mirror of https://github.com/ArduPilot/ardupilot
Tools: convert autotest build.X and fly.X to use waf build system
This commit is contained in:
Peter Barker
Lucas De Marchi
parent
9933069679
commit
7b86a05722
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@ -79,7 +79,7 @@ def drive_mission(mavproxy, mav, filename):
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return True
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def drive_APMrover2(viewerip=None, map=False, valgrind=False):
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def drive_APMrover2(binary, viewerip=None, map=False, valgrind=False):
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'''drive APMrover2 in SIL
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you can pass viewerip as an IP address to optionally send fg and
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@ -94,7 +94,7 @@ def drive_APMrover2(viewerip=None, map=False, valgrind=False):
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options += ' --map'
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home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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sil = util.start_SIL('APMrover2', wipe=True, model='rover', home=home, speedup=10)
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sil = util.start_SIL(binary, wipe=True, model='rover', home=home, speedup=10)
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mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
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print("WAITING FOR PARAMETERS")
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@ -108,7 +108,7 @@ def drive_APMrover2(viewerip=None, map=False, valgrind=False):
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('APMrover2', model='rover', home=home, speedup=10, valgrind=valgrind)
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sil = util.start_SIL(binary, model='rover', home=home, speedup=10, valgrind=valgrind)
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mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
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mavproxy.expect('Telemetry log: (\S+)')
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logfile = mavproxy.match.group(1)
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@ -908,7 +908,7 @@ def setup_rc(mavproxy):
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# zero throttle
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mavproxy.send('rc 3 1000\n')
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def fly_ArduCopter(viewerip=None, map=False, valgrind=False):
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def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False):
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'''fly ArduCopter in SIL
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you can pass viewerip as an IP address to optionally send fg and
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@ -917,10 +917,10 @@ def fly_ArduCopter(viewerip=None, map=False, valgrind=False):
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global homeloc
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if TARGET != 'sitl':
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util.build_SIL('ArduCopter', target=TARGET)
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util.build_SIL('bin/arducopter-quad', target=TARGET)
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home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=speedup_default)
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sil = util.start_SIL(binary, wipe=True, model='+', home=home, speedup=speedup_default)
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
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mavproxy.expect('Received [0-9]+ parameters')
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@ -932,7 +932,7 @@ def fly_ArduCopter(viewerip=None, map=False, valgrind=False):
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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', model='+', home=home, speedup=speedup_default, valgrind=valgrind)
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sil = util.start_SIL(binary, model='+', home=home, speedup=speedup_default, valgrind=valgrind)
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options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
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if viewerip:
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options += ' --out=%s:14550' % viewerip
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@ -1258,16 +1258,13 @@ def fly_ArduCopter(viewerip=None, map=False, valgrind=False):
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return True
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def fly_CopterAVC(viewerip=None, map=False, valgrind=False):
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def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False):
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'''fly ArduCopter in SIL for AVC2013 mission
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'''
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global homeloc
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if TARGET != 'sitl':
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util.build_SIL('ArduCopter', target=TARGET)
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home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
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sil = util.start_SIL('ArduCopter', wipe=True, model='heli', home=home, speedup=speedup_default)
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sil = util.start_SIL(binary, wipe=True, model='heli', home=home, speedup=speedup_default)
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
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mavproxy.expect('Received [0-9]+ parameters')
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@ -1279,7 +1276,7 @@ def fly_CopterAVC(viewerip=None, map=False, valgrind=False):
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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', model='heli', home=home, speedup=speedup_default, valgrind=valgrind)
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sil = util.start_SIL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind)
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options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
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if viewerip:
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options += ' --out=%s:14550' % viewerip
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@ -426,7 +426,7 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
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return True
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def fly_ArduPlane(viewerip=None, map=False, valgrind=False):
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def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False):
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'''fly ArduPlane in SIL
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you can pass viewerip as an IP address to optionally send fg and
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@ -440,7 +440,7 @@ def fly_ArduPlane(viewerip=None, map=False, valgrind=False):
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if map:
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options += ' --map'
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sil = util.start_SIL('ArduPlane', wipe=True, model='jsbsim', home=HOME_LOCATION, speedup=10)
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sil = util.start_SIL(binary, wipe=True, model='jsbsim', home=HOME_LOCATION, speedup=10)
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print("Starting MAVProxy")
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mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
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util.expect_setup_callback(mavproxy, expect_callback)
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@ -458,7 +458,7 @@ def fly_ArduPlane(viewerip=None, map=False, valgrind=False):
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('ArduPlane', model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind)
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sil = util.start_SIL(binary, model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind)
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mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
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mavproxy.expect('Telemetry log: (\S+)')
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logfile = mavproxy.match.group(1)
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@ -13,19 +13,19 @@ os.environ['PYTHONUNBUFFERED'] = '1'
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os.putenv('TMPDIR', util.reltopdir('tmp'))
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def get_default_params(atype):
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def get_default_params(atype, binary):
