mirror of https://github.com/ArduPilot/ardupilot
auto est: modular tests and unit testing with Junit.xml output for jenkins
autotest: unit testing for jenkins - parameterized unit testing - modular python test modules - test groups by directory - select tests individual or by group - skip tests individually or by group arducopter.py: parameterized several functions to allow throttle settings and timeouts test modules: extracted and copied 8 tests from Tridge's autotest into modules junit.xml: xml template for unit test reporting to jenkins
This commit is contained in:
Andreas M. Antonopoulos
parent
f501503eb0
commit
29338fbf7b
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@ -0,0 +1,62 @@
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import arducopter
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import util, pexpect, sys, time, math, shutil, os
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from common import *
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import mavutil, mavwp, random
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def unit_test(mavproxy, mav):
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'''A scripted flight plan for testing AP_Limits'''
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time.sleep(5)
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print "# Setting AP_Limits parameters"
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mavproxy.send('param set LIM_ENABLED 1\n')
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mavproxy.send('param set LIM_REQUIRED 0\n')
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mavproxy.send('param set LIM_DEBUG 1\n')
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mavproxy.send('param set LIM_SAFETIME 1\n')
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mavproxy.send('param set LIM_ALT_ON 1\n')
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mavproxy.send('param set LIM_ALT_REQ 0\n')
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mavproxy.send('param set LIM_ALT_MIN 0\n')
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mavproxy.send('param set LIM_ALT_MAX 50\n')
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mavproxy.send('param set LIM_FNC_ON 0\n')
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mavproxy.send('param set LIM_FNC_REQ 0\n')
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mavproxy.send('param set LIM_FNC_SMPL 1\n')
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mavproxy.send('param set LIM_FNC_RAD 50\n')
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time.sleep(5)
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print "# Listing AP_Limits parameters"
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mavproxy.send('param show LIM*\n')
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if (
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arducopter.calibrate_level(mavproxy, mav) and
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arducopter.arm_motors(mavproxy, mav) and
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arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510) and
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arducopter.hover(mavproxy, mav, hover_throttle=1500)
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):
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# Trigger for ALT_MAX
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climb_rate = 0
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previous_alt = 0
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timeout = 30
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# Do Not Exceed altitude
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alt_dne = 55
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tstart = time.time()
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mavproxy.send('rc 3 1550\n')
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while (time.time() < tstart + timeout):
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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climb_rate = m.alt - previous_alt
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previous_alt = m.alt
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print("Trigger Altitude Limit: Cur:%u, climb_rate: %u" % (m.alt, climb_rate))
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if abs(climb_rate) > 0:
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tstart = time.time();
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if (mav.recv_match(condition='MAV.flightmode=="GUIDED"', blocking=False) != None):
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print "Triggered!"
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return True
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if m.alt >= alt_dne :
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print("Altitude Exceeded")
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return False
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return False
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return False
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@ -0,0 +1,13 @@
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import arducopter
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def unit_test(mavproxy, mav):
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'''A scripted flight plan'''
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if (
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arducopter.calibrate_level(mavproxy, mav) and
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arducopter.arm_motors(mavproxy, mav) and
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arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510) and
