autotest: enable dumping of DataFlash logs at end of test

Tools/autotest/ArduCopter.parm

@@ -1,4 +1,5 @@
 FRAME		0
+LOG_BITMASK	4095
 RC1_MAX         2000.000000
 RC1_MIN         1000.000000
 RC1_TRIM        1500.000000

Tools/autotest/arducopter.py

@@ -256,8 +256,7 @@ def fly_ArduCopter():
     '''fly ArduCopter in SIL'''
     global expect_list, homeloc
 
-    util.rmfile('eeprom.bin')
+    sil = util.start_SIL('ArduCopter', wipe=True)
-    sil = util.start_SIL('ArduCopter')
     mavproxy = util.start_MAVProxy_SIL('ArduCopter')
     mavproxy.expect('Please Run Setup')
 

Tools/autotest/autotest.py

@@ -9,8 +9,7 @@ os.putenv('TMPDIR', util.reltopdir('tmp'))
 
 def get_default_params(atype):
     '''get default parameters'''
-    util.rmfile('eeprom.bin')
+    sil = util.start_SIL(atype, wipe=True)
-    sil = util.start_SIL(atype)
     mavproxy = util.start_MAVProxy_SIL(atype)
     idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
     if idx == 0:
@@ -27,6 +26,24 @@ def get_default_params(atype):
     sil.close()
     print("Saved defaults for %s to %s" % (atype, dest))
 
+
+def dump_logs(atype):
+    '''dump DataFlash logs'''
+    print("Dumping logs for %s" % atype)
+    sil = util.start_SIL(atype, CLI=True)
+    logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
+    log = open(logfile, mode='w')
+    mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
+    mavproxy.expect(']')
+    mavproxy.send("logs\n")
+    mavproxy.expect("Log]")
+    mavproxy.send("dump 1\n")
+    mavproxy.expect("Log]")
+    mavproxy.close()
+    sil.close()
+    log.close()
+    print("Saved log for %s to %s" % (atype, logfile))
+
 def test_prerequesites():
     '''check we have the right directories and tools to run tests'''
     print("Testing prerequesites")
@@ -49,10 +66,12 @@ opts, args = parser.parse_args()
 
 steps = [
     'build.ArduPlane',
-    'build.ArduCopter',
     'defaults.ArduPlane',
+    'logs.ArduPlane',
+    'build.ArduCopter',
     'defaults.ArduCopter',
-    'fly.ArduCopter'
+    'fly.ArduCopter',
+    'logs.ArduCopter',
     ]
 
 skipsteps = opts.skip.split(',')
@@ -81,6 +100,10 @@ for step in steps:
         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:

Tools/autotest/util.py

@@ -32,7 +32,7 @@ def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
 def rmfile(path):
     '''remove a file if it exists'''
     try:
-        os.unlink('eeprom.bin')
+        os.unlink(path)
     except Exception:
         pass
 
@@ -48,19 +48,33 @@ def build_SIL(atype):
             dir=reltopdir(atype),
             checkfail=True)
 
-def start_SIL(atype):
+def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
     '''launch a SIL instance'''
-    ret = pexpect.spawn(('valgrind -q --log-file=%s-valgrind.log ' % atype) + reltopdir('tmp/%s.build/%s.elf' % (atype, atype)),
+    cmd=""
-                        logfile=sys.stdout, timeout=5)
+    if valgrind:
+        cmd += 'valgrind -q --log-file=%s-valgrind.log ' % atype
+    cmd += reltopdir('tmp/%s.build/%s.elf' % (atype, atype))
+    if wipe:
+        cmd += ' -w'
+    if CLI:
+        cmd += ' -s'
+    ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
     ret.expect('Waiting for connection')
     return ret
 
-def start_MAVProxy_SIL(atype, options=''):
+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'''
     MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
-    ret = pexpect.spawn('%s --master=tcp:127.0.0.1:5760 --aircraft=test.%s %s' % (
+    cmd = MAVPROXY + ' --master=%s' % master
-        MAVPROXY,atype,options),
+    if setup:
-                        logfile=sys.stdout, timeout=60)
+        cmd += ' --setup'
+    if aircraft is None:
+        aircraft = 'test.%s' % atype
+    cmd += ' --aircraft=%s' % aircraft
+    if options is not None:
+        cmd += ' ' + options
+    ret = pexpect.spawn(cmd, logfile=logfile, timeout=60)
     return ret