quad: clean up delays in functional tests

quad/scripts/tests/test_communication.rb

@@ -15,14 +15,12 @@ Timeout::timeout(30) {
 
   puts("Setting up...")
 
-  sleep 1
-
   # Start virtual quad
   quad_pid = Process.spawn("./virt-quad -q",
                            { :rlimit_as => 536870912, # 512 MiB total RAM
                              :rlimit_stack => 1048576}) # 1 MiB stack
 
-  delay_spin_cursor(1)
+  sleep 0.5
 
   # Set RC switches
   set_gear GEAR_OFF

quad/scripts/tests/test_memory_integrity.rb

@@ -16,7 +16,7 @@ puts("Firing up the quad...")
 # Start virtual quad
 quad = Process.spawn("valgrind --leak-check=full --log-file=./valgrind.out ./virt-quad")
 
-delay_spin_cursor(3)
+sleep 1.5
 
 set_gear GEAR_OFF
 set_flap FLAP_ON
@@ -48,12 +48,12 @@ begin
     sleep 0.005
   end
 
-  puts("Hovering for 5 seconds")
-  delay_spin_cursor(5)
+  puts("Hovering for 3 seconds")
+  sleep 3
 
-  puts("Switching to autonomous and hovering for 5 seconds")
+  puts("Switching to autonomous and hovering for 3 seconds")
   set_flap FLAP_ON
-  delay_spin_cursor(5)
+  sleep 3
 
   puts("Switch back to manual, relaxing thrust to zero")
   set_flap FLAP_OFF
@@ -67,23 +67,6 @@ begin
   puts("Swiching off GEAR...")
   set_gear GEAR_OFF
 
-  # puts("Collecting logs...")
-  # msg = ""
-  # misses = 0
-  # fifo = File::open(UART_TX)
-  # while misses < 10
-  #   puts "trying..."
-  #   if fifo.eof?
-  #     misses += 1
-  #     next
-  #   end
-  #   msg += fifo.read()
-  # end
-  
-  # fifo.close()
-
-# puts msg
-
   puts("Flight ended successfully.");
 ensure
 

quad/scripts/tests/test_safety_checks.rb

@@ -21,7 +21,7 @@ Timeout::timeout(60) {
                            { :rlimit_as => 536870912, # 512 MiB total RAM
                              :rlimit_stack => 1048576}) # 1 MiB stack
 
-  delay_spin_cursor(1)
+  sleep 0.5
 
   # Set RC switches
   set_gear GEAR_OFF
@@ -85,18 +85,14 @@ Timeout::timeout(60) {
 
     puts("Check that motors turn on")
     set_throttle THROTTLE_MID
-    spinner = Thread.new { delay_spin_cursor(3) }
-    motors = get_motor_averages(100, 3)
-    spinner.exit
+    motors = get_motor_averages(100, 2)
     p motors
     motors.each { |value| assert_operator(value, :>, THROTTLE_QUAR) }
 
     puts("Check that when quad is tilted, motors respond correctly")
     puts("Tilting forwards...")
     `./virt-quad set i2c_imu_x 0.25`
-    spinner = Thread.new { delay_spin_cursor(3) }
-    motors = get_motor_averages(100, 3)
-    spinner.exit
+    motors = get_motor_averages(100, 2)
     p motors
     assert_operator(motors[0], :>, motors[1])
     assert_operator(motors[0], :>, motors[3])
@@ -104,9 +100,7 @@ Timeout::timeout(60) {
     assert_operator(motors[2], :>, motors[3])
     puts("Tilting backwards...")
     `./virt-quad set i2c_imu_x -0.25`
-    spinner = Thread.new { delay_spin_cursor(3) }
-    motors = get_motor_averages(100, 3)
-    spinner.exit
+    motors = get_motor_averages(100, 2)
     p motors
     assert_operator(motors[0], :<, motors[1])
     assert_operator(motors[0], :<, motors[3])
@@ -115,9 +109,7 @@ Timeout::timeout(60) {
     puts("Tilting right...")
     `./virt-quad set i2c_imu_x 0`
     `./virt-quad set i2c_imu_y 0.25`
-    spinner = Thread.new { delay_spin_cursor(3) }
-    motors = get_motor_averages(100, 3)
-    spinner.exit
+    motors = get_motor_averages(100, 2)
     p motors
     assert_operator(motors[0], :<, motors[2])
     assert_operator(motors[0], :<, motors[3])
@@ -125,9 +117,7 @@ Timeout::timeout(60) {
     assert_operator(motors[1], :<, motors[3])
     puts("Tilting left...")
     `./virt-quad set i2c_imu_y -0.25`
-    spinner = Thread.new { delay_spin_cursor(3) }
-    motors = get_motor_averages(100, 3)
-    spinner.exit
+    motors = get_motor_averages(100, 2)
     p motors
     assert_operator(motors[0], :>, motors[2])
     assert_operator(motors[0], :>, motors[3])

quad/scripts/tests/testing_library.rb

@@ -67,18 +67,6 @@ def get_motor_averages(times, total_time)
   motor_sums.map {|val| val / times}
 end
 
-def delay_spin_cursor(delay)
-  fps = 10
-  chars = %w[| / - \\]
-  iteations = delay * fps
-  iter = 0
-  iteations.times() do
-    print chars[(iter+=1) % chars.length]
-    sleep (1.0/fps)
-    print "\b"
-  end
-end
-
 def send_packet(bytes)
   File.write(UART_RX, bytes.pack("C" * bytes.length))
 end