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arducopter.hover(mavproxy,mav, hover_throttle=1300) and
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arducopter.loiter(mavproxy, mav, holdtime=45, maxaltchange=20)): # 45 second loiter
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return True
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return False
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@ -0,0 +1,13 @@
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import arducopter
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def unit_test(mavproxy, mav):
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'''A scripted flight plan'''
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if (
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arducopter.calibrate_level(mavproxy, mav) and
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arducopter.arm_motors(mavproxy, mav) and
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arducopter.takeoff(mavproxy,mav, alt_min=80, takeoff_throttle=1510) and
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arducopter.hover(mavproxy,mav, hover_throttle=1300) and
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arducopter.fly_RTL(mavproxy, mav, side=80, timeout=80)):
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return True
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return False
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@ -0,0 +1,14 @@
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import arducopter
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def unit_test(mavproxy, mav):
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'''A scripted flight plan'''
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if (
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arducopter.calibrate_level(mavproxy, mav) and
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arducopter.arm_motors(mavproxy, mav) and
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arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510) and
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arducopter.change_alt(mavproxy, mav, alt_min=60) and
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arducopter.change_alt(mavproxy, mav, alt_min=20)
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):
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return True
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return False
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@ -0,0 +1,14 @@
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import arducopter
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def unit_test(mavproxy, mav):
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'''A scripted flight plan'''
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if (
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arducopter.calibrate_level(mavproxy, mav) and
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arducopter.arm_motors(mavproxy, mav) and
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arducopter.takeoff(mavproxy,mav, alt_min=80, takeoff_throttle=1510) and
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arducopter.hover(mavproxy,mav, hover_throttle=1300) and
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arducopter.fly_failsafe(mavproxy, mav, side=80, timeout=120)
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):
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return True
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return False
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@ -0,0 +1,8 @@
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import arducopter
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def unit_test(mavproxy, mav):
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'''A scripted flight plan'''
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if (arducopter.calibrate_level(mavproxy, mav)):
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return True
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return False
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import arducopter
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def unit_test(mavproxy, mav):
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'''A scripted flight plan'''
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if (
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arducopter.calibrate_level(mavproxy, mav) and
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arducopter.arm_motors(mavproxy, mav) and
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arducopter.disarm_motors(mavproxy,mav)):
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return True
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return False
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import arducopter
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def unit_test(mavproxy, mav):
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'''A scripted flight plan'''
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if (
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arducopter.calibrate_level(mavproxy, mav) and
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arducopter.arm_motors(mavproxy, mav) and
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arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510)):
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return True
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return False
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@ -14,8 +14,8 @@ HOME=mavutil.location(-35.362938,149.165085,584,270)
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homeloc = None
