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Take set-servo and set-relay commands as COMMAND_INT too #24766

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Aug 29, 2023
Merged

Take set-servo and set-relay commands as COMMAND_INT too #24766

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cbc844c
autotest: augment relay tests to run as cmd_int, and more messages
peterbarker Aug 25, 2023
e2cc03c
GCS_MAVLink: handle servo/relay events as both command_long and comma…
peterbarker Aug 25, 2023
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148 changes: 96 additions & 52 deletions Tools/autotest/rover.py
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Original file line number Diff line number Diff line change
Expand Up @@ -582,61 +582,105 @@ def AC_Avoidance(self):

def ServoRelayEvents(self):
'''Test ServoRelayEvents'''
self.do_set_relay(0, 0)
off = self.get_parameter("SIM_PIN_MASK")
self.do_set_relay(0, 1)
on = self.get_parameter("SIM_PIN_MASK")
if on == off:
raise NotAchievedException(
"Pin mask unchanged after relay cmd")
self.progress("Pin mask changed after relay command")
self.do_set_relay(0, 0)
for method in self.run_cmd, self.run_cmd_int:
self.context_push()
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)
on = self.get_parameter("SIM_PIN_MASK")
if on == off:
raise NotAchievedException(
"Pin mask unchanged after relay cmd")
self.progress("Pin mask changed after relay command")
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)

self.set_message_rate_hz("RELAY_STATUS", 10)
self.set_message_rate_hz("RELAY_STATUS", 10)

# default configuration for relays in sim have one relay:
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 0,
})
self.do_set_relay(0, 1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 1,
})
self.do_set_relay(1, 1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 3,
})
self.do_set_relay(0, 0)
self.do_set_relay(1, 0)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 0,
})
# default configuration for relays in sim have one relay:
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 0,
})
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 1,
})
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=1, p2=1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 3,
})
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=1, p2=0)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 3,
"on": 0,
})

# add another servo:
self.set_parameter("RELAY_PIN6", 14)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 0,
})
self.do_set_relay(5, 1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 32,
})
self.do_set_relay(0, 1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 33,
})
self.do_set_relay(5, 0)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 1,
})
# add another servo:
self.set_parameter("RELAY_PIN6", 14)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 0,
})
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=5, p2=1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 32,
})
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 33,
})
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=5, p2=0)
self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35,
"on": 1,
})

self.start_subtest("test MAV_CMD_DO_REPEAT_RELAY")
self.context_push()
self.set_parameter("SIM_SPEEDUP", 1)
method(
mavutil.mavlink.MAV_CMD_DO_REPEAT_RELAY,
p1=0, # servo 1
p2=5, # 5 times
p3=0.5, # 1 second between being on
)
for value in 0, 1, 0, 1, 0, 1, 0, 1:
self.wait_message_field_values('RELAY_STATUS', {
"on": value,
})
self.context_pop()
self.delay_sim_time(3)
self.assert_received_message_field_values('RELAY_STATUS', {
"on": 1, # back to initial state
})
self.context_pop()

self.start_subtest("test MAV_CMD_DO_SET_SERVO")
for value in 1678, 2300, 0:
method(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=13, p2=value)
self.wait_servo_channel_value(13, value)

self.start_subtest("test MAV_CMD_DO_REPEAT_SERVO")

self.context_push()
self.set_parameter("SIM_SPEEDUP", 1)
trim = self.get_parameter("SERVO13_TRIM")
value = 2000
method(
mavutil.mavlink.MAV_CMD_DO_REPEAT_SERVO,
p1=12, # servo12
p2=value, # pwm
p3=5, # count
p4=0.5, # cycle time (1 second between high and high)
)
for value in trim, value, trim, value, trim, value, trim, value:
self.wait_servo_channel_value(12, value)
self.context_pop()

self.set_message_rate_hz("RELAY_STATUS", 0)

Expand Down
2 changes: 1 addition & 1 deletion libraries/GCS_MAVLink/GCS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -769,7 +769,7 @@ class GCS_MAVLINK

virtual void handleMessage(const mavlink_message_t &msg) = 0;

MAV_RESULT handle_servorelay_message(const mavlink_command_long_t &packet);
MAV_RESULT handle_servorelay_message(const mavlink_command_int_t &packet);
bool send_relay_status() const;

static bool command_long_stores_location(const MAV_CMD command);
Expand Down
17 changes: 8 additions & 9 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4839,15 +4839,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_request_message(packet);
break;

#if AP_SERVORELAYEVENTS_ENABLED
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_RELAY:
result = handle_servorelay_message(packet);
break;
#endif

case MAV_CMD_DO_FLIGHTTERMINATION:
result = handle_flight_termination(packet);
break;
Expand Down Expand Up @@ -5174,6 +5165,14 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return handle_command_mag_cal(packet);
#endif

#if AP_SERVORELAYEVENTS_ENABLED
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_RELAY:
return handle_servorelay_message(packet);
#endif

#if AP_SCRIPTING_ENABLED
case MAV_CMD_SCRIPTING:
{
Expand Down
4 changes: 2 additions & 2 deletions libraries/GCS_MAVLink/GCS_ServoRelay.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@

#if AP_SERVORELAYEVENTS_ENABLED

MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_int_t &packet)
{
AP_ServoRelayEvents *handler = AP::servorelayevents();
if (handler == nullptr) {
Expand Down Expand Up @@ -48,4 +48,4 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
return result;
}

#endif
#endif // AP_SERVORELAYEVENTS_ENABLED