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'''get default parameters'''
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# use rover simulator so SITL is not starved of input
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from pymavlink import mavutil
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HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
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if atype in ['APMrover2', 'ArduPlane']:
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frame = 'rover'
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if binary.find("plane") != -1 or binary.find("rover") != -1:
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frame = "rover"
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else:
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frame = '+'
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frame = "+"
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home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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sil = util.start_SIL(atype, wipe=True, model=frame, home=home, speedup=10)
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sil = util.start_SIL(binary, wipe=True, model=frame, home=home, speedup=10)
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mavproxy = util.start_MAVProxy_SIL(atype)
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print("Dumping defaults")
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idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
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@ -33,7 +33,7 @@ def get_default_params(atype):
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# we need to restart it after eeprom erase
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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, model=frame, home=home, speedup=10)
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sil = util.start_SIL(binary, model=frame, home=home, speedup=10)
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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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@ -139,7 +139,8 @@ parser.add_option("--map", action='store_true', default=False, help='show map')
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parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
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parser.add_option("--timeout", default=3000, type='int', help='maximum runtime in seconds')
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parser.add_option("--valgrind", default=False, action='store_true', help='run ArduPilot binaries under valgrind')
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parser.add_option("-j", default=1, type='int', help='build CPUs')
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parser.add_option("--debug", default=False, action='store_true', help='make built binaries debug binaries')
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parser.add_option("-j", default=None, type='int', help='build CPUs')
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opts, args = parser.parse_args()
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@ -192,6 +193,36 @@ def skip_step(step):
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return True
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return False
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def binary_path(step, debug=False):
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if step.find("ArduCopter") != -1:
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binary_name = "arducopter-quad"
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elif step.find("ArduPlane") != -1:
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binary_name = "arduplane"
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elif step.find("APMrover2") != -1:
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binary_name = "ardurover"
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elif step.find("AntennaTracker") != -1:
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binary_name = "antennatracker"
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elif step.find("CopterAVC") != -1:
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binary_name = "arducopter-heli"
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elif step.find("QuadPlane") != -1:
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binary_name = "arduplane"
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else:
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raise(ValueError("Unable to determine binary name for step %s" % (step,)))
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if debug:
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binary_basedir = "sitl-debug"
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else:
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binary_basedir = "sitl"
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binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name))
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if not os.path.exists(binary):
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if os.path.exists(binary + ".exe"):
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binary_path += ".exe"
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else:
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raise ValueError("Binary (%s) does not exist" % (binary,))
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return binary
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def run_step(step):
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'''run one step'''
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@ -202,43 +233,45 @@ def run_step(step):
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return test_prerequisites()
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if step == 'build.ArduPlane':
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return util.build_SIL('ArduPlane', j=opts.j)
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return util.build_SIL('bin/arduplane', j=opts.j, debug=opts.debug)
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if step == 'build.APMrover2':
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return util.build_SIL('APMrover2', j=opts.j)
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return util.build_SIL('bin/ardurover', j=opts.j, debug=opts.debug)
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if step == 'build.ArduCopter':
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return util.build_SIL('ArduCopter', j=opts.j)
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return util.build_SIL('bin/arducopter-quad', j=opts.j, debug=opts.debug)
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if step == 'build.AntennaTracker':
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return util.build_SIL('AntennaTracker', j=opts.j)
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return util.build_SIL('bin/antennatracker', j=opts.j, debug=opts.debug)
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if step == 'build.Helicopter':
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return util.build_SIL('ArduCopter', target='sitl-heli', j=opts.j)
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return util.build_SIL('bin/arducopter-heli', j=opts.j, debug=opts.debug)
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binary = binary_path(step, debug=opts.debug)
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if step == 'defaults.ArduPlane':
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return get_default_params('ArduPlane')
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return get_default_params('ArduPlane', binary)
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if step == 'defaults.ArduCopter':
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return get_default_params('ArduCopter')
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return get_default_params('ArduCopter', binary)
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if step == 'defaults.APMrover2':
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return get_default_params('APMrover2')
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return get_default_params('APMrover2', binary)
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if step == 'fly.ArduCopter':
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return arducopter.fly_ArduCopter(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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if step == 'fly.CopterAVC':
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return arducopter.fly_CopterAVC(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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if step == 'fly.ArduPlane':
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return arduplane.fly_ArduPlane(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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if step == 'fly.QuadPlane':
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return quadplane.fly_QuadPlane(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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if step == 'drive.APMrover2':