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num_wp = 0
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def hover(mavproxy, mav):
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mavproxy.send('rc 3 1395\n')
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def hover(mavproxy, mav, hover_throttle=1300):
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mavproxy.send('rc 3 %u\n' % hover_throttle)
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return True
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def calibrate_level(mavproxy, mav):
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@ -49,11 +49,11 @@ def disarm_motors(mavproxy, mav):
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return True
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def takeoff(mavproxy, mav, alt_min = 30):
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def takeoff(mavproxy, mav, alt_min = 30, takeoff_throttle=1510):
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'''takeoff get to 30m altitude'''
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mavproxy.send('switch 6\n') # stabilize mode
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wait_mode(mav, 'STABILIZE')
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mavproxy.send('rc 3 1510\n')
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mavproxy.send('rc 3 %u\n' % takeoff_throttle)
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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if (m.alt < alt_min):
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wait_altitude(mav, alt_min, (alt_min + 5))
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@ -84,16 +84,16 @@ def loiter(mavproxy, mav, holdtime=60, maxaltchange=20):
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print("Loiter FAILED")
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return False
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def change_alt(mavproxy, mav, alt_min):
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def change_alt(mavproxy, mav, alt_min, climb_throttle=1920, descend_throttle=1120):
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'''change altitude'''
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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if(m.alt < alt_min):
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print("Rise to alt:%u from %u" % (alt_min, m.alt))
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mavproxy.send('rc 3 1920\n')
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mavproxy.send('rc 3 %u\n' % climb_throttle)
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wait_altitude(mav, alt_min, (alt_min + 5))
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else:
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print("Lower to alt:%u from %u" % (alt_min, m.alt))
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mavproxy.send('rc 3 1120\n')
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mavproxy.send('rc 3 %u\n' % descend_throttle)
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wait_altitude(mav, (alt_min -5), alt_min)
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hover(mavproxy, mav)
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return True
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@ -155,7 +155,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
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return not failed
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def fly_RTL(mavproxy, mav, side=60):
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def fly_RTL(mavproxy, mav, side=60, timeout=250):
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'''Fly, return, land'''
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'STABILIZE')
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@ -171,7 +171,7 @@ def fly_RTL(mavproxy, mav, side=60):
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print("# Enter RTL")
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mavproxy.send('switch 3\n')
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tstart = time.time()
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while time.time() < tstart + 200:
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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#delta = get_distance(start, pos)
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@ -180,7 +180,7 @@ def fly_RTL(mavproxy, mav, side=60):
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return True
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return True
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def fly_failsafe(mavproxy, mav, side=60):
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def fly_failsafe(mavproxy, mav, side=60, timeout=120):
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'''Fly, Failsafe, return, land'''
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'STABILIZE')
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@ -196,7 +196,7 @@ def fly_failsafe(mavproxy, mav, side=60):
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print("# Enter Failsafe")
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mavproxy.send('rc 3 900\n')
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tstart = time.time()
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while time.time() < tstart + 250:
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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home_distance = get_distance(HOME, pos)
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@ -205,7 +205,7 @@ def fly_failsafe(mavproxy, mav, side=60):
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print("Reached failsafe home OK")
