Wait for SITL reboot before mixed RX tests

Author: xznhj8129

src/test/dualrx/dualrx_mixed_sitl_test.py

@@ -342,6 +342,45 @@ def configure_case(kind: str) -> list[str]:
     return commands
 
 
+def sitl_log_counts(sitl: SitlProcess) -> tuple[int, int]:
+    try:
+        text = sitl.log_path.read_text(encoding="utf-8", errors="replace")
+    except OSError:
+        return 0, 0
+    return text.count("[SYSTEM] Reset"), text.count("[SYSTEM] Init...")
+
+
+def wait_for_sitl_reboot(
+    sitl: SitlProcess,
+    reset_count_before: int,
+    init_count_before: int,
+    timeout_s: float = 8.0,
+) -> None:
+    """Wait for CLI `save` to actually reset and finish re-execing SITL.
+
+    Waiting for the TCP port alone is insufficient: the pre-reset listener can
+    still accept a client while the delayed CLI reboot is pending, after which
+    systemReset() closes that just-opened MSP connection underneath the test.
+    """
+    deadline = time.monotonic() + timeout_s
+    saw_reset = False
+    last_reset_count = reset_count_before
+    last_init_count = init_count_before
+    while time.monotonic() < deadline:
+        sitl.check_alive()
+        last_reset_count, last_init_count = sitl_log_counts(sitl)
+        if last_reset_count > reset_count_before:
+            saw_reset = True
+        if saw_reset and last_init_count > init_count_before:
+            return
+        time.sleep(0.02)
+    raise TestFailure(
+        "SITL did not complete CLI save/reboot cycle within "
+        f"{timeout_s:.1f}s (reset {reset_count_before}->{last_reset_count}, "
+        f"init {init_count_before}->{last_init_count})\n{sitl.tail_log(lines=80)}"
+    )
+
+
 def run_case(kind: str, binary: Path, repo: Path, tcp_base: int, temp_dir: Path) -> None:
     eeprom = temp_dir / f"{kind}.bin"
     log_path = temp_dir / f"{kind}.log"
@@ -354,8 +393,9 @@ def run_case(kind: str, binary: Path, repo: Path, tcp_base: int, temp_dir: Path)
         msp_port = tcp_port(tcp_base, UART_MSP)
         wait_tcp("127.0.0.1", msp_port, 8.0, sitl)
         time.sleep(0.15)
+        reset_count, init_count = sitl_log_counts(sitl)
         configure_cli("127.0.0.1", msp_port, configure_case(kind))
-        time.sleep(1.0)
+        wait_for_sitl_reboot(sitl, reset_count, init_count)
         wait_tcp("127.0.0.1", msp_port, 8.0, sitl)
 
         msp = MspClient("127.0.0.1", msp_port, timeout_s=2.0)