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return apmrover2.drive_APMrover2(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
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if step == 'build.All':
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return build_all()
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@ -34,16 +34,20 @@ def reltopdir(path):
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return os.path.normpath(os.path.join(topdir(), path))
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def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
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def run_cmd(cmd, dir=".", show=True, output=False, checkfail=True):
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'''run a shell command'''
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shell = False
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if not isinstance(cmd, list):
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cmd = [cmd]
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shell = True
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if show:
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print("Running: '%s' in '%s'" % (cmd, dir))
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print("Running: (%s) in (%s)" % (cmd_as_shell(cmd), dir,))
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if output:
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return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
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return Popen(cmd, shell=shell, stdout=PIPE, cwd=dir).communicate()[0]
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elif checkfail:
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return check_call(cmd, shell=True, cwd=dir)
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return check_call(cmd, shell=shell, cwd=dir)
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else:
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return call(cmd, shell=True, cwd=dir)
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return call(cmd, shell=shell, cwd=dir)
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def rmfile(path):
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'''remove a file if it exists'''
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@ -57,15 +61,26 @@ def deltree(path):
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run_cmd('rm -rf %s' % path)
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def relwaf():
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return "./modules/waf/waf-light"
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def build_SIL(atype, target='sitl', j=1):
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def build_SIL(build_target, j=None, debug=False):
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'''build desktop SIL'''
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run_cmd("make clean",
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dir=reltopdir(atype),
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checkfail=True)
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run_cmd("make -j%u %s" % (j, target),
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dir=reltopdir(atype),
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checkfail=True)
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# first configure
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cmd_configure = [relwaf(), "configure", "--board", 'sitl']
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if debug:
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cmd_configure.append('--debug')
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if j is not None:
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cmd_configure.extend(['-j', str(j)])
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run_cmd(cmd_configure, dir=topdir(), checkfail=True)
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# then clean
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run_cmd([relwaf(), "clean"], dir=topdir(), checkfail=True)
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# then build
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cmd_make = [relwaf(), "build", "--target", build_target]
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run_cmd(cmd_make, dir=topdir(), checkfail=True, show=True)
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return True
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# list of pexpect children to close on exit
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@ -105,35 +120,38 @@ def pexpect_drain(p):
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except pexpect.TIMEOUT:
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pass
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def start_SIL(atype, valgrind=False, gdb=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None):
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def cmd_as_shell(cmd):
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return (" ".join([ '"%s"' % x for x in cmd ]))
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def start_SIL(binary, valgrind=False, gdb=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None):
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'''launch a SIL instance'''
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import pexpect
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cmd=""
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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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cmd.extend(['valgrind', '-q', '--log-file', '%s-valgrind.log' % atype])
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if gdb:
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f = open("/tmp/x.gdb", "w")
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f.write("r\n");
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f.close()
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cmd += 'xterm -e gdb -x /tmp/x.gdb --args '
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executable = reltopdir('tmp/%s.build/%s.elf' % (atype, atype))
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if not os.path.exists(executable):
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executable = '/tmp/%s.build/%s.elf' % (atype, atype)
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cmd += executable
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cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
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cmd.append(binary)
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if wipe:
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cmd += ' -w'
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cmd.append('-w')
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if synthetic_clock:
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cmd += ' -S'
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cmd.append('-S')
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if home is not None:
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cmd += ' --home=%s' % home
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cmd.extend(['--home', home])
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if model is not None:
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cmd += ' --model=%s' % model
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cmd.extend(['--model', model])
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if speedup != 1:
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cmd += ' --speedup=%f' % speedup
|
||||
cmd.extend(['--speedup', str(speedup)])
|
||||
if defaults_file is not None:
|
||||
cmd += ' --defaults=%s' % defaults_file
|
||||
print("Running: %s" % cmd)
|
||||
ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
|
||||
cmd.extend(['--defaults', defaults_file])
|
||||
print("Running: %s" % cmd_as_shell(cmd))
|
||||
first = cmd[0]
|
||||
rest = cmd[1:]
|
||||
ret = pexpect.spawn(first, rest, logfile=sys.stdout, timeout=5)
|
||||
ret.delaybeforesend = 0
|
||||
pexpect_autoclose(ret)
|
||||
# give time for parameters to properly setup
|
||||
|
|
|
|||
|
|
@ -40,7 +40,7 @@ def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
|
|||
return True
|
||||
|
||||
|
||||
def fly_QuadPlane(viewerip=None, map=False, valgrind=False):
|
||||
def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False):
|
||||
'''fly QuadPlane in SIL
|
||||
|
||||
you can pass viewerip as an IP address to optionally send fg and
|
||||
|
|
@ -54,7 +54,7 @@ def fly_QuadPlane(viewerip=None, map=False, valgrind=False):
|
|||
if map:
|
||||
options += ' --map'
|
||||
|
||||
sil = util.start_SIL('ArduPlane', model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
|
||||
sil = util.start_SIL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
|
||||
defaults_file=os.path.join(testdir, 'quadplane.parm'), valgrind=valgrind)
|
||||
mavproxy = util.start_MAVProxy_SIL('QuadPlane', options=options)
|
||||
mavproxy.expect('Telemetry log: (\S+)')
|
||||
|
|
|
|||
Loading…
Reference in New Issue