From 6435e106606092bf4b49e2dad73d94ddd6a44827 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 31 Oct 2023 13:22:17 +1100
Subject: [PATCH 1/2] autotest: assert_received_message_values gets timeout and
 check_context

---
 Tools/autotest/vehicle_test_suite.py | 23 ++++++++++++++++++++---
 1 file changed, 20 insertions(+), 3 deletions(-)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 3b71023a03df1..427ebb5bb6103 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -3895,10 +3895,25 @@ def assert_cached_message_field_values(self, message, fieldvalues, verbose=True,
         self.assert_message_field_values(m, fieldvalues, verbose=verbose, epsilon=epsilon)
         return m
 
-    def assert_received_message_field_values(self, message, fieldvalues, verbose=True, very_verbose=False, epsilon=None, poll=False):  # noqa
+    def assert_received_message_field_values(self,
+                                             message,
+                                             fieldvalues,
+                                             verbose=True,
+                                             very_verbose=False,
+                                             epsilon=None,
+                                             poll=False,
+                                             timeout=None,
+                                             check_context=False,
+                                             ):
         if poll:
             self.poll_message(message)
-        m = self.assert_receive_message(message, verbose=verbose, very_verbose=very_verbose)
+        m = self.assert_receive_message(
+            message,
+            verbose=verbose,
+            very_verbose=very_verbose,
+            timeout=timeout,
+            check_context=check_context
+        )
         self.assert_message_field_values(m, fieldvalues, verbose=verbose, epsilon=epsilon)
         return m
 
@@ -4298,7 +4313,7 @@ def assert_not_receive_message(self, message, timeout=1, mav=None, condition=Non
 
     def assert_receive_message(self,
                                type,
-                               timeout=1,
+                               timeout=None,
                                verbose=False,
                                very_verbose=False,
                                mav=None,
@@ -4306,6 +4321,8 @@ def assert_receive_message(self,
                                delay_fn=None,
                                instance=None,
                                check_context=False):
+        if timeout is None:
+            timeout = 1
         if mav is None:
             mav = self.mav
 

From 5edb60a7cd9f7e31383ab1d459fd33631e066d1c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 31 Oct 2023 13:08:47 +1100
Subject: [PATCH 2/2] autotest: tidy testing of SentToComponents

---
 Tools/autotest/rover.py | 22 +++++++---------------
 1 file changed, 7 insertions(+), 15 deletions(-)

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 3f97fd9e2eaca..2da688ab12410 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -5619,6 +5619,9 @@ def SendToComponents(self):
             0,
             0,
             0)
+
+        self.context_collect('COMMAND_LONG')
+
         self.progress("Sending control message")
         self.mav.mav.digicam_control_send(
             1, # target_system
@@ -5634,21 +5637,10 @@ def SendToComponents(self):
         )
         self.mav.mav.srcSystem = old_srcSystem
 
-        self.progress("Expecting a command long")
-        tstart = self.get_sim_time_cached()
-        while True:
-            now = self.get_sim_time_cached()
-            if now - tstart > 2:
-                raise NotAchievedException("Did not receive digicam_control message")
-            m = self.mav.recv_match(type='COMMAND_LONG', blocking=True, timeout=0.1)
-            self.progress("Message: %s" % str(m))
-            if m is None:
-                continue
-            if m.command != mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL:
-                raise NotAchievedException("Did not get correct command")
-            if m.param6 != 17:
-                raise NotAchievedException("Did not get correct command_id")
-            break
+        self.assert_received_message_field_values('COMMAND_LONG', {
+            'command': mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
+            'param6': 17,
+        }, timeout=2, check_context=True)
 
     def SkidSteer(self):
         '''Check skid-steering'''