autotest: Verify methods for requesting MESSAGE_INTERVAL are equivalent

ArduPilot · Oct 9, 2024 · 0761215 · 0761215
1 parent 7693a16
commit 0761215
Showing 1 changed file with 27 additions and 0 deletions.
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
@@ -6876,6 +6876,32 @@ def BatteryInvalid(self):
         self.set_parameter("BATT_MONITOR", 0)
         self.wait_ready_to_arm()
 
+    def GetMessageInterval(self):
+        '''check that the two methods for requesting a MESSAGE_INTERVAL message are equivalent'''
+        target_msg = mavutil.mavlink.MAVLINK_MSG_ID_HOME_POSITION
+        old_cmd = (mavutil.mavlink.MAV_CMD_GET_MESSAGE_INTERVAL, target_msg, 0)
+        new_cmd = (mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE, mavutil.mavlink.MAVLINK_MSG_ID_MESSAGE_INTERVAL, target_msg)
+
+        interval_us = None
+
+        for run_command in self.run_cmd, self.run_cmd_int:
+            for cmd in old_cmd, new_cmd:
+                cmd_id, p1, p2 = cmd
+
+                self.context_collect("MESSAGE_INTERVAL")
+                run_command(cmd_id, p1=p1, p2=p2)
+                m = self.assert_receive_message('MESSAGE_INTERVAL', timeout=1, check_context=True)
+                self.context_clear_collection("MESSAGE_INTERVAL")
+
+                if m.message_id != target_msg:
+                    raise NotAchievedException(f"Unexpected ID in MESSAGE_INTERVAL (want={target_msg}, got={m.message_id})")
+
+                if interval_us is None:
+                    interval_us = m.interval_us
+
+                if m.interval_us != interval_us:
+                    raise NotAchievedException(f"Unexpected interval_us (want={interval_us}, got={m.interval_us})")
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6973,6 +6999,7 @@ def tests(self):
             self.ClearMission,
             self.JammingSimulation,
             self.BatteryInvalid,
+            self.GetMessageInterval,
         ])
         return ret