Separate plane and copter tests based on sitl type

.github/workflows/python_tests_copter.yml

@@ -0,0 +1,50 @@
+name: Run Python Copter Tests
+
+permissions:
+  contents: read
+
+on:
+  push:
+    branches:
+      - main
+      - release-*
+    paths:
+      - radio/**
+  pull_request:
+    branches:
+      - main
+      - release-*
+    paths:
+      - radio/**
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    services:
+      service-name-1:
+        image: kushmakkapati/ardupilot_sitl:latest
+        env:
+          VEHICLE: ArduCopter
+        ports:
+          - 5760:5760
+        options: >-
+          --name ardupilot-copter
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Set up Python 3.11
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.11'
+
+      - name: Install dependencies
+        working-directory: radio
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install pytest
+          python -m pip install -r requirements.txt
+
+      - name: Test with pytest
+        working-directory: radio
+        timeout-minutes: 15
+        run: pytest -m "not plane_only" --log-cli-level=DEBUG

.github/workflows/python_tests.yml → .github/workflows/python_tests_plane.yml

@@ -1,4 +1,7 @@
-name: Run Python Tests with simulator
+name: Run Python Plane Tests
+
+permissions:
+  contents: read
 
 on:
   push:
@@ -20,8 +23,12 @@ jobs:
     services:
       service-name-1:
         image: kushmakkapati/ardupilot_sitl:latest
+        env:
+          VEHICLE: ArduPlane
         ports:
           - 5760:5760
+        options: >-
+          --name ardupilot-plane
     steps:
       - uses: actions/checkout@v3
 
@@ -40,4 +47,4 @@ jobs:
       - name: Test with pytest
         working-directory: radio
         timeout-minutes: 15
-        run: pytest --log-cli-level=DEBUG
+        run: pytest -m "not copter_only" --log-cli-level=DEBUG

radio/tests/conftest.py

@@ -4,6 +4,16 @@
 from app.utils import getComPort
 
 
+def pytest_configure(config):
+    """Register custom markers"""
+    config.addinivalue_line(
+        "markers", "plane_only: mark test to run only on plane SITL"
+    )
+    config.addinivalue_line(
+        "markers", "copter_only: mark test to run only on copter SITL"
+    )
+
+
 def setupDrone(connectionString: str) -> bool:
     """
     Setup the drone globally, this is done before running pytest
@@ -47,3 +57,24 @@ def pytest_sessionstart(session):
     if not success:
         print("\033[1;31;40mFAILED TO CONNECT TO DRONE, EXITING TESTS\033[0m")
         pytest.exit(1)
+
+
+@pytest.fixture(autouse=True)
+def check_aircraft_type(request):
+    """Fixture to skip tests based on aircraft type markers"""
+
+    markers = [marker.name for marker in request.node.iter_markers()]
+
+    if droneStatus.drone is None:
+        pytest.skip("No drone connected")
+        return
+
+    aircraft_type = droneStatus.drone.aircraft_type
+
+    # Skip if marked as plane_only but not a plane
+    if "plane_only" in markers and aircraft_type != 1:
+        pytest.skip(f"Test requires plane SITL (current type: {aircraft_type})")
+
+    # Skip if marked as copter_only but not a copter
+    if "copter_only" in markers and aircraft_type != 2:
+        pytest.skip(f"Test requires copter SITL (current type: {aircraft_type})")

radio/tests/helpers.py

@@ -90,20 +90,6 @@ def __exit__(self, type, value, traceback) -> None:
             droneStatus.drone.wait_for_message = self.wait_for_message  # type: ignore[method-assign]
 
 
-class SetAircraftType:
-    def __init__(self, aircraftType: int):
-        self.aircraftType = aircraftType
-
-    def __enter__(self) -> None:
-        if droneStatus.drone is not None:
-            self.old_aircraftType = droneStatus.drone.aircraft_type
-            droneStatus.drone.aircraft_type = self.aircraftType
-
-    def __exit__(self, type, value, traceback) -> None:
-        if droneStatus.drone is not None:
-            droneStatus.drone.aircraft_type = self.old_aircraftType
-
-
 def send_and_receive(endpoint: str, args: Optional[Union[dict, str]] = None) -> dict:
     """Sends a request to the socketio test client and returns the response
 
@@ -151,7 +137,7 @@ def set_params(params: List[tuple[str, Number, int]]) -> None:
 
     for param in params:
         param_name, param_value, param_type = param
-        max_retries = 5
+        max_retries = 7
         retry_count = 0
         param_set_successfully = False
 
@@ -212,7 +198,7 @@ def set_params(params: List[tuple[str, Number, int]]) -> None:
                     # Timeout occurred
                     retry_count += 1
                     if retry_count < max_retries:
-                        backoff_delay = 0.1 * (2**retry_count)  # Exponential backoff
+                        backoff_delay = 0.2 * (2**retry_count)  # Exponential backoff
                         logger.warning(
                             f"Timeout setting {param_name}, retrying in {backoff_delay:.1f}s... ({retry_count}/{max_retries})"
                         )

radio/tests/test_FlightModesController.py

@@ -6,7 +6,6 @@
 from . import falcon_test
 from .helpers import (
     FakeTCP,
-    SetAircraftType,
     WaitForMessageReturnsNone,
 )
 
@@ -96,7 +95,7 @@ def test_setCurrentFlightMode(client: SocketIOTestClient, droneStatus):
 
