +++ b/Tools/autotest/ArduPlane_Tests/MissionOpaqueID/empty.txt @@ -0,0 +1 @@ +QGC WPL 110 diff --git a/Tools/autotest/ArduPlane_Tests/MissionOpaqueID/flaps.txt b/Tools/autotest/ArduPlane_Tests/MissionOpaqueID/flaps.txt new file mode 100644 index 00000000000000..93d0726c86ea6a --- /dev/null +++ b/Tools/autotest/ArduPlane_Tests/MissionOpaqueID/flaps.txt @@ -0,0 +1,13 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1 +1 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1 +2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1 +3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1 +4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1 +5 0 3 16 0.000000 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-35.357555 149.170208 100.000000 1 +371 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.356931 149.170194 100.000000 1 +372 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.356936 149.169883 100.000000 1 diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 2af157ab9c8ce2..dafbd3d4d23a3e 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -4117,6 +4117,48 @@ def attempt_fence_breached_disable(start_mode, end_mode, expected_mode, action): attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=6) attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=7) + def get_mission_checksum(self): + self.drain_mav() + m = self.poll_message('MISSION_CURRENT') + print("Got %s" % str(m)) + return m.mission_id + + def MissionOpaqueID(self): + '''test support for vehicle identifying mission via opaque ID''' + jumpcount_checksum = 2006072681 + for missionstuff in [("text.txt", 4264322242), + ("empty.txt", 4294967295), + ("justhome.txt", 4294967295), + ("jumpcount.txt", jumpcount_checksum), + ]: + (filename, expected_checksum) = missionstuff + self.progress("Checking checksum for (%s)" % (filename,)) + self.load_mission(filename) + self.assert_cached_message_field_values('MISSION_ACK', { + "opaque_id": expected_checksum, + }) + # ensure it appears in the MISSION_CURRENT message: + self.assert_received_message_field_values('MISSION_CURRENT', { + "mission_id": expected_checksum, + }, poll=True) + + # fly the jump count mission, make sure the checksum doesn't + # change over time + self.load_mission("jumpcount.txt", strict=False) + self.set_current_waypoint(0, check_afterwards=False) + self.change_mode('AUTO') + self.wait_ready_to_arm() + self.arm_vehicle() + for i in range(2): + self.wait_current_waypoint(2, timeout=120) + self.wait_current_waypoint(3, timeout=120) + mission_checksum = self.get_mission_checksum() + if mission_checksum != jumpcount_checksum: + raise NotAchievedException( + "Mission checksum changed during mission; got=%u want=%u i=%u" % + (jumpcount_checksum, mission_checksum, i)) + self.fly_home_land_and_disarm() + def _MAV_CMD_DO_AUX_FUNCTION(self, run_cmd): '''Test triggering Auxiliary Functions via mavlink''' self.context_collect('STATUSTEXT') @@ -6069,6 +6111,7 @@ def tests(self): self.AutotuneFiltering, self.MegaSquirt, self.Hirth, + self.MissionOpaqueID, self.MSP_DJI, self.SpeedToFly, self.GlideSlopeThresh, diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index 19b9f946d92cbe..b9d041b7b11c20 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -5370,8 +5370,20 @@ def check_mission_item_upload_download(self, items, itype, mission_type, strict= self.progress("check %s upload/download: upload %u items" % (itype, len(items),)) self.upload_using_mission_protocol(mission_type, items) + upload_opaque_id = self.get_cached_message('MISSION_ACK').opaque_id + if upload_opaque_id == 0: + raise NotAchievedException("Expected non-zero upload opaque_id") + self.progress("Upload opaque_id=%s" % upload_opaque_id) self.progress("check %s upload/download: download items" % itype) downloaded_items = self.download_using_mission_protocol(mission_type) + download_opaque_id = self.get_cached_message('MISSION_COUNT').opaque_id + if download_opaque_id == 0: + raise NotAchievedException("Expected non-zero download opaque_id") + if upload_opaque_id != download_opaque_id: + raise NotAchievedException( + "Expected upload id and download id to be same; upload=%s download=%s" % + (upload_opaque_id, download_opaque_id)) + if len(items) != len(downloaded_items): raise NotAchievedException("Did not download same number of items as uploaded want=%u got=%u" % (len(items), len(downloaded_items)))