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, arducopter
import optparse, fnmatch
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
mavproxy.close()
sil.close()
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)
mavproxy.close()
sil.close()
print("Saved defaults for %s to %s" % (atype, dest))
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))
mavproxy.expect("logs enabled:")
mavproxy.expect("Log]")
mavproxy.close()
sil.close()
log.close()
print("Saved log for %s to %s" % (atype, logfile))
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'))
############## 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')
opts, args = parser.parse_args()
steps = [
'build.ArduPlane',
'defaults.ArduPlane',
'logs.ArduPlane',
'build.ArduCopter',
'defaults.ArduCopter',
'fly.ArduCopter',
'logs.ArduCopter',
]
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
# kill any previous instance
util.kill('ArduCopter.elf')
util.kill('ArduPilot.elf')
test_prerequesites()
for step in steps:
if skip_step(step):
continue
if step == 'build.ArduPlane':
util.build_SIL('ArduPlane')
elif step == 'build.ArduCopter':
util.build_SIL('ArduCopter')
elif step == 'defaults.ArduPlane':
get_default_params('ArduPlane')
elif step == 'defaults.ArduCopter':
get_default_params('ArduCopter')
elif step == 'logs.ArduPlane':
dump_logs('ArduPlane')
elif step == 'logs.ArduCopter':
dump_logs('ArduCopter')
elif step == 'fly.ArduCopter':
arducopter.fly_ArduCopter()
else:
raise RuntimeError("Unknown step %s" % step)
util.kill('ArduCopter.elf')
util.kill('ArduPilot.elf')