 
 @falcon_test(pass_drone_status=True)
-def test_setFlightMode(client: SocketIOTestClient, droneStatus):
+def test_setFlightMode_invalidData(client: SocketIOTestClient, droneStatus):
     response = droneStatus.drone.flightModesController.setFlightMode(0, 1)
     assert response == {
         "success": False,
@@ -121,57 +120,70 @@ def test_setFlightMode(client: SocketIOTestClient, droneStatus):
         "message": "Invalid flight mode number, must be between 1 and 6 inclusive, got 100.",
     }
 
-    # TODO: Fix imitation of PLANE type while being on COPTER sim, should use a different simulator ideally.
-    with SetAircraftType(1):
-        response = droneStatus.drone.flightModesController.setFlightMode(1, -2)
-        assert response == {
-            "success": False,
-            "message": "Invalid plane flight mode, must be between 0 and 24 inclusive, got -2",
-        }
 
-        response = droneStatus.drone.flightModesController.setFlightMode(1, 25)
+@pytest.mark.copter_only
+@falcon_test(pass_drone_status=True)
+def test_setFlightMode_invalidData_copter(client: SocketIOTestClient, droneStatus):
+    response = droneStatus.drone.flightModesController.setFlightMode(1, -2)
+    assert response == {
+        "success": False,
+        "message": "Invalid copter flight mode, must be between 0 and 27 inclusive, got -2",
+    }
+
+    response = droneStatus.drone.flightModesController.setFlightMode(1, 28)
+    assert response == {
+        "success": False,
+        "message": "Invalid copter flight mode, must be between 0 and 27 inclusive, got 28",
+    }
+
+    with WaitForMessageReturnsNone():
+        response = droneStatus.drone.flightModesController.setFlightMode(1, 1)
         assert response == {
             "success": False,
-            "message": "Invalid plane flight mode, must be between 0 and 24 inclusive, got 25",
+            "message": "Failed to set flight mode 1 to COPTER_MODE_ACRO",
         }
 
-        with WaitForMessageReturnsNone():
-            response = droneStatus.drone.flightModesController.setFlightMode(1, 1)
-            assert response == {
-                "success": False,
-                "message": "Failed to set flight mode 1 to PLANE_MODE_CIRCLE",
-            }
 
-        response = droneStatus.drone.flightModesController.setFlightMode(1, 24)
-        assert response == {
-            "success": True,
-            "message": "Flight mode 1 set to PLANE_MODE_THERMAL",
-        }
-        assert droneStatus.drone.flightModesController.flight_modes[0] == 24
+@pytest.mark.copter_only
+@falcon_test(pass_drone_status=True)
+def test_setFlightMode_success_copter(client: SocketIOTestClient, droneStatus):
+    response = droneStatus.drone.flightModesController.setFlightMode(1, 5)
+    assert response == {
+        "success": True,
+        "message": "Flight mode 1 set to COPTER_MODE_LOITER",
+    }
+    assert droneStatus.drone.flightModesController.flight_modes[0] == 5
 
-    with SetAircraftType(2):
-        response = droneStatus.drone.flightModesController.setFlightMode(1, -2)
-        assert response == {
-            "success": False,
-            "message": "Invalid copter flight mode, must be between 0 and 27 inclusive, got -2",
-        }
 
-        response = droneStatus.drone.flightModesController.setFlightMode(1, 28)
+@pytest.mark.plane_only
+@falcon_test(pass_drone_status=True)
+def test_setFlightMode_invalidData_plane(client: SocketIOTestClient, droneStatus):
+    response = droneStatus.drone.flightModesController.setFlightMode(1, -2)
+    assert response == {
+        "success": False,
+        "message": "Invalid plane flight mode, must be between 0 and 24 inclusive, got -2",
+    }
+
+    response = droneStatus.drone.flightModesController.setFlightMode(1, 25)
+    assert response == {
+        "success": False,
+        "message": "Invalid plane flight mode, must be between 0 and 24 inclusive, got 25",
+    }
+
+    with WaitForMessageReturnsNone():
+        response = droneStatus.drone.flightModesController.setFlightMode(1, 1)
         assert response == {
             "success": False,
-            "message": "Invalid copter flight mode, must be between 0 and 27 inclusive, got 28",
+            "message": "Failed to set flight mode 1 to PLANE_MODE_CIRCLE",
         }
 
-        with WaitForMessageReturnsNone():
-            response = droneStatus.drone.flightModesController.setFlightMode(1, 1)
-            assert response == {
-                "success": False,
-                "message": "Failed to set flight mode 1 to COPTER_MODE_ACRO",
-            }
 
-        response = droneStatus.drone.flightModesController.setFlightMode(1, 27)
-        assert response == {
-            "success": True,
-            "message": "Flight mode 1 set to COPTER_MODE_AUTO_RTL",
-        }
-        assert droneStatus.drone.flightModesController.flight_modes[0] == 27
+@pytest.mark.plane_only
+@falcon_test(pass_drone_status=True)
+def test_setFlightMode_success_plane(client: SocketIOTestClient, droneStatus):
+    response = droneStatus.drone.flightModesController.setFlightMode(1, 5)
+    assert response == {
+        "success": True,
+        "message": "Flight mode 1 set to PLANE_MODE_FLY_BY_WIRE_A",
+    }
+    assert droneStatus.drone.flightModesController.flight_modes[0] == 5