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mavproxy.send('rc 3 1100\n')
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return True
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print("Failed to land on failsafe RTL - timed out after 120 seconds")
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print("Failed to land on failsafe RTL - timed out after %u seconds" % timeout)
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return False
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@ -548,33 +548,3 @@ def fly_ArduCopter(viewerip=None):
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#! mavproxy.send('rc 2 1390\n')
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#! #adjust till the rate is 0;
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#!
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#! mavproxy.send('rc 4 1610\n')
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#! if not wait_heading(mav, 0):
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#! return False
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#! mavproxy.send('rc 4 1500\n')
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#!
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#! mavproxy.send('rc 2 1455\n')
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#! #adjust till the rate is 0;
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#! pitch_test = 1455
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#! roll_test = 1500
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#! old_lat = 0
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#! old_lon = 0
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#!
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#! while(1):
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#! pos = mav.location()
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#! tmp = (pos.lat *10e7) - (old_lat *10e7)
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#! print("tmp %d " % tmp)
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#! if(tmp > 0 ):
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#! print("higher tmp %d " % (tmp))
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#! pitch_test += 1
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#! if(tmp < 0 ):
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#! print("lower tmp %d " % (tmp))
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#! pitch_test -= 1
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#! mavproxy.send('rc 2 %u\n' % math.floor(pitch_test))
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#! old_lat = pos.lat
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#! #old_lon = pos.lon
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@ -0,0 +1,494 @@
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#!/usr/bin/env python
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# APM automatic test suite
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# Andrew Tridgell, October 2011
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import pexpect, os, sys, shutil, atexit
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pysim'))
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..', '..', 'mavlink', 'pymavlink'))
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import optparse, fnmatch, time, glob, traceback, signal, util, time, math, common
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from common import *
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import mavutil, mavwp, random
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import arduplane, arducopter
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# Defaults
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HOME=mavutil.location(-35.362938,149.165085,584,270)
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# ArduCopter defaults
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FRAME='+'
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homeloc = None
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num_wp = 0
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# get location of scripts
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testdir=os.path.dirname(os.path.realpath(__file__))
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os.environ['PYTHONUNBUFFERED'] = '1'
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os.putenv('TMPDIR', util.reltopdir('tmp'))
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def get_default_params(atype):
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'''get default parameters'''
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sil = util.start_SIL(atype, wipe=True)
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mavproxy = util.start_MAVProxy_SIL(atype)
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print("Dumping defaults")
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idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
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if idx == 0:
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# we need to restart it after eeprom erase
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL(atype)
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mavproxy = util.start_MAVProxy_SIL(atype)
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idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
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parmfile = mavproxy.match.group(1)
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dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
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shutil.copy(parmfile, dest)
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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print("Saved defaults for %s to %s" % (atype, dest))
