From 6c22733de61577630b6145ec73e41ed77472e805 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 20 May 2024 07:20:50 +1000
Subject: [PATCH] autotest: add polygon pre-arm tests

---
 Tools/autotest/rover.py | 91 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 91 insertions(+)

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 8df5e424c2be6..2b14250974e20 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6811,6 +6811,96 @@ def MissionRetransfer(self, target_system=1, target_component=1):
             want_type=mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED,
         )
 
+    def MissionPolyEnabledPreArm(self):
+        '''check Polygon porearm checks'''
+        self.set_parameters({
+            'FENCE_ENABLE': 1,
+        })
+        self.progress("Ensure that we can arm if polyfence is enabled but we have no polyfence")
+        self.assert_parameter_value('FENCE_TYPE', 6)
+        self.wait_ready_to_arm()
+        self.reboot_sitl()
+        self.wait_ready_to_arm()
+
+        self.progress("Ensure we can arm when we have an inclusion fence we are inside of")
+        here = self.mav.location()
+        self.upload_fences_from_locations(
+            mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
+            [
+                [ # over the top of the vehicle
+                    self.offset_location_ne(here, -50, -50), # bl
+                    self.offset_location_ne(here, -50, 50), # br
+                    self.offset_location_ne(here, 50, 50), # tr
+                    self.offset_location_ne(here, 50, -50), # tl,
+                ]
+            ]
+        )
+        self.delay_sim_time(5)
+        self.wait_ready_to_arm()
+
+        self.reboot_sitl()
+        self.wait_ready_to_arm()
+
+        self.progress("Ensure we can't arm when we are in breacnh of a polyfence")
+        self.clear_fence()
+
+        self.progress("Now create a fence we are in breach of")
+        here = self.mav.location()
+        self.upload_fences_from_locations(
+            mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
+            [
+                [ # over the top of the vehicle
+                    self.offset_location_ne(here, 20, 20), # bl
+                    self.offset_location_ne(here, 20, 50), # br
+                    self.offset_location_ne(here, 50, 50), # tr
+                    self.offset_location_ne(here, 50, 20), # tl,
+                ]
+            ]
+        )
+
+        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False)
+        self.reboot_sitl()
+
+        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+
+        self.progress("Ensure we can arm when a polyfence fence is cleared when we've previously been in breach")
+        self.clear_fence()
+        self.wait_ready_to_arm()
+
+        self.upload_fences_from_locations(
+            mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
+            [
+                [ # over the top of the vehicle
+                    self.offset_location_ne(here, 20, 20), # bl
+                    self.offset_location_ne(here, 20, 50), # br
+                    self.offset_location_ne(here, 50, 50), # tr
+                    self.offset_location_ne(here, 50, 20), # tl,
+                ]
+            ]
+        )
+        self.reboot_sitl()
+        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.clear_fence()
+        self.wait_ready_to_arm()
+
+        self.progress("Ensure we can arm after clearing polygon fence type enabled")
+        self.upload_fences_from_locations(
+            mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
+            [
+                [ # over the top of the vehicle
+                    self.offset_location_ne(here, 20, 20), # bl
+                    self.offset_location_ne(here, 20, 50), # br
+                    self.offset_location_ne(here, 50, 50), # tr
+                    self.offset_location_ne(here, 50, 20), # tl,
+                ]
+            ]
+        )
+        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.set_parameter('FENCE_TYPE', 2)
+        self.wait_ready_to_arm()
+        self.set_parameter('FENCE_TYPE', 6)
+        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6900,6 +6990,7 @@ def tests(self):
             self.RTL_SPEED,
             self.MissionRetransfer,
             self.FenceFullAndPartialTransfer,
+            self.MissionPolyEnabledPreArm,
         ])
         return ret