autotest: fix autotest on mac os x

Tools/autotest/autotest.py

@@ -650,8 +650,9 @@ def list_subtests(*args, **kwargs):
 if __name__ == "__main__":
     ''' main program '''
     os.environ['PYTHONUNBUFFERED'] = '1'
-
-    os.putenv('TMPDIR', util.reltopdir('tmp'))
+    
+    if sys.platform != "darwin":
+        os.putenv('TMPDIR', util.reltopdir('tmp'))
 
     class MyOptionParser(optparse.OptionParser):
         def format_epilog(self, formatter):

Tools/autotest/pysim/util.py

@@ -24,6 +24,10 @@ else:
 
 RADIUS_OF_EARTH = 6378100.0  # in meters
 
+
+# List of open terminal windows for macosx
+windowID = []
+
 def m2ft(x):
     """Meters to feet."""
     return float(x) / 0.3048
@@ -173,6 +177,9 @@ def pexpect_close(p):
     global close_list
 
     ex = None
+    if p is None:
+        print("Nothing to close")
+        return
     try:
         p.kill(signal.SIGTERM)
     except IOError as e:
@@ -233,6 +240,13 @@ def kill_screen_gdb():
     cmd = ["screen", "-X", "-S", "ardupilot-gdb", "quit"]
     subprocess.Popen(cmd)
 
+def kill_mac_terminal():
+    global windowID
+    for window in windowID:
+        cmd = ("osascript -e \'tell application \"Terminal\" to close "
+            "(window(get index of window id %s))\'" % window)
+        os.system(cmd)
+
 def start_SITL(binary,
                valgrind=False,
                gdb=False,
@@ -291,7 +305,9 @@ def start_SITL(binary,
             f.write("disable\n")
         f.write("r\n")
         f.close()
-        if os.environ.get('DISPLAY'):
+        if sys.platform == "darwin" and os.getenv('DISPLAY'):
+            cmd.extend(['gdb', '-x', '/tmp/x.gdb', '--args'])
+        elif os.environ.get('DISPLAY'):
             cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
         else:
             cmd.extend(['screen',
@@ -309,7 +325,9 @@ def start_SITL(binary,
         f.write("settings set target.process.stop-on-exec false\n")
         f.write("process launch\n")
         f.close()
-        if os.environ.get('DISPLAY'):
+        if sys.platform == "darwin" and os.getenv('DISPLAY'):
+            cmd.extend(['lldb', '-s', '/tmp/x.lldb', '--'])
+        elif os.environ.get('DISPLAY'):
             cmd.extend(['xterm', '-e', 'lldb', '-s','/tmp/x.lldb', '--'])
         else:
             raise RuntimeError("DISPLAY was not set")
@@ -334,7 +352,36 @@ def start_SITL(binary,
         cmd.extend(["--uartF=sim:vicon:"])
     cmd.extend(customisations)
 
-    if gdb and not os.getenv('DISPLAY'):
+    if (gdb or lldb) and sys.platform == "darwin" and os.getenv('DISPLAY'):
+        global windowID
+        # on MacOS record the window IDs so we can close them later
+        atexit.register(kill_mac_terminal)
+        child = None
+        mydir = os.path.dirname(os.path.realpath(__file__))
+        autotest_dir = os.path.realpath(os.path.join(mydir, '..'))
+        runme = [os.path.join(autotest_dir, "run_in_terminal_window.sh"), 'mactest']
+        runme.extend(cmd) 
+        print(runme)
+        print(cmd)
+        out = subprocess.Popen(runme, stdout=subprocess.PIPE).communicate()[0]
+        out = out.decode('utf-8')
+        p = re.compile('tab 1 of window id (.*)')
+
+        tstart = time.time()
+        while time.time() - tstart < 5:
+            tabs = p.findall(out)
+
+            if len(tabs) > 0:
+                break
+
+            time.sleep(0.1)
+        # sleep for extra 2 seconds for application to start
+        time.sleep(2)
+        if len(tabs) > 0:
+            windowID.append(tabs[0])
+        else:
+            print("Cannot find %s process terminal" % binary)
+    elif gdb and not os.getenv('DISPLAY'):
         subprocess.Popen(cmd)
         atexit.register(kill_screen_gdb)
         # we are expected to return a pexpect wrapped around the
@@ -345,13 +392,14 @@ def start_SITL(binary,
                              logfile=sys.stdout,
                              encoding=ENCODING,
                              timeout=5)
+    else:
+        print("Running: %s" % cmd_as_shell(cmd))
 
-    print("Running: %s" % cmd_as_shell(cmd))
 
-    first = cmd[0]
-    rest = cmd[1:]
-    child = pexpect.spawn(first, rest, logfile=sys.stdout, encoding=ENCODING, timeout=5)
-    pexpect_autoclose(child)
+        first = cmd[0]
+        rest = cmd[1:]
+        child = pexpect.spawn(first, rest, logfile=sys.stdout, encoding=ENCODING, timeout=5)
+        pexpect_autoclose(child)
     # give time for parameters to properly setup
     time.sleep(3)
     if gdb or lldb: