autotest: reboot after any context in which a reboot was done

this makes the assumption that any reboot done within a SITL was because some parameter changes only take effect after a reboot.

... so after we have reverted the parameters, reboot again to make the reverted parameter values take effect

Tools/autotest/arducopter.py

@@ -2421,8 +2421,8 @@ def OpticalFlowLimits(self):
             ex = e
 
         self.set_rc(2, 1500)
-        self.context_pop()
         self.reboot_sitl(force=True)
+        self.context_pop()
 
         if ex is not None:
             raise ex
@@ -2503,8 +2503,8 @@ def OpticalFlowCalibration(self):
             self.print_exception_caught(e)
             ex = e
 
-        self.context_pop()
         self.disarm_vehicle(force=True)
+        self.context_pop()
         self.reboot_sitl()
 
         if ex is not None:
@@ -5640,10 +5640,11 @@ def Mount(self):
             self.print_exception_caught(e)
             ex = e
 
-        self.context_pop()
-
         self.mav.mav.srcSystem = old_srcSystem
         self.disarm_vehicle(force=True)
+
+        self.context_pop()
+
         self.reboot_sitl() # to handle MNT1_TYPE changing
 
         if ex is not None:
@@ -7149,8 +7150,8 @@ def PrecisionLoiterCompanion(self):
             self.print_exception_caught(e)
             ex = e
 
-        self.context_pop()
         self.disarm_vehicle(force=True)
+        self.context_pop()
         self.reboot_sitl()
         self.progress("All done")
 
@@ -7415,9 +7416,9 @@ def AC_Avoidance_Proximity(self):
         self.assert_current_onboard_log_contains_message("PRX")
         self.assert_current_onboard_log_contains_message("PRXR")
 
-        self.context_pop()
-
         self.disarm_vehicle(force=True)
+
+        self.context_pop()
         self.reboot_sitl()
 
     def ProximitySensors(self):
@@ -7567,8 +7568,8 @@ def shove(a, b):
             self.progress("Caught exception: %s" %
                           self.get_exception_stacktrace(e))
             ex = e
-        self.context_pop()
         self.disarm_vehicle(force=True)
+        self.context_pop()
         self.reboot_sitl()
         if ex is not None:
             raise ex
@@ -9227,9 +9228,10 @@ def test_replay_bit(self, bit):
 
         self.run_replay(current_log_filepath)
 
+        replay_log_filepath = self.current_onboard_log_filepath()
+
         self.context_pop()
 
-        replay_log_filepath = self.current_onboard_log_filepath()
         self.progress("Replay log path: %s" % str(replay_log_filepath))
 
         check_replay = util.load_local_module("Tools/Replay/check_replay.py")
@@ -10398,9 +10400,10 @@ def Sprayer(self):
 
         self.wait_servo_channel_value(pump_ch, pump_ch_min)
 
+        self.disarm_vehicle(force=True)
+
         self.context_pop()
 
-        self.disarm_vehicle(force=True)
         self.reboot_sitl()
 
         self.progress("Sprayer OK")
@@ -11344,7 +11347,10 @@ def check_altitude(mav, m):
 
         self.delay_sim_time(1500)
 
+        self.disarm_vehicle(force=True)
+
         self.context_pop()
+
         self.reboot_sitl(force=True)
 
     def GuidedForceArm(self):
@@ -11410,6 +11416,8 @@ def check_altitude(mav, m):
 
         self.delay_sim_time(1500)
 
+        self.disarm_vehicle(force=True)
+
         self.context_pop()
         self.reboot_sitl(force=True)
 
@@ -11507,16 +11515,19 @@ def GripperReleaseOnThrustLoss(self):
         self.reboot_sitl()
 
         self.takeoff(30, mode='LOITER')
+        self.context_push()
+        self.context_collect('STATUSTEXT')
         self.set_parameters({
             "SIM_ENGINE_FAIL": 1,
             "SIM_ENGINE_MUL": 0.5,
             "FLIGHT_OPTIONS": 4,
         })
 
         self.wait_statustext("Gripper Load Released", timeout=60)
-
         self.context_pop()
+
         self.do_RTL()
+        self.context_pop()
         self.reboot_sitl()
 
     def assert_home_position_not_set(self):

