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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
Jason Short 2011-11-08 21:43:24 -08:00
parent bf1e991308 e373c2a8b6
commit 3e5ec5d549
3 changed files with 64 additions and 45 deletions
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15
Tools/autotest/arducopter.py
View File

@ -261,8 +261,8 @@ def fly_ArduCopter():
mavproxy.expect('Please Run Setup')
# we need to restart it after eeprom erase
mavproxy.close()
sil.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter')
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')
mavproxy.expect('Received [0-9]+ parameters')
@ -272,8 +272,8 @@ def fly_ArduCopter():
mavproxy.expect('Loaded [0-9]+ parameters')
# reboot with new parameters
mavproxy.close()
sil.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter')
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')
mavproxy.expect('Logging to (\S+)')
@ -285,7 +285,6 @@ def fly_ArduCopter():
util.expect_setup_callback(mavproxy, expect_callback)
# start hil_quad.py
util.run_cmd('pkill -f hil_quad.py', checkfail=False)
hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
logfile=sys.stdout, timeout=10)
hquad.expect('Starting at')
@ -313,9 +312,9 @@ def fly_ArduCopter():
except pexpect.TIMEOUT, e:
failed = True
mavproxy.close()
sil.close()
hquad.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(hquad)
shutil.copy(logfile, util.reltopdir("../buildlogs/ArduCopter-test.mavlog"))
if os.path.exists('ArduCopter-valgrind.log'):

68
Tools/autotest/autotest.py
View File

@ -14,16 +14,16 @@ def get_default_params(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()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
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()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
print("Saved defaults for %s to %s" % (atype, dest))
@ -44,8 +44,8 @@ def dump_logs(atype):
mavproxy.send("dump %u\n" % (i+1))
mavproxy.expect("logs enabled:")
mavproxy.expect("Log]")
mavproxy.close()
sil.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
log.close()
print("Saved log for %s to %s" % (atype, logfile))
@ -88,31 +88,35 @@ def skip_step(step):
return True
return False
# kill any previous instance
util.kill('ArduCopter.elf')
util.kill('ArduPilot.elf')
def run_tests(steps):
'''run a list of steps'''
test_prerequesites()
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)
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')
try:
run_tests(steps)
except KeyboardInterrupt:
util.pexpect_close_all()
except Exception:
# make sure we kill off any children
util.pexpect_close_all()
raise

26
Tools/autotest/util.py
View File

@ -48,8 +48,26 @@ def build_SIL(atype):
dir=reltopdir(atype),
checkfail=True)
close_list = []
def pexpect_close(p):
'''close a pexpect child'''
global close_list
p.close()
close_list.remove(p)
def pexpect_close_all():
'''close all pexpect children'''
global close_list
for p in close_list[:]:
try:
p.close()
except Exception:
pass
def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
'''launch a SIL instance'''
global close_list
cmd=""
if valgrind and os.path.exists('/usr/bin/valgrind'):
cmd += 'valgrind -q --log-file=%s-valgrind.log ' % atype
@ -59,12 +77,14 @@ def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
if CLI:
cmd += ' -s'
ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
close_list.append(ret)
ret.expect('Waiting for connection')
return ret
def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
options=None, logfile=sys.stdout):
'''launch mavproxy connected to a SIL instance'''
global close_list
MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
cmd = MAVPROXY + ' --master=%s' % master
if setup:
@ -75,14 +95,10 @@ def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:
if options is not None:
cmd += ' ' + options
ret = pexpect.spawn(cmd, logfile=logfile, timeout=60)
close_list.append(ret)
return ret
def kill(name):
'''kill a process'''
run_cmd('killall -9 -q %s' % name, checkfail=False)
def expect_setup_callback(e, callback):
'''setup a callback that is called once a second while waiting for
patterns'''