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autotest: implement parameter files per peripheral in CI tests 

this allows for one peripheral to have ESCs and the other not
This commit is contained in:
Andrew Tridgell 2023-08-21 11:15:04 +10:00 committed by Peter Barker
parent 5f47a94e2b
commit 6643231b2e
7 changed files with 79 additions and 40 deletions
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30
Tools/autotest/arducopter.py
View File

@ -2620,8 +2620,23 @@ class AutoTestCopter(AutoTest):
"CAN_P1_DRIVER": 1,
"GPS_TYPE": 9,
"GPS_TYPE2": 9,
"SIM_GPS2_DISABLE": 0,
"SIM_SPEEDUP": 5,
# disable simulated GPS, so only via DroneCAN
"SIM_GPS_DISABLE": 1,
"SIM_GPS2_DISABLE": 1,
# this ensures we use DroneCAN baro and compass
"SIM_BARO_COUNT" : 0,
"SIM_MAG1_DEVID" : 0,
"SIM_MAG2_DEVID" : 0,
"SIM_MAG3_DEVID" : 0,
"COMPASS_USE2" : 0,
"COMPASS_USE3" : 0,
# use DroneCAN rangefinder
"RNGFND1_TYPE" : 24,
"RNGFND1_MAX_CM" : 11000,
# use DroneCAN battery monitoring, and enforce with a arming voltage
"BATT_MONITOR" : 8,
"BATT_ARM_VOLT" : 12.0,
"SIM_SPEEDUP": 2,
})
self.context_push()
@ -2719,6 +2734,17 @@ class AutoTestCopter(AutoTest):
self.start_sup_program(instance=1)
self.context_stop_collecting('STATUSTEXT')
self.context_pop()
self.set_parameters({
# use DroneCAN ESCs for flight
"CAN_D1_UC_ESC_BM" : 0x0f,
# this stops us using local servo output, guaranteeing we are
# flying on DroneCAN ESCs
"SIM_CAN_SRV_MSK" : 0xFF,
# we can do the flight faster
"SIM_SPEEDUP" : 5,
})
self.CopterMission()
def TakeoffAlt(self):

26
Tools/autotest/autotest.py
View File

@ -402,7 +402,8 @@ tester_class_map = {
}
supplementary_test_binary_map = {
"test.CAN": ["sitl_periph_gps.AP_Periph", "sitl_periph_gps.AP_Periph.1"],
"test.CAN": ["sitl_periph_gps:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
"sitl_periph_gps:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
}
@ -513,16 +514,19 @@ def run_step(step):
if step.startswith(k):
# this test needs to use supplementary binaries
for supplementary_test_binary in supplementary_test_binary_map[k]:
config_name = supplementary_test_binary.split('.')[0]
binary_name = supplementary_test_binary.split('.')[1]
instance_num = 0
if len(supplementary_test_binary.split('.')) >= 3:
instance_num = int(supplementary_test_binary.split('.')[2])
supplementary_binaries.append([util.reltopdir(os.path.join('build',
config_name,
'bin',
binary_name)),
'-I {}'.format(instance_num)])
a = supplementary_test_binary.split(':')
if len(a) != 4:
raise ValueError("Bad supplementary_test_binary %s" % supplementary_test_binary)
config_name = a[0]
binary_name = a[1]
instance_num = int(a[2])
param_file = a[3].split(",")
bin_path = util.reltopdir(os.path.join('build', config_name, 'bin', binary_name))
customisation = '-I {}'.format(instance_num)
sup_binary = {"binary" : bin_path,
"customisation" : customisation,
"param_file" : param_file}
supplementary_binaries.append(sup_binary)
# we are running in conjunction with a supplementary app
# can't have speedup
opts.speedup = 1.0

