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Refactor set_params helper to reduce tests runtime #1127

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Merged
Turnlings merged 5 commits into from
Mar 27, 2026
Merged

Refactor set_params helper to reduce tests runtime #1127

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3e173e9
Potential faster solution, see if stable on action runner
Turnlings Mar 25, 2026
daaa874
Cleanup late night code
Turnlings Mar 25, 2026
3640329
Move the magic wait
Turnlings Mar 25, 2026
2998d65
Wait for state to settle
Turnlings Mar 26, 2026
196642e
Copilot comments
Turnlings Mar 26, 2026
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147 changes: 72 additions & 75 deletions radio/tests/helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -133,97 +133,94 @@ def set_params(params: List[tuple[str, Number, int]]) -> None:
if droneStatus.drone is None:
raise RuntimeError("No drone connected to set parameters on.")

for param in params:
param_name, param_value, param_type = param
max_retries = 7
retry_count = 0
param_set_successfully = False
MAX_RETRIES = 7
TIMEOUT = 2.0

while retry_count < max_retries and not param_set_successfully:
try:
# Clear any pending messages first to avoid stale responses
droneStatus.drone.master.recv_match(
type="PARAM_VALUE", blocking=False, timeout=0.1
)
def drain_all():
"""Drain the entire buffer"""
while True:
msg = droneStatus.drone.master.recv_match(blocking=False)
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if msg is None:
break

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# Send parameter set command
logger.debug(
f"Attempt {retry_count + 1}: Setting {param_name} to {param_value} (type: {param_type})"
)
pending = {name: (value, param_type) for name, value, param_type in params}
retries = {name: 0 for name, _, _ in params}

logger.debug(f"Setting {len(params)} params")

drain_all()

while pending:
# Send all the pending params at once
for param_name, (param_value, param_type) in pending.items():
try:
droneStatus.drone.master.mav.param_set_send(
droneStatus.drone.master.target_system,
droneStatus.drone.master.target_component,
param_name.encode("utf-8"),
param_value,
param_type,
)
except Exception:
logger.warning(f"Error with set_send of param {param_name}")

# Wait for ACK with exponential backoff timeout
base_timeout = 2 + (retry_count * 0.5) # Increase timeout with retries
start_time = time.time()
start_time = time.time()

while time.time() - start_time < base_timeout:
message = droneStatus.drone.master.recv_match(
type="PARAM_VALUE", blocking=False, timeout=0.1
)
while time.time() - start_time < TIMEOUT and pending:
try:
msg = droneStatus.drone.master.recv_match(blocking=False)

if message is not None:
# Check if it's the parameter we're looking for
if message.param_id == param_name:
# Verify the value was actually set correctly
received_value = message.param_value
if (
abs(received_value - param_value) < 0.001
): # Allow for floating point precision
logger.info(
f"Successfully set {param_name} to {param_value} (confirmed: {received_value})"
)
# Keep cached params coherent with direct MAVLink writes used in tests.
droneStatus.drone.paramsController.saveParam(
param_name,
received_value,
param_type,
)
param_set_successfully = True
break
else:
logger.warning(
f"Parameter {param_name} was set but value mismatch: expected {param_value}, got {received_value}"
)
else:
# Got a different parameter response, keep waiting
logger.debug(
f"Received PARAM_VALUE for {message.param_id}, waiting for {param_name}"
)

time.sleep(0.02) # Reduced polling interval for faster response

if not param_set_successfully:
# Timeout occurred
retry_count += 1
if retry_count < max_retries:
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})"
if msg is None:
time.sleep(0.005)
continue

if msg.get_type() != "PARAM_VALUE":
continue
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param_name = msg.param_id

if param_name in pending:
param_value, param_type = pending[param_name]
received_value = msg.param_value

if (
abs(received_value - param_value) < 0.001
): # Allow for floating point precision
logger.info(
f"Successfully set {param_name} to {param_value} (confirmed: {received_value})"
)

# Keep cached params coherent with direct MAVLink writes used in tests.
droneStatus.drone.paramsController.saveParam(
param_name,
received_value,
param_type,
)
time.sleep(backoff_delay)

pending.pop(param_name)

else:
error_msg = (
f"Failed to set {param_name} after {max_retries} attempts"
logger.warning(
f"Parameter {param_name} was set but value mismatch: expected {param_value}, got {received_value}"
)
raise RuntimeError(error_msg)
except Exception as e:
retry_count += 1
if retry_count < max_retries:
backoff_delay = 0.2 * (2**retry_count)
logger.warning(
f"Error setting {param_name}: {e}, retrying in {backoff_delay:.1f}s... ({retry_count}/{max_retries})"
except Exception:
logger.warning(f"Error setting params, last param: {param_name}")

# Retry only missing
if pending:
for param_name in list(pending.keys()):
retries[param_name] += 1
if retries[param_name] > MAX_RETRIES:
logger.error(
f"Failed to set {param_name} after {MAX_RETRIES} attempts"
)
time.sleep(backoff_delay)
else:
error_msg = f"Failed after {max_retries} attempts: {e}"
raise RuntimeError(error_msg)
raise RuntimeError(
f"Failed to set {param_name} after {MAX_RETRIES} attempts"
)

logger.warning(f"Retrying: {list(pending.keys())}")

time.sleep(0.1)
drain_all()

time.sleep(3) # Allow state to settle
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logger.info(f"Successfully set all {len(params)} parameters")
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