mirror of https://github.com/ArduPilot/ardupilot
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
commit
3e5ec5d549
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@ -261,8 +261,8 @@ def fly_ArduCopter():
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mavproxy.expect('Please Run Setup')
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# we need to restart it after eeprom erase
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mavproxy.close()
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sil.close()
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('ArduCopter')
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --quadcopter')
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mavproxy.expect('Received [0-9]+ parameters')
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@ -272,8 +272,8 @@ def fly_ArduCopter():
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mavproxy.expect('Loaded [0-9]+ parameters')
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# reboot with new parameters
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mavproxy.close()
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sil.close()
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('ArduCopter')
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --out=192.168.2.15:14550 --quadcopter --streamrate=1')
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mavproxy.expect('Logging to (\S+)')
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@ -285,7 +285,6 @@ def fly_ArduCopter():
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util.expect_setup_callback(mavproxy, expect_callback)
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# start hil_quad.py
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util.run_cmd('pkill -f hil_quad.py', checkfail=False)
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hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
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logfile=sys.stdout, timeout=10)
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hquad.expect('Starting at')
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@ -313,9 +312,9 @@ def fly_ArduCopter():
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except pexpect.TIMEOUT, e:
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failed = True
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mavproxy.close()
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sil.close()
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hquad.close()
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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util.pexpect_close(hquad)
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shutil.copy(logfile, util.reltopdir("../buildlogs/ArduCopter-test.mavlog"))
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if os.path.exists('ArduCopter-valgrind.log'):
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@ -14,16 +14,16 @@ def get_default_params(atype):
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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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mavproxy.close()
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sil.close()
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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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mavproxy.close()
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sil.close()
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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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@ -44,8 +44,8 @@ def dump_logs(atype):
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mavproxy.send("dump %u\n" % (i+1))
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mavproxy.expect("logs enabled:")
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mavproxy.expect("Log]")
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mavproxy.close()
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sil.close()
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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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@ -88,12 +88,10 @@ def skip_step(step):
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return True
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return False
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# kill any previous instance
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util.kill('ArduCopter.elf')
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util.kill('ArduPilot.elf')
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def run_tests(steps):
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'''run a list of steps'''
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test_prerequesites()
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for step in steps:
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if skip_step(step):
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continue
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@ -114,5 +112,11 @@ for step in steps:
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else:
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raise RuntimeError("Unknown step %s" % step)
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util.kill('ArduCopter.elf')
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util.kill('ArduPilot.elf')
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try:
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run_tests(steps)
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except KeyboardInterrupt:
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util.pexpect_close_all()
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except Exception:
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# make sure we kill off any children
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util.pexpect_close_all()
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raise
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@ -48,8 +48,26 @@ def build_SIL(atype):
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dir=reltopdir(atype),
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checkfail=True)
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close_list = []
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def pexpect_close(p):
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'''close a pexpect child'''
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global close_list
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p.close()
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close_list.remove(p)
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def pexpect_close_all():
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'''close all pexpect children'''
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global close_list
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for p in close_list[:]:
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try:
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p.close()
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except Exception:
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pass
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def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
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'''launch a SIL instance'''
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global close_list
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cmd=""
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if valgrind and os.path.exists('/usr/bin/valgrind'):
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cmd += 'valgrind -q --log-file=%s-valgrind.log ' % atype
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@ -59,12 +77,14 @@ def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
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if CLI:
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cmd += ' -s'
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ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
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close_list.append(ret)
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ret.expect('Waiting for connection')
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return ret
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def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
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options=None, logfile=sys.stdout):
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'''launch mavproxy connected to a SIL instance'''
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global close_list
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MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
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cmd = MAVPROXY + ' --master=%s' % master
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if setup:
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@ -75,14 +95,10 @@ def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:
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if options is not None:
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cmd += ' ' + options
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ret = pexpect.spawn(cmd, logfile=logfile, timeout=60)
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close_list.append(ret)
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return ret
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def kill(name):
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'''kill a process'''
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run_cmd('killall -9 -q %s' % name, checkfail=False)
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def expect_setup_callback(e, callback):
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'''setup a callback that is called once a second while waiting for
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patterns'''
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