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Tools: flake8 sitl-on-hw.py

This commit is contained in:
Pierre Kancir 2024-08-01 11:20:15 +02:00 committed by Peter Barker
parent 699dfb5385
commit 53a6c2d045
1 changed files with 20 additions and 12 deletions
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32
Tools/scripts/sitl-on-hardware/sitl-on-hw.py
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@ -2,17 +2,18 @@
''' '''
script to build a firmware for SITL-on-hardware script to build a firmware for SITL-on-hardware
see https://ardupilot.org/dev/docs/sim-on-hardware.html see https://ardupilot.org/dev/docs/sim-on-hardware.html
AP_FLAKE8_CLEAN
''' '''
import subprocess import subprocess
import sys import sys
import os import os
import tempfile import tempfile
from argparse import ArgumentParser
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../Tools', 'autotest')) sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../Tools', 'autotest'))
from pysim import vehicleinfo from pysim import vehicleinfo # noqa: E402
from argparse import ArgumentParser
vinfo = vehicleinfo.VehicleInfo() vinfo = vehicleinfo.VehicleInfo()
@ -47,17 +48,19 @@ args, unknown_args = parser.parse_known_args()
extra_hwdef = None extra_hwdef = None
def run_program(cmd_list): def run_program(cmd_list):
'''run a program from a command list''' '''run a program from a command list'''
print("Running (%s)" % " ".join(cmd_list)) print("Running (%s)" % " ".join(cmd_list))
retcode = subprocess.call(cmd_list) retcode = subprocess.call(cmd_list)
if retcode != 0: if retcode != 0:
print("FAILED: %s" % (' '.join(cmd_list))) print("FAILED: %s" % (' '.join(cmd_list)))
global extra_hwdef global extra_hwdef
if extra_hwdef is not None: if extra_hwdef is not None:
extra_hwdef.close() extra_hwdef.close()
os.unlink(extra_hwdef.name) os.unlink(extra_hwdef.name)
sys.exit(1) sys.exit(1)
frame_options = sorted(vinfo.options[vehicle_map[args.vehicle]]["frames"].keys()) frame_options = sorted(vinfo.options[vehicle_map[args.vehicle]]["frames"].keys())
frame_options_string = ' '.join(frame_options) frame_options_string = ' '.join(frame_options)
@ -65,21 +68,26 @@ if args.frame and args.frame not in frame_options:
print(f"ERROR: frame must be one of {frame_options_string}") print(f"ERROR: frame must be one of {frame_options_string}")
sys.exit(1) sys.exit(1)
extra_hwdef = tempfile.NamedTemporaryFile(mode='w') extra_hwdef = tempfile.NamedTemporaryFile(mode='w')
extra_defaults = tempfile.NamedTemporaryFile(mode='w') extra_defaults = tempfile.NamedTemporaryFile(mode='w')
def hwdef_write(s): def hwdef_write(s):
'''write to the hwdef temp file''' '''write to the hwdef temp file'''
extra_hwdef.write(s) extra_hwdef.write(s)
def defaults_write(s): def defaults_write(s):
'''write to the hwdef temp file''' '''write to the hwdef temp file'''
extra_defaults.write(s) extra_defaults.write(s)
def sohw_path(fname): def sohw_path(fname):
'''get path to a file in on-hardware directory''' '''get path to a file in on-hardware directory'''
return os.path.join(os.path.dirname(os.path.realpath(__file__)), fname) return os.path.join(os.path.dirname(os.path.realpath(__file__)), fname)
if args.vehicle == "plane": if args.vehicle == "plane":
extra_hwdef_base = "plane-extra-hwdef-sitl-on-hw.dat" extra_hwdef_base = "plane-extra-hwdef-sitl-on-hw.dat"
defaults_base = "plane-default.param" defaults_base = "plane-default.param"
@ -94,7 +102,7 @@ hwdef_write(open(sohw_path(extra_hwdef_base), "r").read() + "\n")
defaults_write(open(sohw_path(defaults_base), "r").read() + "\n") defaults_write(open(sohw_path(defaults_base), "r").read() + "\n")
if args.defaults: if args.defaults:
defaults_write(open(args.defaults,"r").read() + "\n") defaults_write(open(args.defaults, "r").read() + "\n")
if args.simclass: if args.simclass:
if args.simclass == 'Glider': if args.simclass == 'Glider':
@ -135,6 +143,7 @@ if args.frame:
print(f"Error: frame {args.frame} not found in frame_defines") print(f"Error: frame {args.frame} not found in frame_defines")
sys.exit(1) sys.exit(1)
extra_hwdef.flush() extra_hwdef.flush()
extra_defaults.flush() extra_defaults.flush()
@ -158,10 +167,9 @@ if args.vehicle in ["APMrover2", "apmrover2"]: # Double map, but waf only accep
waf_vehicle = args.vehicle if args.vehicle in vehicle_map.keys() else get_key_from_value(vehicle_map, args.vehicle) waf_vehicle = args.vehicle if args.vehicle in vehicle_map.keys() else get_key_from_value(vehicle_map, args.vehicle)
build_cmd = ["./waf", waf_vehicle.lower()] build_cmd = ["./waf", waf_vehicle.lower()]
if args.upload: if args.upload:
build_cmd.append("--upload") build_cmd.append("--upload")
run_program(build_cmd) run_program(build_cmd)
# cleanup # cleanup
extra_hwdef.close() extra_hwdef.close()