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autotest: permit specification of frame as part of customing cmdline

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Peter Barker 2020-04-06 14:47:43 +10:00 committed by Peter Barker
parent ede87d49f6
commit 9511fa59ec
2 changed files with 23 additions and 6 deletions
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20
Tools/autotest/common.py
View File

@ -1370,11 +1370,14 @@ class AutoTest(ABC):
self.set_streamrate(self.sitl_streamrate()) self.set_streamrate(self.sitl_streamrate())
self.progress("Reboot complete") self.progress("Reboot complete")
def customise_SITL_commandline(self, customisations): def customise_SITL_commandline(self, customisations, model=None, defaults_file=None):
'''customisations could be "--uartF=sim:nmea" ''' '''customisations could be "--uartF=sim:nmea" '''
self.contexts[-1].sitl_commandline_customised = True self.contexts[-1].sitl_commandline_customised = True
self.stop_SITL() self.stop_SITL()
self.start_SITL(customisations=customisations, wipe=False) self.start_SITL(model=model,
defaults_file=defaults_file,
customisations=customisations,
wipe=False)
self.wait_heartbeat(drain_mav=True) self.wait_heartbeat(drain_mav=True)
# MAVProxy only checks the streamrates once every 15 seconds. # MAVProxy only checks the streamrates once every 15 seconds.
# Encourage it: # Encourage it:
@ -2105,6 +2108,8 @@ class AutoTest(ABC):
'''Most vehicles just disarm on failsafe''' '''Most vehicles just disarm on failsafe'''
# customising the SITL commandline ensures the process will # customising the SITL commandline ensures the process will
# get stopped/started at the end of the test # get stopped/started at the end of the test
if self.frame is None:
raise ValueError("Frame is none?")
self.customise_SITL_commandline([]) self.customise_SITL_commandline([])
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -3372,18 +3377,22 @@ class AutoTest(ABC):
start_sitl_args = { start_sitl_args = {
"breakpoints": self.breakpoints, "breakpoints": self.breakpoints,
"disable_breakpoints": self.disable_breakpoints, "disable_breakpoints": self.disable_breakpoints,
"defaults_file": self.defaults_filepath(),
"gdb": self.gdb, "gdb": self.gdb,
"gdbserver": self.gdbserver, "gdbserver": self.gdbserver,
"lldb": self.lldb, "lldb": self.lldb,
"home": self.sitl_home(), "home": self.sitl_home(),
"model": self.frame,
"speedup": self.speedup, "speedup": self.speedup,
"valgrind": self.valgrind, "valgrind": self.valgrind,
"vicon": self.uses_vicon(), "vicon": self.uses_vicon(),
"wipe": True, "wipe": True,
} }
start_sitl_args.update(**sitl_args) start_sitl_args.update(**sitl_args)
if ("defaults_filepath" not in start_sitl_args or
start_sitl_args["defaults_filepath"] is None):
start_sitl_args["defaults_file"] = self.defaults_filepath()
if "model" not in start_sitl_args or start_sitl_args["model"] is None:
start_sitl_args["model"] = self.frame
self.progress("Starting SITL") self.progress("Starting SITL")
self.sitl = util.start_SITL(self.binary, **start_sitl_args) self.sitl = util.start_SITL(self.binary, **start_sitl_args)
@ -3399,6 +3408,9 @@ class AutoTest(ABC):
if self.frame is None: if self.frame is None:
self.frame = self.default_frame() self.frame = self.default_frame()
if self.frame is None:
raise ValueError("frame must not be None")
self.progress("Starting simulator") self.progress("Starting simulator")
self.start_SITL() self.start_SITL()

9
Tools/autotest/pysim/util.py
View File

@ -243,6 +243,10 @@ def start_SITL(binary,
vicon=False, vicon=False,
customisations=[], customisations=[],
lldb=False): lldb=False):
if model is None:
raise ValueError("model must not be None")
"""Launch a SITL instance.""" """Launch a SITL instance."""
cmd = [] cmd = []
if valgrind and os.path.exists('/usr/bin/valgrind'): if valgrind and os.path.exists('/usr/bin/valgrind'):
@ -311,11 +315,12 @@ def start_SITL(binary,
cmd.append('-S') cmd.append('-S')
if home is not None: if home is not None:
cmd.extend(['--home', home]) cmd.extend(['--home', home])
if model is not None: cmd.extend(['--model', model])
cmd.extend(['--model', model])
if speedup != 1: if speedup != 1:
cmd.extend(['--speedup', str(speedup)]) cmd.extend(['--speedup', str(speedup)])
if defaults_file is not None: if defaults_file is not None:
if type(defaults_file) == list:
defaults_file = ",".join(defaults_file)
cmd.extend(['--defaults', defaults_file]) cmd.extend(['--defaults', defaults_file])
if unhide_parameters: if unhide_parameters:
cmd.extend(['--unhide-groups']) cmd.extend(['--unhide-groups'])