CX_BIT Autotests

.github/workflows/test_sitl_blimp.yml

@@ -127,7 +127,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/blimp
           ccache -s
           ccache -z

.github/workflows/test_sitl_copter.yml

@@ -126,7 +126,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/arducopter
           ccache -s
           ccache -z

.github/workflows/test_sitl_periph.yml

@@ -196,7 +196,7 @@ jobs:
         run: |
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl_periph_universal
+          ./waf configure --board sitl_periph_universal --debug
           ./waf build --target bin/AP_Periph
           ccache -s
           ccache -z

.github/workflows/test_sitl_plane.yml

@@ -203,7 +203,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/arduplane
           ccache -s
           ccache -z
@@ -220,6 +220,8 @@ jobs:
         config: [
             sitltest-plane,
             sitltest-quadplane,
+            sitltest-carbonix-ottano,
+            sitltest-carbonix-volanti,
         ]
 
     steps:

.github/workflows/test_sitl_rover.yml

@@ -128,7 +128,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug --enable-math-check-indexes
           ./waf build --target bin/ardurover
           ccache -s
           ccache -z

.github/workflows/test_sitl_sub.yml

@@ -128,7 +128,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/ardusub
           ccache -s
           ccache -z

.github/workflows/test_sitl_tracker.yml

@@ -128,7 +128,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/antennatracker
           ccache -s
           ccache -z

Tools/autotest/autotest.py

@@ -28,6 +28,7 @@
 import ardusub
 import antennatracker
 import quadplane
+import carbonix
 import balancebot
 import sailboat
 import helicopter
@@ -282,6 +283,7 @@ def should_run_step(step):
     "Tracker": "antennatracker",
     "Helicopter": "arducopter-heli",
     "QuadPlane": "arduplane",
+    "Carbonix": "arduplane",
     "Sub": "ardusub",
     "Blimp": "blimp",
     "BalanceBot": "ardurover",
@@ -352,6 +354,7 @@ def find_specific_test_to_run(step):
     "test.CopterTests2b": arducopter.AutoTestCopterTests2b, # 8m18s
     "test.Plane": arduplane.AutoTestPlane,
     "test.QuadPlane": quadplane.AutoTestQuadPlane,
+    "test.Carbonix": carbonix.AutoTestCarbonix,
     "test.Rover": rover.AutoTestRover,
     "test.BalanceBot": balancebot.AutoTestBalanceBot,
     "test.Sailboat": sailboat.AutoTestSailboat,
@@ -772,7 +775,7 @@ def run_tests(steps):
     return passed
 
 
-vehicle_list = ['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'BalanceBot', 'Helicopter', 'Sailboat', 'Blimp']
+vehicle_list = ['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'Carbonix', 'BalanceBot', 'Helicopter', 'Sailboat', 'Blimp'] # noqa: E501
 
 
 def list_subtests():
@@ -1064,6 +1067,7 @@ def format_epilog(self, formatter):
         'build.Plane',
         'test.Plane',
         'test.QuadPlane',
+        'test.Carbonix',
 