Tools/autotest/helicopter.py

@@ -729,9 +729,10 @@ def check_airspeeds(mav, m):
                 raise NotAchievedException("Never saw an airspeed1")
             if airspeed[1] is None:
                 raise NotAchievedException("Never saw an airspeed2")
-            self.context_pop()
             if not self.current_onboard_log_contains_message("ARSP"):
                 raise NotAchievedException("Expected ARSP log message")
+            self.disarm_vehicle()
+            self.context_pop()
 
         self.reboot_sitl()
 

Tools/autotest/rover.py

@@ -334,8 +334,8 @@ def Sprayer(self):
         except Exception as e:
             self.print_exception_caught(e)
             ex = e
-        self.context_pop()
         self.disarm_vehicle(force=True)
+        self.context_pop()
         self.reboot_sitl()
         if ex:
             raise ex
@@ -578,9 +578,9 @@ def AC_Avoidance(self):
         except Exception as e:
             self.print_exception_caught(e)
             ex = e
+        self.disarm_vehicle(force=True)
         self.context_pop()
         self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
-        self.disarm_vehicle(force=True)
         self.reboot_sitl()
         if ex:
             raise ex
@@ -1133,8 +1133,8 @@ def RCOverrides(self):
             self.print_exception_caught(e)
             ex = e
 
-        self.context_pop()
         self.disarm_vehicle()
+        self.context_pop()
         self.reboot_sitl()
 
         if ex is not None:
@@ -1223,8 +1223,8 @@ def MANUAL_CONTROL(self):
             self.print_exception_caught(e)
             ex = e
 
-        self.context_pop()
         self.disarm_vehicle()
+        self.context_pop()
         self.reboot_sitl()
 
         if ex is not None:

Tools/autotest/vehicle_test_suite.py

@@ -205,6 +205,7 @@ class Context(object):
     def __init__(self):
         self.parameters = []
         self.sitl_commandline_customised = False
+        self.reboot_sitl_was_done = False
         self.message_hooks = []
         self.collections = {}
         self.heartbeat_interval_ms = 1000
@@ -2223,7 +2224,12 @@ def send_cmd_enter_cpu_lockup(self):
                                        0,
                                        0)
 
-    def reboot_sitl(self, required_bootcount=None, force=False, check_position=True):
+    def reboot_sitl(self,
+                    required_bootcount=None,
+                    force=False,
+                    check_position=True,
+                    mark_context=True,
+                    ):
         """Reboot SITL instance and wait for it to reconnect."""
         if self.armed() and not force:
             raise NotAchievedException("Reboot attempted while armed")
@@ -2232,6 +2238,8 @@ def reboot_sitl(self, required_bootcount=None, force=False, check_position=True)
         self.do_heartbeats(force=True)
         if check_position and self.frame != 'sailboat':  # sailboats drift with wind!
             self.assert_simstate_location_is_at_startup_location()
+        if mark_context:
+            self.context_get().reboot_sitl_was_done = True
 
     def reboot_sitl_mavproxy(self, required_bootcount=None):
         """Reboot SITL instance using MAVProxy and wait for it to reconnect."""
@@ -6290,6 +6298,9 @@ def context_pop(self, process_interaction_allowed=True, hooks_already_removed=Fa
                 f.close()
             self.start_SITL(wipe=False)
             self.set_streamrate(self.sitl_streamrate())
+        elif dead.reboot_sitl_was_done:
+            self.progress("Doing implicit context-pop reboot")
+            self.reboot_sitl(mark_context=False)
 
     # the following method is broken under Python2; can't **build_opts
     # def context_start_custom_binary(self, extra_defines={}):
@@ -10070,7 +10081,6 @@ def DataFlashOverMAVLink(self):
             self.print_exception_caught(e)
             self.disarm_vehicle()
             ex = e
-        self.context_pop()
         self.mavproxy_unload_module(mavproxy, 'dataflash_logger')
 
         # the following things won't work - but they shouldn't die either:
@@ -10090,6 +10100,8 @@ def DataFlashOverMAVLink(self):
 
         self.mavproxy_unload_module(mavproxy, 'log')
 
+        self.context_pop()
+
         self.stop_mavproxy(mavproxy)
         self.reboot_sitl()
         if ex is not None: