From 39bb63c61ffec8239f24a54539c9a50669b40e91 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 8 May 2024 22:13:56 +1000
Subject: [PATCH] autotest: add test for partial-transfer after mission-upload

---
 Tools/autotest/rover.py | 30 ++++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 26304003fb01c8..8df5e424c2be6a 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6749,6 +6749,35 @@ def NetworkingWebServerPPP(self):
         shutil.copy('build/sitl/bin/ardurover.noppp', 'build/sitl/bin/ardurover')
         self.reboot_sitl()
 
+    def FenceFullAndPartialTransfer(self, target_system=1, target_component=1):
+        '''ensure starting a fence transfer then a partial transfer behaves
+        appropriately'''
+        # start uploading a 10 item list:
+        self.mav.mav.mission_count_send(
+            target_system,
+            target_component,
+            10,
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE
+        )
+        self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, 0)
+        # change our mind and try a partial mission upload:
+        self.mav.mav.mission_write_partial_list_send(
+            target_system,
+            target_component,
+            3,
+            3,
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
+        # should get denied for that one:
+        self.assert_receive_mission_ack(
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
+            want_type=mavutil.mavlink.MAV_MISSION_DENIED,
+        )
+        # now wait for the original upload to be "cancelled"
+        self.assert_receive_mission_ack(
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
+            want_type=mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED,
+        )
+
     def MissionRetransfer(self, target_system=1, target_component=1):
         '''torture-test with MISSION_COUNT'''
 #        self.send_debug_trap()
@@ -6870,6 +6899,7 @@ def tests(self):
             self.NetworkingWebServerPPP,
             self.RTL_SPEED,
             self.MissionRetransfer,
+            self.FenceFullAndPartialTransfer,
         ])
         return ret