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Tools: autotest.py: flake8 compliance 

Also fixed a bug where CalledProcessError has not been imported
This commit is contained in:
Peter Barker 2018-07-04 10:51:22 +10:00 committed by Peter Barker
parent 48d00de030
commit 0ae82751b8
1 changed files with 171 additions and 92 deletions
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263
Tools/autotest/autotest.py
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@ -11,23 +11,26 @@ import optparse
import os import os
import shutil import shutil
import signal import signal
import subprocess
import sys import sys
import time import time
import traceback import traceback
from apmrover2 import * import apmrover2
from arducopter import * import arducopter
from quadplane import * import arduplane
from arduplane import * import ardusub
from ardusub import * import quadplane
from pysim import util from pysim import util
from pymavlink import mavutil from pymavlink import mavutil
from pymavlink.generator import mavtemplate from pymavlink.generator import mavtemplate
def buildlogs_dirpath(): def buildlogs_dirpath():
return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs")) return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
def buildlogs_path(path): def buildlogs_path(path):
'''return a string representing path in the buildlogs directory''' '''return a string representing path in the buildlogs directory'''
bits = [buildlogs_dirpath()] bits = [buildlogs_dirpath()]
@ -37,21 +40,30 @@ def buildlogs_path(path):
bits.append(path) bits.append(path)
return os.path.join(*bits) return os.path.join(*bits)
def get_default_params(atype, binary): def get_default_params(atype, binary):
"""Get default parameters.""" """Get default parameters."""
# use rover simulator so SITL is not starved of input # use rover simulator so SITL is not starved of input
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246) HOME = mavutil.location(40.071374969556928,
-105.22978898137808,
1583.702759,
246)
if "plane" in binary or "rover" in binary: if "plane" in binary or "rover" in binary:
frame = "rover" frame = "rover"
else: else:
frame = "+" frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading) home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10, unhide_parameters=True) sitl = util.start_SITL(binary,
wipe=True,
model=frame,
home=home,
speedup=10,
unhide_parameters=True)
mavproxy = util.start_MAVProxy_SITL(atype) mavproxy = util.start_MAVProxy_SITL(atype)
print("Dumping defaults") print("Dumping defaults")
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)']) idx = mavproxy.expect(['Saved [0-9]+ parameters to (\S+)'])
if idx == 0: if idx == 0:
# we need to restart it after eeprom erase # we need to restart it after eeprom erase
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
@ -68,10 +80,14 @@ def get_default_params(atype, binary):
return True return True
def build_all_filepath():
return util.reltopdir('Tools/scripts/build_all.sh')
def build_all(): def build_all():
"""Run the build_all.sh script.""" """Run the build_all.sh script."""
print("Running build_all.sh") print("Running build_all.sh")
if util.run_cmd(util.reltopdir('Tools/scripts/build_all.sh'), directory=util.reltopdir('.')) != 0: if util.run_cmd(build_all_filepath, directory=util.reltopdir('.')) != 0:
print("Failed build_all.sh") print("Failed build_all.sh")
return False return False
return True return True
@ -80,7 +96,8 @@ def build_all():
def build_binaries(): def build_binaries():
"""Run the build_binaries.py script.""" """Run the build_binaries.py script."""
print("Running build_binaries.py") print("Running build_binaries.py")
# copy the script as it changes git branch, which can change the script while running # copy the script as it changes git branch, which can change the
# script while running
orig = util.reltopdir('Tools/scripts/build_binaries.py') orig = util.reltopdir('Tools/scripts/build_binaries.py')
copy = util.reltopdir('./build_binaries.py') copy = util.reltopdir('./build_binaries.py')
shutil.copy2(orig, copy) shutil.copy2(orig, copy)
@ -99,7 +116,8 @@ def build_binaries():
def build_devrelease(): def build_devrelease():
"""Run the build_devrelease.sh script.""" """Run the build_devrelease.sh script."""