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return True
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def dump_logs(atype):
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'''dump DataFlash logs'''
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print("Dumping logs for %s" % atype)
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sil = util.start_SIL(atype, CLI=True)
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logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
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log = open(logfile, mode='w')
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mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
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mavproxy.send('\n\n\n')
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print("navigating menus")
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mavproxy.expect(']')
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mavproxy.send("logs\n")
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mavproxy.expect("logs enabled:")
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lognums = []
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i = mavproxy.expect(["No logs", "(\d+) logs"])
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if i == 0:
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numlogs = 0
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else:
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numlogs = int(mavproxy.match.group(1))
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for i in range(numlogs):
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mavproxy.expect("Log (\d+),")
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lognums.append(int(mavproxy.match.group(1)))
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mavproxy.expect("Log]")
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for i in range(numlogs):
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print("Dumping log %u (i=%u)" % (lognums[i], i))
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mavproxy.send("dump %u\n" % lognums[i])
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mavproxy.expect("logs enabled:", timeout=120)
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mavproxy.expect("Log]")
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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log.close()
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print("Saved log for %s to %s" % (atype, logfile))
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return True
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def convert_gpx():
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'''convert any mavlog files to GPX and KML'''
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import glob
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mavlog = glob.glob(util.reltopdir("../buildlogs/*.mavlog"))
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for m in mavlog:
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util.run_cmd(util.reltopdir("../pymavlink/examples/mavtogpx.py") + " --nofixcheck " + m)
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gpx = m + '.gpx'
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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
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def test_prerequesites():
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'''check we have the right directories and tools to run tests'''
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print("Testing prerequesites")
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util.mkdir_p(util.reltopdir('../buildlogs'))
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return True
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def alarm_handler(signum, frame):
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'''handle test timeout'''
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global results, opts
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try:
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results.add('TIMEOUT', '<span class="failed-text">FAILED</span>', opts.timeout)
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util.pexpect_close_all()
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results.addfile('Full Logs', 'autotest-output.txt')
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results.addglob('DataFlash Log', '*.flashlog')
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results.addglob("MAVLink log", '*.mavlog')
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results.addfile('ArduPlane build log', 'ArduPlane.txt')
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results.addfile('ArduPlane defaults', 'ArduPlane.defaults.txt')
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results.addfile('ArduCopter build log', 'ArduCopter.txt')
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results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt')
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write_webresults(results)
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os.killpg(0, signal.SIGKILL)
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except Exception:
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pass
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sys.exit(1)
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import arducopter, arduplane
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class Test(object):
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''' unit test class '''
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def __init__(self, name, path, test):
