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autotest: add sanity check that greylisted items are not documented #30104

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merged 3 commits into from
May 19, 2025
Merged

autotest: add sanity check that greylisted items are not documented #30104

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9bd754f
AP_GPS: document the RTCM log message
peterbarker May 18, 2025
040e4db
autotest: add sanity check that greylisted items are not documented
peterbarker May 18, 2025
7c7cec4
autotest: move messages into vehicle-specific whitelists
peterbarker May 18, 2025
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35 changes: 23 additions & 12 deletions Tools/autotest/vehicle_test_suite.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3095,7 +3095,6 @@ def LoggerDocumentation_greylist(self):
"FTN3", # gyrofft
"IE24", # generator
"IEFC", # generator
"RTCM", # GPS
"SBRE", # septentrio

"SAF1", # blimp-sim
Expand All @@ -3122,24 +3121,14 @@ def LoggerDocumentation_greylist(self):
"SMVZ", # Sim-Volz

"SORC", # Soaring
"VAR", # soaring

"TCLR", # tempcal
"TEMP", # temperature sensor library

"ARHS", # autorotation
"AROT", # autorotation
"ARSC", # autorotation
"ATDH", # heli autotune
"ATNH", # heli autotune
"ATSH", # heli autotune
"CC", # AC_CustomControl

"FWDT", # quadplane
"GMB1", # sologimbal
"GMB2", # sologimbal
"QBRK", # quadplane
"SURF", # surface-tracking
"ATUN", # Copter autotune
])

def LoggerDocumentation_whitelist(self):
Expand Down Expand Up @@ -3167,6 +3156,10 @@ def LoggerDocumentation_whitelist(self):
# documentation (eg. @Path:
# ../libraries/AP_LandingGear/AP_LandingGear.cpp).
vinfo_key = self.vehicleinfo_key()
if vinfo_key != 'ArduPlane' and vinfo_key != 'ArduCopter' and vinfo_key != 'Helicopter':
ret.update([
"ATUN", # Plane and Copter have ATUN messages
])
if vinfo_key != 'ArduPlane':
ret.update([
"TECS", # only Plane has TECS
Expand All @@ -3176,6 +3169,19 @@ def LoggerDocumentation_whitelist(self):
"SORC", # soaring is pure magic
"QBRK", # quadplane
"FWDT", # quadplane
"VAR", # variometer only applicable on Plane
])
if vinfo_key != 'ArduCopter' and vinfo_key != "Helicopter":
ret.update([
"ARHS", # autorotation
"AROT", # autorotation
"ARSC", # autorotation
"ATDH", # heli autotune
"ATNH", # heli autotune
"ATSH", # heli autotune
"GMB1", # sologimbal
"GMB2", # sologimbal
"SURF", # surface-tracking
])
if vinfo_key == 'ArduCopter':
ret.update([
Expand Down Expand Up @@ -3306,6 +3312,11 @@ def LoggerDocumentation(self):
if len(missing) > 0:
raise NotAchievedException("Documented messages (%s) not in code" % missing)

# ensure things in the whitelist are not documented:
for g in greylist:
if g in docco_ids:
raise NotAchievedException(f"greylisted ({g}) is actually documented")

def initialise_after_reboot_sitl(self):

# after reboot stream-rates may be zero. Request streams.
Expand Down
7 changes: 7 additions & 0 deletions libraries/AP_GPS/AP_GPS.cpp
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Expand Up @@ -1642,6 +1642,13 @@ bool AP_GPS::parse_rtcm_injection(mavlink_channel_t chan, const mavlink_gps_rtcm
const uint32_t crc = crc_crc32(0, buf, len);

#if HAL_LOGGING_ENABLED
// @LoggerMessage: RTCM
// @Description: GPS atmospheric perturbation data
// @Field: TimeUS: Time since system startup
// @Field: Chan: mavlink channel number this data was received on
// @Field: RTCMId: ID field from RTCM packet
// @Field: Len: RTCM packet length
// @Field: CRC: calculated crc32 for the packet
AP::logger().WriteStreaming("RTCM", "TimeUS,Chan,RTCMId,Len,CRC", "s#---", "F----", "QBHHI",
AP_HAL::micros64(),
uint8_t(chan),
Expand Down
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