print("Running build_devrelease.sh") print("Running build_devrelease.sh")
# copy the script as it changes git branch, which can change the script while running # copy the script as it changes git branch, which can change the
# script while running
orig = util.reltopdir('Tools/scripts/build_devrelease.sh') orig = util.reltopdir('Tools/scripts/build_devrelease.sh')
copy = util.reltopdir('./build_devrelease.sh') copy = util.reltopdir('./build_devrelease.sh')
shutil.copy2(orig, copy) shutil.copy2(orig, copy)
@ -124,31 +142,50 @@ def build_examples():
return True return True
def param_parse_filepath():
return util.reltopdir('Tools/autotest/param_metadata/param_parse.py')
def all_vehicles():
return ('ArduPlane',
'ArduCopter',
'APMrover2',
'AntennaTracker',
'ArduSub')
def build_parameters(): def build_parameters():
"""Run the param_parse.py script.""" """Run the param_parse.py script."""
print("Running param_parse.py") print("Running param_parse.py")
for vehicle in 'ArduPlane', 'ArduCopter', 'ArduSub', 'APMrover2', 'AntennaTracker': for vehicle in all_vehicles():
if util.run_cmd([util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), '--vehicle', vehicle], directory=util.reltopdir('.')) != 0: if util.run_cmd([param_parse_filepath(), '--vehicle', vehicle],
directory=util.reltopdir('.')) != 0:
print("Failed param_parse.py (%s)" % vehicle) print("Failed param_parse.py (%s)" % vehicle)
return False return False
return True return True
def mavtogpx_filepath():
return util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py")
def convert_gpx(): def convert_gpx():
"""Convert any tlog files to GPX and KML.""" """Convert any tlog files to GPX and KML."""
mavlog = glob.glob(buildlogs_path("*.tlog")) mavlog = glob.glob(buildlogs_path("*.tlog"))
passed = True passed = True
for m in mavlog: for m in mavlog:
util.run_cmd(util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m) util.run_cmd(mavtogpx_filepath() + " --nofixcheck " + m)
gpx = m + '.gpx' gpx = m + '.gpx'
kml = m + '.kml' kml = m + '.kml'
try: try:
util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml)) util.run_cmd('gpsbabel -i gpx -f %s '
except CalledProcessError as e: '-o kml,units=m,floating=1,extrude=1 -F %s' %
(gpx, kml))
except subprocess.CalledProcessError as e:
passed = False passed = False
try: try:
util.run_cmd('zip %s.kmz %s.kml' % (m, m)) util.run_cmd('zip %s.kmz %s.kml' % (m, m))
except CalledProcessError as e: except subprocess.CalledProcessError as e:
passed = False passed = False
util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m)) util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m))
return passed return passed
@ -165,7 +202,9 @@ def alarm_handler(signum, frame):
"""Handle test timeout.""" """Handle test timeout."""
global results, opts global results, opts
try: try:
results.add('TIMEOUT', '<span class="failed-text">FAILED</span>', opts.timeout) results.add('TIMEOUT',
'<span class="failed-text">FAILED</span>',
opts.timeout)
util.pexpect_close_all() util.pexpect_close_all()
convert_gpx() convert_gpx()
write_fullresults() write_fullresults()
@ -174,6 +213,7 @@ def alarm_handler(signum, frame):
pass pass
sys.exit(1) sys.exit(1)
def should_run_step(step): def should_run_step(step):
"""See if a step should be skipped.""" """See if a step should be skipped."""
for skip in skipsteps: for skip in skipsteps:
@ -181,16 +221,18 @@ def should_run_step(step):
return False return False
return True return True
__bin_names = { __bin_names = {
"ArduCopter" : "arducopter", "ArduCopter": "arducopter",
"ArduPlane" : "arduplane", "ArduPlane": "arduplane",
"APMrover2" : "ardurover", "APMrover2": "ardurover",
"AntennaTracker" : "antennatracker", "AntennaTracker": "antennatracker",
"CopterAVC" : "arducopter-heli", "CopterAVC": "arducopter-heli",
"QuadPlane" : "arduplane", "QuadPlane": "arduplane",
"ArduSub" : "ardusub" "ArduSub": "ardusub"
} }
def binary_path(step, debug=False): def binary_path(step, debug=False):
try: try:
vehicle = step.split(".")[1] vehicle = step.split(".")[1]
@ -203,9 +245,10 @@ def binary_path(step, debug=False):
# cope with builds that don't have a specific binary # cope with builds that don't have a specific binary
return None return None
binary_basedir = "sitl" binary = util.reltopdir(os.path.join('build',
'sitl',
binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name)) 'bin',
binary_name))
if not os.path.exists(binary): if not os.path.exists(binary):
if os.path.exists(binary + ".exe"): if os.path.exists(binary + ".exe"):
binary += ".exe" binary += ".exe"
@ -270,28 +313,32 @@ def run_step(step):
fly_opts["speedup"] = opts.speedup fly_opts["speedup"] = opts.speedup
if step == 'fly.ArduCopter': if step == 'fly.ArduCopter':
arducopter = AutoTestCopter(binary, frame=opts.frame, **fly_opts) tester = arducopter.AutoTestCopter(binary,
return arducopter.autotest() frame=opts.frame,
**fly_opts)
return tester.autotest()
if step == 'fly.CopterAVC': if step == 'fly.CopterAVC':
arducopter = AutoTestCopter(binary, **fly_opts) tester = arducopter.AutoTestCopter(binary, **fly_opts)
return arducopter.autotest_heli() return tester.autotest_heli()
if step == 'fly.ArduPlane': if step == 'fly.ArduPlane':
arduplane = AutoTestPlane(binary, **fly_opts) tester = arduplane.AutoTestPlane(binary, **fly_opts)
return arduplane.autotest() return tester.autotest()
if step == 'fly.QuadPlane': if step == 'fly.QuadPlane':
quadplane = AutoTestQuadPlane(binary, **fly_opts) tester = quadplane.AutoTestQuadPlane(binary, **fly_opts)
return quadplane.autotest() return tester.autotest()
if step == 'drive.APMrover2': if step == 'drive.APMrover2':
apmrover2 = AutoTestRover(binary, frame=opts.frame, **fly_opts) tester = apmrover2.AutoTestRover(binary,
return apmrover2.autotest() frame=opts.frame,
**fly_opts)
return tester.autotest()
if step == 'dive.ArduSub': if step == 'dive.ArduSub':
ardusub = AutoTestSub(binary, **fly_opts) tester = ardusub.AutoTestSub(binary, **fly_opts)
return ardusub.autotest() return tester.autotest()
if step == 'build.All': if step == 'build.All':
return build_all() return build_all()
@ -333,7 +380,9 @@ class TestResults(object):
"""Test results class.""" """Test results class."""
def __init__(self): def __init__(self):
self.date = time.asctime() self.date = time.asctime()
self.githash = util.run_cmd('git rev-parse HEAD', output=True, directory=util.reltopdir('.')).strip() self.githash = util.run_cmd('git rev-parse HEAD',
output=True,
directory=util.reltopdir('.')).strip()
self.tests = [] self.tests = []
self.files = [] self.files = []
self.images = [] self.images = []
@ -383,17 +432,15 @@ def write_fullresults():
results.addglob("GPX track", '*.gpx') results.addglob("GPX track", '*.gpx')
# results common to all vehicles: # results common to all vehicles:
vehicle_files = [ ('{vehicle} build log', '{vehicle}.txt'), vehicle_files = [('{vehicle} build log', '{vehicle}.txt'),
('{vehicle} code size', '{vehicle}.sizes.txt'), ('{vehicle} code size', '{vehicle}.sizes.txt'),
('{vehicle} stack sizes', '{vehicle}.framesizes.txt'), ('{vehicle} stack sizes', '{vehicle}.framesizes.txt'),
('{vehicle} defaults', '{vehicle}-defaults.parm'), ('{vehicle} defaults', '{vehicle}-defaults.parm'),
('{vehicle} core', '{vehicle}.core'), ('{vehicle} core', '{vehicle}.core'),
('{vehicle} ELF', '{vehicle}.elf'), ('{vehicle} ELF', '{vehicle}.elf'), ]
] vehicle_globs = [('{vehicle} log', '{vehicle}-*.BIN'), ]
vehicle_globs = [('{vehicle} log', '{vehicle}-*.BIN'), for vehicle in all_vehicles():
] subs = {'vehicle': vehicle}
for vehicle in 'ArduPlane','ArduCopter','APMrover2','AntennaTracker', 'ArduSub':
subs = { 'vehicle': vehicle }
for vehicle_file in vehicle_files: for vehicle_file in vehicle_files:
description = vehicle_file[0].format(**subs) description = vehicle_file[0].format(**subs)
filename = vehicle_file[1].format(**subs) filename = vehicle_file[1].format(**subs)
@ -415,6 +462,7 @@ def write_fullresults():
write_webresults(results) write_webresults(results)
def check_logs(step): def check_logs(step):
"""Check for log files from a step.""" """Check for log files from a step."""
print("check step: ", step) print("check step: ", step)
@ -442,6 +490,7 @@ def check_logs(step):
except Exception: except Exception:
print("Unable to save binary") print("Unable to save binary")
def run_tests(steps): def run_tests(steps):
"""Run a list of steps.""" """Run a list of steps."""
global results global results
@ -455,20 +504,25 @@ def run_tests(steps):
print(">>>> RUNNING STEP: %s at %s" % (step, time.asctime())) print(">>>> RUNNING STEP: %s at %s" % (step, time.asctime()))
try: try:
if run_step(step): if run_step(step):
results.add(step, '<span class="passed-text">PASSED</span>', time.time() - t1) results.add(step, '<span class="passed-text">PASSED</span>',
time.time() - t1)
print(">>>> PASSED STEP: %s at %s" % (step, time.asctime())) print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
check_logs(step) check_logs(step)
else: else:
print(">>>> FAILED STEP: %s at %s" % (step, time.asctime())) print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
passed = False passed = False
failed.append(step) failed.append(step)
results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1) results.add(step, '<span class="failed-text">FAILED</span>',
time.time() - t1)
except Exception as msg: except Exception as msg:
passed = False passed = False
failed.append(step) failed.append(step)
print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg)) print(">>>> FAILED STEP: %s at %s (%s)" %
(step, time.asctime(), msg))
traceback.print_exc(file=sys.stdout) traceback.print_exc(file=sys.stdout)
results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1) results.add(step,
'<span class="failed-text">FAILED</span>',
time.time() - t1)
check_logs(step) check_logs(step)
if not passed: if not passed:
print("FAILED %u tests: %s" % (len(failed), failed)) print("FAILED %u tests: %s" % (len(failed), failed))
@ -479,23 +533,48 @@ def run_tests(steps):
return passed return passed
if __name__ == "__main__": if __name__ == "__main__":
############## main program ############# ''' main program '''
os.environ['PYTHONUNBUFFERED'] = '1' os.environ['PYTHONUNBUFFERED'] = '1'
os.putenv('TMPDIR', util.reltopdir('tmp')) os.putenv('TMPDIR', util.reltopdir('tmp'))
parser = optparse.OptionParser("autotest") parser = optparse.OptionParser("autotest")
parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)') parser.add_option("--skip",
parser.add_option("--list", action='store_true', default=False, help='list the available steps') type='string',
parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to') default='',
parser.add_option("--map", action='store_true', default=False, help='show map') help='list of steps to skip (comma separated)')
parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests') parser.add_option("--list",
parser.add_option("--timeout", default=3000, type='int', help='maximum runtime in seconds') action='store_true',
parser.add_option("--frame", type='string', default=None, help='specify frame type') default=False,
help='list the available steps')
parser.add_option("--viewerip",
default=None,
help='IP address to send MAVLink and fg packets to')
parser.add_option("--map",
action='store_true',
default=False,
help='show map')
parser.add_option("--experimental",
default=False,
action='store_true',
help='enable experimental tests')
parser.add_option("--timeout",
default=3000,
type='int',
help='maximum runtime in seconds')
parser.add_option("--frame",
type='string',
default=None,
help='specify frame type')
group_build = optparse.OptionGroup(parser, "Build options") group_build = optparse.OptionGroup(parser, "Build options")
group_build.add_option("--no-configure", default=False, action='store_true', help='do not configure before building', dest="no_configure") group_build.add_option("--no-configure",
default=False,
action='store_true',
help='do not configure before building',
dest="no_configure")
group_build.add_option("-j", default=None, type='int', help='build CPUs') group_build.add_option("-j", default=None, type='int', help='build CPUs')
group_build.add_option("--no-clean", group_build.add_option("--no-clean",
default=False, default=False,
@ -529,38 +608,37 @@ if __name__ == "__main__":
opts, args = parser.parse_args() opts, args = parser.parse_args()
steps = [ steps = [
'prerequisites', 'prerequisites',
'build.All', 'build.All',
'build.Binaries', 'build.Binaries',
# 'build.DevRelease', # 'build.DevRelease',
'build.Examples', 'build.Examples',
'build.Parameters', 'build.Parameters',
'build.ArduPlane', 'build.ArduPlane',
'defaults.ArduPlane', 'defaults.ArduPlane',
'fly.ArduPlane', 'fly.ArduPlane',
'fly.QuadPlane', 'fly.QuadPlane',
'build.APMrover2', 'build.APMrover2',
'defaults.APMrover2', 'defaults.APMrover2',
'drive.APMrover2', 'drive.APMrover2',
'build.ArduCopter', 'build.ArduCopter',
'defaults.ArduCopter', 'defaults.ArduCopter',
'fly.ArduCopter', 'fly.ArduCopter',
'build.Helicopter', 'build.Helicopter',
'fly.CopterAVC', 'fly.CopterAVC',
'build.AntennaTracker', 'build.AntennaTracker',
'build.ArduSub', 'build.ArduSub',
'defaults.ArduSub', 'defaults.ArduSub',
'dive.ArduSub', 'dive.ArduSub',
'convertgpx', 'convertgpx',
] ]
skipsteps = opts.skip.split(',') skipsteps = opts.skip.split(',')
@ -590,7 +668,8 @@ if __name__ == "__main__":
# allow a wildcard list of steps # allow a wildcard list of steps
matched = [] matched = []
for a in args: for a in args:
matches = [step for step in steps if fnmatch.fnmatch(step.lower(), a.lower())] matches = [step for step in steps
if fnmatch.fnmatch(step.lower(), a.lower())]
if not len(matches): if not len(matches):
print("No steps matched {}".format(a)) print("No steps matched {}".format(a))
sys.exit(1) sys.exit(1)
@ -598,7 +677,7 @@ if __name__ == "__main__":
steps = matched steps = matched
# skip steps according to --skip option: # skip steps according to --skip option:
steps_to_run = [ s for s in steps if should_run_step(s) ] steps_to_run = [s for s in steps if should_run_step(s)]
results = TestResults() results = TestResults()
@ -609,6 +688,6 @@ if __name__ == "__main__":
util.pexpect_close_all() util.pexpect_close_all()
sys.exit(1) sys.exit(1)
except Exception: except Exception:
# make sure we kill off any children # make sure we kill off any children
util.pexpect_close_all() util.pexpect_close_all()
raise raise