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self.name = name
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self.path = path
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self.test = test
|
||||
self.result = False
|
||||
self.log = ''
|
||||
|
||||
|
||||
def fly_ArduCopter_scripted(testname):
|
||||
'''fly ArduCopter in SIL
|
||||
|
||||
'''
|
||||
global homeloc
|
||||
|
||||
sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
|
||||
FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
|
||||
sim_cmd += ' --wind=6,45,.3'
|
||||
|
||||
sil = util.start_SIL('ArduCopter', wipe=True)
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
|
||||
mavproxy.expect('Received [0-9]+ parameters')
|
||||
|
||||
# setup test parameters
|
||||
mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
|
||||
mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
|
||||
mavproxy.expect('Loaded [0-9]+ parameters')
|
||||
|
||||
# reboot with new parameters
|
||||
util.pexpect_close(mavproxy)
|
||||
util.pexpect_close(sil)
|
||||
|
||||
sil = util.start_SIL('ArduCopter', height=HOME.alt)
|
||||
sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
|
||||
sim.delaybeforesend = 0
|
||||
util.pexpect_autoclose(sim)
|
||||
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
|
||||
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
|
||||
mavproxy.expect('Logging to (\S+)')
|
||||
logfile = mavproxy.match.group(1)
|
||||
print("LOGFILE %s" % logfile)
|
||||
|
||||
buildlog = util.reltopdir("../buildlogs/ArduCopter-test.mavlog")
|
||||
print("buildlog=%s" % buildlog)
|
||||
if os.path.exists(buildlog):
|
||||
os.unlink(buildlog)
|
||||
os.link(logfile, buildlog)
|
||||
|
||||
# the received parameters can come before or after the ready to fly message
|
||||
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
|
||||
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
|
||||
|
||||
util.expect_setup_callback(mavproxy, arducopter.expect_callback)
|
||||
|
||||
expect_list_clear()
|
||||
expect_list_extend([sim, sil, mavproxy])
|
||||
|
||||
# get a mavlink connection going
|
||||
try:
|
||||
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
|
||||
except Exception, msg:
|
||||
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
|
||||
raise
|
||||
mav.message_hooks.append(message_hook)
|
||||
mav.idle_hooks.append(idle_hook)
|
||||
|
||||
failed = False
|
||||
e = 'None'
|
||||
try:
|
||||
mav.wait_heartbeat()
|
||||
arducopter.setup_rc(mavproxy)
|
||||
homeloc = mav.location()
|
||||
|
||||
print("# Executing test - " + testname)
|
||||
if not test_suite[testname].test(mavproxy, mav):
|
||||
print("Test script failed")
|
||||
failed = True
|
||||
|
||||
except pexpect.TIMEOUT, e:
|
||||
failed = True
|
||||
|
||||
mav.close()
|
||||
util.pexpect_close(mavproxy)
|
||||
util.pexpect_close(sil)
|
||||
util.pexpect_close(sim)
|
||||
|
||||
if os.path.exists('ArduCopter-valgrind.log'):
|
||||
os.chmod('ArduCopter-valgrind.log', 0644)
|
||||
shutil.copy("ArduCopter-valgrind.log", util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
|
||||
|
||||
if failed:
|
||||
print("FAILED: %s" % e)
|
||||
return False
|
||||
return True
|
||||
|
||||
|
||||
class TestResult(object):
|
||||
'''test result class'''
|
||||
def __init__(self, name, result="", elapsed=0):
|
||||
self.name = name
|
||||
self.success = False
|
||||
self.result = result
|
||||
self.elapsed = "%1.f" % 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()
|
||||
self.isotime = time.strftime("%Y-%m-%dT%H:%M:%S")
|
||||
self.githash = util.run_cmd('git rev-parse HEAD', output=True, dir=util.reltopdir('.')).strip()
|
||||
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_XMLresults(atype, results):
|
||||
'''write XML JUnit results'''
|
||||
sys.path.insert(0, os.path.join(util.reltopdir("../pymavlink/generator")))
|
||||
import mavtemplate
|
||||
t = mavtemplate.MAVTemplate()
|
||||
for x in glob.glob(util.reltopdir('Tools/autotest/junit.xml')):
|
||||
junit_xml = util.loadfile(x)
|
||||
f = open(util.reltopdir("../buildlogs/%s-%s" % (atype, os.path.basename(x))), mode='w')
|
||||
t.write(f, junit_xml, results)
|
||||
f.close()
|
||||
|
||||
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()
|
||||
for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
|
||||
shutil.copy(f, util.reltopdir('../buildlogs/%s' % os.path.basename(f)))
|
||||
|
||||
results = TestResults()
|
||||
unit_test_results = TestResults()
|
||||
|
||||
def run_tests(tests):
|
||||
'''run a list of tests'''
|
||||
global results, unit_test_results
|
||||
|
||||
passed = True
|
||||
failed = []
|
||||
for testname in tests:
|
||||
util.pexpect_close_all()
|
||||
testcase = TestResult(testname)
|
||||
testcase.success = False
|
||||
|
||||
t1 = time.time()
|
||||
print(">>>> RUNNING test: %s at %s" % (testname, time.asctime()))
|
||||
try:
|
||||
if not fly_ArduCopter_scripted(testname):
|
||||
print(">>>> FAILED test: %s at %s" % (testname, time.asctime()))
|
||||
passed = False
|
||||
testcase.elapsed = "%.1f" % (time.time() - t1)
|
||||
testcase.result = '''
|
||||
<testcase classname="ardupilot-mega-autotest"
|
||||
name=\"%s\" time=\"%s\">
|
||||
<failure type=\"test failure\">
|
||||
%s
|
||||
</failure>
|
||||
</testcase>
|
||||
''' % (testcase.name, testcase.elapsed, "failed")
|
||||
unit_test_results.tests.append(testcase)
|
||||
print testcase.result
|
||||
failed.append(testname)
|
||||
continue
|
||||
except Exception, msg:
|
||||
testcase.elapsed = "%.1f" % (time.time() - t1)
|
||||
passed = False
|
||||
print(">>>> FAILED test: %s at %s (%s)" % (testname, time.asctime(), msg))
|
||||
traceback.print_exc(file=sys.stdout)
|
||||
testcase.result = '''
|
||||
