autotest: test gripper as both long and int

... and make use of context_collect for statustext
ArduPilot · Nov 8, 2023 · 8d03d7e · 8d03d7e
1 parent abf3290
commit 8d03d7e
Showing 1 changed file with 30 additions and 52 deletions.
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
@@ -10297,62 +10297,40 @@ def GripperType(self, gripper_type):
         self.set_rc(9, 2000)
         self.wait_text("Gripper load grabb", check_context=True)
         self.progress("Test gripper with Mavlink cmd")
+
+        self.context_collect('STATUSTEXT')
         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.run_cmd(
+            mavutil.mavlink.MAV_CMD_DO_GRIPPER,
+            p1=1,
+            p2=mavutil.mavlink.GRIPPER_ACTION_RELEASE
+        )
+        self.wait_text("Gripper load releas", check_context=True)
         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.run_cmd(
+            mavutil.mavlink.MAV_CMD_DO_GRIPPER,
+            p1=1,
+            p2=mavutil.mavlink.GRIPPER_ACTION_GRAB
+        )
+        self.wait_text("Gripper load grabb", check_context=True)
+
+        self.context_clear_collection('STATUSTEXT')
         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.run_cmd_int(
+            mavutil.mavlink.MAV_CMD_DO_GRIPPER,
+            p1=1,
+            p2=mavutil.mavlink.GRIPPER_ACTION_RELEASE
+        )
+        self.wait_text("Gripper load releas", check_context=True)
+
         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.run_cmd_int(
+            mavutil.mavlink.MAV_CMD_DO_GRIPPER,
+            p1=1,
+            p2=mavutil.mavlink.GRIPPER_ACTION_GRAB
+        )
+        self.wait_text("Gripper load grabb", check_context=True)
+
         self.context_pop()
         self.reboot_sitl()