         'build.Rover',
         'test.Rover',

Tools/autotest/carbonix.py

@@ -0,0 +1,185 @@
+'''
+Fly Carbonix aircraft in SITL
+
+AP_FLAKE8_CLEAN
+
+'''
+
+from quadplane import AutoTestQuadPlane
+from pysim import vehicleinfo
+from vehicle_test_suite import AutoTestTimeoutException, NotAchievedException
+from cx_vehicle_bundle import copy_frame_scripts
+
+
+class AutoTestCarbonix(AutoTestQuadPlane):
+    def init(self):
+        super().init()
+        self.install_frame_scripts()
+        self.reboot_sitl()
+
+    def default_parameter_list(self):
+        return super().default_parameter_list() | {
+            "ARMING_MIS_ITEMS": 0,      # disable mission check
+            "BRD_SAFETY_DEFLT": 0,      # disable safety switch
+            "FENCE_AUTOENABLE": 0,      # disable fences
+            "FENCE_ENABLE": 0,
+            "FS_GCS_ENABL": 0,          # disable GCS failsafe
+            "TERRAIN_FOLLOW": 0,        # disable terrain follow (causes prearm fail; terrain requests require extra steps)
+        }
+
+    def default_frame(self):
+        return 'ottano-headless'
+
+    def log_name(self):
+        return 'Carbonix'
+
+    def vehicleinfo_key(self):
+        return 'Carbonix'
+
+    def install_frame_scripts(self):
+        '''installs all scripts specified for the frame in vehicleinfo'''
+        options = vehicleinfo.VehicleInfo().options[self.vehicleinfo_key()]
+        frame_bits = options['frames'][self.frame]
+        script_patterns = frame_bits.get('scripts', [])
+        scripts_root = self.installed_script_path('')
+        copy_frame_scripts(self.frame, scripts_root, script_patterns)
+
+    def assert_no_text(self, *args, **kwargs):
+        '''Assert that a text message does not come in within a timeout'''
+        try:
+            text = self.wait_text(*args, **kwargs)
+        except AutoTestTimeoutException:
+            return
+        raise AssertionError(f"Text '{text}' appeared")
+
+    def CX_BIT(self):
+        '''Test Carbonix's Built-in-Test (BIT) script'''
+
+        def TestESCTelemetry(index):
+            '''Test a single ESC'''
+            index = int(index)
+            self.context_push()
+            self.context_collect('STATUSTEXT')
+            self.wait_ready_to_arm()
+
+            # Confirm no error messages are present, with one exception:
+            # "Servo Out nil" is not uncommon when running with simulation
+            # speedups. There is a race condition that can occur because
+            # SRV_Channels::function_mask gets periodically cleared and
+            # re-calculated.
+            # TODO: CX_BIT needs to switch to checking channel number instead
+            # of checking by function assignment, but that will take some work
+            # and will require a new binding.
+            self.assert_no_text('^CX_BIT:.*(?!Servo Out nil).*', regex=True, check_context=True)
+
+            # Fail the ESC telemetry for the specified index
+            self.progress(f'Failing ESC telemetry for ESC {index}')
+            self.set_parameter('SIM_ESC_TLM_FAIL', 1 << index)
+
+            # Wait for the prearm failure and the error message
+            self.wait_not_ready_to_arm()
+            lost_text = f'CX_BIT: ESC {index + 1} Telemetry Lost'
+            self.wait_text(lost_text, check_context=True)
+            self.progress("'" + lost_text + "':" + ' Success!')
+
+            # Clear the failure
+            self.progress(f'Clearing ESC telemetry failure for ESC {index}')
+            self.context_clear_collection('STATUSTEXT')
+            self.set_parameter('SIM_ESC_TLM_FAIL', 0)
+            recovered_text = f'CX_BIT: ESC {index + 1} Telemetry Recovered'
+            self.wait_text(recovered_text, check_context=True)
+            # Confirm we didn't get lost/recovered/lost/recovered during that time
+            self.assert_no_text(lost_text, timeout=1, regex=True, check_context=True)
+
+            # And one more time, confirm no error messages are present
+            self.context_clear_collection('STATUSTEXT')
+            # TODO: clean this line up too when Servo Out nil is fixed
+            self.assert_no_text('^CX_BIT:.*(?!Servo Out nil).*', regex=True, check_context=True)
+            self.context_pop()
+
+        def TestMotorFail(esc_index, servo_index, is_pusher=False):
+            '''Test a single VTOL motor failure'''
+            esc_index = int(esc_index)
+            servo_index = int(servo_index)
+            self.context_push()
+            self.context_collect('STATUSTEXT')
+            self.wait_ready_to_arm()
+
+            self.arm_vehicle()
+            if is_pusher:
+                self.change_mode('MANUAL')
+                self.set_rc(3, 1500)
+            else:
+                self.change_mode('QSTABILIZE')
+
+            # Confirm no error messages are present
+            self.assert_no_text('CX_BIT.*', regex=True, check_context=True)
+
+            # Fail the ESC telemetry for the specified index
+            self.progress(f'Failing Motor {esc_index}')
+            self.set_parameter('SIM_ENGINE_FAIL', 1 << servo_index)
+
+            # Wait for the error message
+            lost_text = f'CX_BIT: ESC {esc_index + 1} RPM Drop'
+            self.wait_text(lost_text, check_context=True)
+            self.progress("'" + lost_text + "':" + ' Success!')
+
+            # Clear the failure
+            self.progress(f'Fixing Motor {esc_index}')
+            self.context_clear_collection('STATUSTEXT')
+            self.set_parameter('SIM_ENGINE_FAIL', 0)
+            recovered_text = f'CX_BIT: ESC {esc_index + 1} RPM Recovered'
+            self.wait_text(recovered_text, check_context=True)
+            # Confirm we didn't get lost/recovered/lost/recovered during that time
+            self.assert_no_text(lost_text, timeout=1, regex=True, check_context=True)
+
+            # And one more time, confirm no error messages are present
+            self.context_clear_collection('STATUSTEXT')
+            self.assert_no_text('CX_BIT.*', regex=True, check_context=True)
+            self.disarm_vehicle()
+            self.context_pop()
+
+        # Count the number of ESCs
+        frame_class = self.get_parameter('Q_FRAME_CLASS')
+        if frame_class == 1:  # Quad
+            num_vtols = 4
+        elif frame_class == 4:  # OctaQuad
+            num_vtols = 8
+        else:
+            raise ValueError(f'Unsupported frame class {frame_class}')
+        has_engine = self.get_parameter('ICE_ENABLE')
+
+        # Find the servo assignments for the ESCs
+        vtol_servos = {}
+        pusher_servo = None
+        for i in range(1, 32):
+            try:
+                assignment = self.get_parameter(f'SERVO{i}_FUNCTION')
+                if 33 <= assignment <= 40:
+                    vtol_servos[assignment - 33] = i - 1
+                elif assignment == 70:
+                    pusher_servo = i - 1
+            except NotAchievedException:
+                break
+        assert len(vtol_servos) == num_vtols
+        assert pusher_servo is not None
+
+        self.start_subtest('Test ESC telemetry warnings')
+        for i in range(num_vtols):
+            TestESCTelemetry(i)
+        if not has_engine:
+            TestESCTelemetry(num_vtols) # Test the pusher
+
+        self.start_subtest('Test VTOL motor failures')
+        for i in range(num_vtols):
+            TestMotorFail(i, vtol_servos[i])
+        if not has_engine:
+            TestMotorFail(num_vtols, pusher_servo, is_pusher=True)
+
+    def disabled_tests(self):
+        return dict()
+
+    def tests(self):
+        return [
+            self.CX_BIT,
+        ]