Autotest: Reconfig Rover tests for new relay params

MattKear · Dec 6, 2023 · c9d9450 · c9d9450
1 parent ad69ba7
commit c9d9450
Showing 1 changed file with 23 additions and 6 deletions.
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
@@ -568,6 +568,15 @@ def ServoRelayEvents(self):
         '''Test ServoRelayEvents'''
         for method in self.run_cmd, self.run_cmd_int:
             self.context_push()
+
+            self.set_parameters({
+            "RELAY1_FUNCTION": 1, # Enable relay 1 as a standard relay pin
+            "RELAY1_PIN": 1, # Set pin number, 1 in SIM_MASK_PIN
+            "RELAY2_FUNCTION": 1, # Enable relay 2 as a standard relay pin
+            "RELAY2_PIN": 2 # Set pin number, 2 in SIM_MASK_PIN
+            })
+            self.reboot_sitl() # Needed for relay functions to take effect
+
             method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
             off = self.get_parameter("SIM_PIN_MASK")
             method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
@@ -602,8 +611,14 @@ def ServoRelayEvents(self):
                 "on": 0,
             })
 
-            # add another servo:
-            self.set_parameter("RELAY6_PIN", 14)
+            # add another relay and ensure that it changes the "present field"
+            self.set_parameters({
+            "RELAY6_FUNCTION": 1, # Enable relay 6 as a standard relay pin
+            "RELAY6_PIN": 6, # Set pin number, 32 in SIM_MASK_PIN
+            })
+            self.reboot_sitl() # Needed for relay function to take effect
+            self.set_message_rate_hz("RELAY_STATUS", 10) # Need to re-request the message since reboot
+
             self.assert_received_message_field_values('RELAY_STATUS', {
                 "present": 35,
                 "on": 0,
@@ -5369,14 +5384,16 @@ def test_scripting_auxfunc(self):
         self.context_collect("STATUSTEXT")
         self.set_parameters({
             "SCR_ENABLE": 1,
-            "RELAY1_PIN": 1,
+            "RELAY1_FUNCTION": 1
         })
         self.install_example_script_context("RCIN_test.lua")
         self.reboot_sitl()
 
-        self.wait_parameter_value("SIM_PIN_MASK", 121)
-        self.wait_parameter_value("SIM_PIN_MASK", 123)
-        self.wait_parameter_value("SIM_PIN_MASK", 121)
+        self.set_parameter("RELAY1_PIN", 1)
+
+        self.wait_parameter_value("SIM_PIN_MASK", 127)
+        self.wait_parameter_value("SIM_PIN_MASK", 125)
+        self.wait_parameter_value("SIM_PIN_MASK", 127)
 
         self.context_pop()
         self.reboot_sitl()