<testcase classname="ardupilot-mega-autotest"
|
||||
name=\"%s\" time=\"%s\">
|
||||
<error type=\"Test error\">
|
||||
%s
|
||||
</error>
|
||||
</testcase>
|
||||
''' % (testcase.name, testcase.elapsed, traceback.format_exc() )
|
||||
print testcase.result
|
||||
unit_test_results.tests.append(testcase)
|
||||
failed.append(testcase.name)
|
||||
continue
|
||||
|
||||
#success
|
||||
testcase.elapsed = "%.1f" % (time.time() - t1)
|
||||
testcase.success = True
|
||||
testcase.result = '''
|
||||
<testcase classname="ardupilot-mega-autotest"
|
||||
name=\"%s\" time=\"%s\">
|
||||
</testcase>
|
||||
''' % (testcase.name, testcase.elapsed )
|
||||
unit_test_results.tests.append(testcase)
|
||||
print(">>>> PASSED test: %s at %s" % (testname, time.asctime()))
|
||||
print testcase.result
|
||||
|
||||
dump_logs('ArduCopter')
|
||||
convert_gpx()
|
||||
|
||||
if not passed:
|
||||
print("FAILED %u tests: %s" % (len(failed), failed))
|
||||
|
||||
util.pexpect_close_all()
|
||||
|
||||
results.addglob("Google Earth track", '*.kmz')
|
||||
results.addfile('Full Logs', 'autotest-output.txt')
|
||||
results.addglob('DataFlash Log', '*.flashlog')
|
||||
results.addglob("MAVLink log", '*.mavlog')
|
||||
results.addglob("GPX track", '*.gpx')
|
||||
|
||||
unit_test_results.num_tests = len(results.tests)
|
||||
unit_test_results.num_failures = len(failed)
|
||||
|
||||
write_XMLresults("ArduCopter", unit_test_results)
|
||||
write_webresults(results)
|
||||
|
||||
# individual test results in XML. Always True
|
||||
return True
|
||||
|
||||
############## main program #############
|
||||
parser = optparse.OptionParser(sys.argv[0])
|
||||
|
||||
parser.add_option("--list", action='store_true', default=False, help='list the available tests (comma separated, can be used as TESTLIST')
|
||||
parser.add_option("--run", type='string', default='', metavar="TESTLIST", help='list of tests to run (comma separated)' )
|
||||
parser.add_option("--rungroup", type='string', default='', metavar="TESTLIST", help='list of test groups to run (comma separated)' )
|
||||
parser.add_option("--skip", type='string', default='', metavar="TESTLIST", help='list of tests to skip (comma separated)')
|
||||
parser.add_option("--skipgroup", type='string', default='', metavar="TESTLIST", help='list of test groups to skip (comma separated)')
|
||||
|
||||
|
||||
opts, args = parser.parse_args()
|
||||
|
||||
#### Load test modules ####
|
||||
print '>>>>>> Loading ArduCopter TEST MODULES'
|
||||
|
||||
import glob
|
||||
|
||||
test_suite = {}
|
||||
test_groups = {}
|
||||
|
||||
test_base_path = 'APM/Tools/autotest/apm_unit_tests/'
|
||||
print test_base_path
|
||||
print os.path.dirname(os.path.realpath(__file__))
|
||||
|
||||
test_group_names = glob.glob(test_base_path+'*')
|
||||
|
||||
for gname in test_group_names:
|
||||
sys.path.insert(0, gname)
|
||||
gname = os.path.basename(gname)
|
||||
gtests = glob.glob(test_base_path + gname + '/*.py')
|
||||
if gtests:
|
||||
test_groups[gname] = []
|
||||
for tmodule in gtests:
|
||||
tname = os.path.basename(tmodule)
|
||||
if (tname.endswith('.py')):
|
||||
tname = (tname[:-3]).strip() # chop off the .py
|
||||
test_groups[gname].append(tname)
|
||||
test_suite[tname.strip()] = tmodule
|
||||
|
||||
alltests = test_suite.keys()
|
||||
allgroups = test_groups.keys()
|
||||
|
||||
if (len(alltests) == 0):
|
||||
print "Error: no test modules selected"
|
||||
exit(1)
|
||||
|
||||
|
||||
if opts.list:
|
||||
print "\n\nFound %s modules in %s groups" % ((len(alltests), len(allgroups)))
|
||||
|
||||
print "\n\nAvailable tests: "
|
||||
print ', '.join(alltests)
|
||||
print "\n\nAvailable groups: "
|
||||
for g in allgroups:
|
||||
print g + " --- " + ','.join(test_groups[g])
|
||||
|
||||
if opts.rungroup:
|
||||
for group in opts.rungroup.split(','):
|
||||
opts.run += ','.join(test_groups[group])
|
||||
|
||||
if opts.skipgroup:
|
||||
for group in opts.skipgroup.split(','):
|
||||
opts.skip += ','.join(test_groups[group])
|
||||
|
||||
|
||||
runtests = []
|
||||
print "Selected: " + opts.run
|
||||
print "Skipping: " + opts.skip
|
||||
|
||||
if opts.run:
|
||||
for runtest in opts.run.split(','):
|
||||
runtests.append(runtest.strip())
|
||||
print "Adding test - %s" % runtest
|
||||
else:
|
||||
runtests = alltests
|
||||
|
||||
finaltests = []
|
||||
if opts.skip:
|
||||
skiptests = opts.skip.split(',')
|
||||
print "Skipping tests: " + ','.join(skiptests)
|
||||
for runtest in runtests:
|
||||
if runtest not in skiptests:
|
||||
finaltests.append(runtest)
|
||||
else:
|
||||
print "Skipping test - %s" % runtest
|
||||
else:
|
||||
finaltests = runtests
|
||||
|
||||
if (len(finaltests) > 0):
|
||||
print "\n\n***\nLoading selected tests: " + ','.join(finaltests)
|
||||
else:
|
||||
print "Error: no test modules selected"
|
||||
exit(1)
|
||||
|
||||
for tname in finaltests:
|
||||
print "Loading ArduCopter test module: " + tname
|
||||
try:
|
||||
mpath = test_suite[tname]
|
||||
m = __import__ (tname)
|
||||
unit_test = getattr(m,'unit_test')
|
||||
|
||||
test_module = Test(tname, mpath, unit_test)
|
||||
test_suite[tname] = test_module
|
||||
|
||||
except Exception:
|
||||
raise
|
||||
|
||||
print '>>>>>> Running TEST MODULES'
|
||||
|
||||
atexit.register(util.pexpect_close_all)
|
||||
|
||||
try:
|
||||
run_tests(finaltests)
|
||||
sys.exit(0)
|
||||
except KeyboardInterrupt:
|
||||
util.pexpect_close_all()
|
||||
sys.exit(1)
|
||||
except Exception:
|
||||
# make sure we kill off any children
|
||||
util.pexpect_close_all()
|
||||
raise
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
<testsuites>
|
||||
<testsuite>
|
||||
${{tests:
|
||||
${result}
|
||||
}}
|
||||
</testsuite>
|
||||
|
||||
</testsuites>
|
||||
Loading…
Reference in New Issue