ardupilot/Tools/autotest/autotest.py

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#!/usr/bin/env python
# APM automatic test suite
# Andrew Tridgell, October 2011
import pexpect, os, util, sys, shutil
import arducopter, arduplane
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import optparse, fnmatch, time, glob, traceback
os.putenv('TMPDIR', util.reltopdir('tmp'))
def get_default_params(atype):
'''get default parameters'''
sil = util.start_SIL(atype, wipe=True)
mavproxy = util.start_MAVProxy_SIL(atype)
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL(atype)
mavproxy = util.start_MAVProxy_SIL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
print("Saved defaults for %s to %s" % (atype, dest))
return True
def dump_logs(atype):
'''dump DataFlash logs'''
print("Dumping logs for %s" % atype)
sil = util.start_SIL(atype, CLI=True)
logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
log = open(logfile, mode='w')
mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
mavproxy.expect(']')
mavproxy.send("logs\n")
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mavproxy.expect("logs enabled:")
mavproxy.expect("(\d+) logs")
numlogs = int(mavproxy.match.group(1))
mavproxy.expect("Log]")
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for i in range(numlogs):
mavproxy.send("dump %u\n" % (i+1))
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mavproxy.expect("logs enabled:", timeout=400)
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mavproxy.expect("Log]")
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
log.close()
print("Saved log for %s to %s" % (atype, logfile))
return True
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def convert_gpx():
'''convert any mavlog files to GPX and KML'''
import glob
mavlog = glob.glob(util.reltopdir("../buildlogs/*.mavlog"))
for m in mavlog:
util.run_cmd(util.reltopdir("../pymavlink/examples/mavtogpx.py") + " --nofixcheck " + m)
gpx = m + '.gpx'
kml = m + '.kml'
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util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False)
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util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False)
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return True
def test_prerequesites():
'''check we have the right directories and tools to run tests'''
print("Testing prerequesites")
util.mkdir_p(util.reltopdir('../buildlogs'))
if not os.path.exists(util.reltopdir('../HILTest/hil_quad.py')):
print('''
You need to install HILTest in %s
You can get it from git://git.samba.org/tridge/UAV/HILTest.git
''' % util.reltopdir('../HILTest'))
return False
return True
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############## main program #############
parser = optparse.OptionParser("autotest")
parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)')
parser.add_option("--list", action='store_true', default=False, help='list the available steps')
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parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to')
parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
opts, args = parser.parse_args()
steps = [
'prerequesites',
'build1280.ArduPlane',
'build2560.ArduPlane',
'build.ArduPlane',
'defaults.ArduPlane',
'fly.ArduPlane',
'logs.ArduPlane',
'build1280.ArduCopter',
'build2560.ArduCopter',
'build.ArduCopter',
'defaults.ArduCopter',
'fly.ArduCopter',
'logs.ArduCopter',
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'convertgpx',
]
skipsteps = opts.skip.split(',')
def skip_step(step):
'''see if a step should be skipped'''
for skip in skipsteps:
if fnmatch.fnmatch(step, skip):
return True
return False
def run_step(step):
'''run one step'''
if step == "prerequesites":
return test_prerequesites()
if step == 'build.ArduPlane':
return util.build_SIL('ArduPlane')
if step == 'build.ArduCopter':
return util.build_SIL('ArduCopter')
if step == 'build1280.ArduCopter':
return util.build_AVR('ArduCopter', board='mega')
if step == 'build2560.ArduCopter':
return util.build_AVR('ArduCopter', board='mega2560')
if step == 'build1280.ArduPlane':
return util.build_AVR('ArduPlane', board='mega')
if step == 'build2560.ArduPlane':
return util.build_AVR('ArduPlane', board='mega2560')
if step == 'defaults.ArduPlane':
return get_default_params('ArduPlane')
if step == 'defaults.ArduCopter':
return get_default_params('ArduCopter')
if step == 'logs.ArduPlane':
return dump_logs('ArduPlane')
if step == 'logs.ArduCopter':
return dump_logs('ArduCopter')
if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter()
if step == 'fly.ArduPlane':
if not opts.experimental:
print("DISABLED: use --experimental to enable fly.ArduPlane")
return True
return arduplane.fly_ArduPlane(viewerip=opts.viewerip)
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if step == 'convertgpx':
return convert_gpx()
raise RuntimeError("Unknown step %s" % step)
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class TestResult(object):
'''test result class'''
def __init__(self, name, result, elapsed):
self.name = name
self.result = result
self.elapsed = "%.1f" % elapsed
class TestFile(object):
'''test result file'''
def __init__(self, name, fname):
self.name = name
self.fname = fname
class TestResults(object):
'''test results class'''
def __init__(self):
self.date = time.asctime()
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self.githash = util.loadfile(util.reltopdir('.git/refs/heads/master'))
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self.tests = []
self.files = []
def add(self, name, result, elapsed):
'''add a result'''
self.tests.append(TestResult(name, result, elapsed))
def addfile(self, name, fname):
'''add a result file'''
self.files.append(TestFile(name, fname))
def addglob(self, name, pattern):
'''add a set of files'''
import glob
for f in glob.glob(util.reltopdir('../buildlogs/%s' % pattern)):
self.addfile(name, os.path.basename(f))
def write_webresults(results):
'''write webpage results'''
sys.path.insert(0, os.path.join(util.reltopdir("../pymavlink/generator")))
import mavtemplate
t = mavtemplate.MAVTemplate()
for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
html = util.loadfile(h)
f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)), mode='w')
t.write(f, html, results)
f.close()
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for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
shutil.copy(f, util.reltopdir('../buildlogs/%s' % os.path.basename(f)))
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def run_tests(steps):
'''run a list of steps'''
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results = TestResults()
passed = True
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failed = []
for step in steps:
if skip_step(step):
continue
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t1 = time.time()
print(">>>> RUNNING STEP: %s at %s" % (step, time.asctime()))
try:
if not run_step(step):
print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
passed = False
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failed.append(step)
results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
continue
except Exception, msg:
passed = False
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failed.append(step)
print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg))
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traceback.print_exc(file=sys.stdout)
results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
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pass
results.add(step, '<span class="passed-text">PASSED</span>', time.time() - t1)
print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
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if not passed:
print("FAILED %u tests: %s" % (len(failed), failed))
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results.addglob("Google Earth track", '*.kml')
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results.addfile('Full Logs', 'autotest-output.txt')
results.addglob('DataFlash Log', '*.flashlog')
results.addglob("MAVLink log", '*.mavlog')
results.addglob("GPX track", '*.gpx')
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results.addglob("KMZ track", '*.kmz')
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results.addfile('ArduPlane build log', 'ArduPlane.txt')
results.addfile('ArduPlane code size', 'ArduPlane.sizes.txt')
results.addfile('ArduPlane stack sizes', 'ArduPlane.framesizes.txt')
results.addfile('ArduPlane defaults', 'ArduPlane.defaults.txt')
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results.addfile('ArduCopter build log', 'ArduCopter.txt')
results.addfile('ArduCopter code size', 'ArduCopter.sizes.txt')
results.addfile('ArduCopter stack sizes', 'ArduCopter.framesizes.txt')
results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt')
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write_webresults(results)
return passed
lck = util.lock_file(util.reltopdir('../buildlogs/autotest.lck'))
if lck is None:
print("autotest is locked - exiting")
sys.exit(0)
try:
if not run_tests(steps):
sys.exit(1)
except KeyboardInterrupt:
util.pexpect_close_all()
sys.exit(1)
except Exception:
# make sure we kill off any children
util.pexpect_close_all()
raise