34
Tools/autotest/common.py
View File

@ -8061,10 +8061,11 @@ Also, ignores heartbeats not from our target system'''
count = 0
for sup_binary in self.sup_binaries:
self.progress("Starting Supplementary Program ", sup_binary)
start_sitl_args["customisations"] = [sup_binary[1]]
start_sitl_args["customisations"] = [sup_binary['customisation']]
start_sitl_args["supplementary"] = True
start_sitl_args["stdout_prefix"] = "%s-%u" % (os.path.basename(sup_binary[0]), count)
sup_prog_link = util.start_SITL(sup_binary[0], **start_sitl_args)
start_sitl_args["stdout_prefix"] = "%s-%u" % (os.path.basename(sup_binary['binary']), count)
start_sitl_args["defaults_filepath"] = sup_binary['param_file']
sup_prog_link = util.start_SITL(sup_binary['binary'], **start_sitl_args)
self.sup_prog.append(sup_prog_link)
self.expect_list_add(sup_prog_link)
count += 1
@ -8107,25 +8108,18 @@ Also, ignores heartbeats not from our target system'''
"callgrind": self.callgrind,
"wipe": True,
}
if instance is None:
for sup_binary in self.sup_binaries:
start_sitl_args["customisations"] = [sup_binary[1]]
if args is not None:
start_sitl_args["customisations"] = [sup_binary[1], args]
start_sitl_args["supplementary"] = True
sup_prog_link = util.start_SITL(sup_binary[0], **start_sitl_args)
time.sleep(3)
self.sup_prog.append(sup_prog_link) # add to list
self.expect_list_add(sup_prog_link) # add to expect list
else:
# start only the instance passed
start_sitl_args["customisations"] = [self.sup_binaries[instance][1]]
for i in range(len(self.sup_binaries)):
if instance is not None and instance != i:
continue
sup_binary = self.sup_binaries[i]
start_sitl_args["customisations"] = [sup_binary['customisation']]
if args is not None:
start_sitl_args["customisations"] = [self.sup_binaries[instance][1], args]
start_sitl_args["customisations"] = [sup_binary['customisation'], args]
start_sitl_args["supplementary"] = True
sup_prog_link = util.start_SITL(self.sup_binaries[instance][0], **start_sitl_args)
time.sleep(3)
self.sup_prog[instance] = sup_prog_link # add to list
start_sitl_args["defaults_filepath"] = sup_binary['param_file']
sup_prog_link = util.start_SITL(sup_binary['binary'], **start_sitl_args)
time.sleep(1)
self.sup_prog[i] = sup_prog_link # add to list
self.expect_list_add(sup_prog_link) # add to expect list
def sitl_is_running(self):

10
Tools/autotest/default_params/periph.parm
View File

@ -7,3 +7,13 @@ ARSPD_TYPE 100
RNGFND1_TYPE 100
RNGFND1_MAX_CM 12000
BATT_MONITOR 4
# by default disable motors/servos, overridden in vehicle specific parameters
OUT1_FUNCTION -1
OUT2_FUNCTION -1
OUT3_FUNCTION -1
OUT4_FUNCTION -1
OUT5_FUNCTION -1
OUT6_FUNCTION -1
OUT7_FUNCTION -1
OUT8_FUNCTION -1

2
Tools/autotest/default_params/quad-periph.parm
View File

@ -1,5 +1,7 @@
# extra parameters for SITL peripheral quadplane
SIM_CAN_SRV_MSK 0x0f
# ESCs
OUT1_FUNCTION 33
OUT1_MIN 1000

2
Tools/autotest/default_params/quadplane-periph.parm
View File

@ -1,5 +1,7 @@
# extra parameters for SITL peripheral quadplane
SIM_CAN_SRV_MSK 0xff
# control surfaces
OUT1_FUNCTION 51
OUT2_FUNCTION 52

15
Tools/autotest/pysim/util.py
View File

@ -536,13 +536,6 @@ def start_SITL(binary,
cmd.extend(['--speedup', str(speedup)])
if sim_rate_hz is not None:
cmd.extend(['--rate', str(sim_rate_hz)])
if defaults_filepath is not None:
if type(defaults_filepath) == list:
defaults = [reltopdir(path) for path in defaults_filepath]
if len(defaults):
cmd.extend(['--defaults', ",".join(defaults)])
else:
cmd.extend(['--defaults', reltopdir(defaults_filepath)])
if unhide_parameters:
cmd.extend(['--unhide-groups'])
# somewhere for MAVProxy to connect to:
@ -550,6 +543,14 @@ def start_SITL(binary,
if not enable_fgview_output:
cmd.append("--disable-fgview")
if defaults_filepath is not None:
if type(defaults_filepath) == list:
defaults = [reltopdir(path) for path in defaults_filepath]
if len(defaults):
cmd.extend(['--defaults', ",".join(defaults)])
else:
cmd.extend(['--defaults', reltopdir(defaults_filepath)])
cmd.extend(customisations)
pexpect_logfile_prefix = stdout_prefix