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autotest: assert_received_message_values gets timeout and check_context #25420

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merged 2 commits into from
Nov 1, 2023
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autotest: assert_received_message_values gets timeout and check_context #25420

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6435e10
autotest: assert_received_message_values gets timeout and check_context
peterbarker Oct 31, 2023
5edb60a
autotest: tidy testing of SentToComponents
peterbarker Oct 31, 2023
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22 changes: 7 additions & 15 deletions Tools/autotest/rover.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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'''
Expand Down
23 changes: 20 additions & 3 deletions Tools/autotest/vehicle_test_suite.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down Expand Up @@ -4298,14 +4313,16 @@ 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,
condition=None,
delay_fn=None,
instance=None,
check_context=False):
if timeout is None:
timeout = 1
if mav is None:
mav = self.mav

Expand Down