From 639c9d6b234f43492b56cc84d524d8e8c75d5d17 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Thu, 20 Apr 2017 21:23:48 -0500
Subject: [PATCH] quad: clean up delays in functional tests
---
quad/scripts/tests/test_communication.rb | 4 +--
quad/scripts/tests/test_memory_integrity.rb | 27 ++++-----------------
quad/scripts/tests/test_safety_checks.rb | 22 +++++------------
quad/scripts/tests/testing_library.rb | 12 ---------
4 files changed, 12 insertions(+), 53 deletions(-)
diff --git a/quad/scripts/tests/test_communication.rb b/quad/scripts/tests/test_communication.rb
index 230eb7f79..5f562c48f 100644
--- a/quad/scripts/tests/test_communication.rb
+++ b/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
diff --git a/quad/scripts/tests/test_memory_integrity.rb b/quad/scripts/tests/test_memory_integrity.rb
index fe145365c..31de3a763 100644
--- a/quad/scripts/tests/test_memory_integrity.rb
+++ b/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
diff --git a/quad/scripts/tests/test_safety_checks.rb b/quad/scripts/tests/test_safety_checks.rb
index b39685af9..c5557cece 100644
--- a/quad/scripts/tests/test_safety_checks.rb
+++ b/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])
diff --git a/quad/scripts/tests/testing_library.rb b/quad/scripts/tests/testing_library.rb
index b3ac12bfa..524ef76ca 100644
--- a/quad/scripts/tests/testing_library.rb
+++ b/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
--
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