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autotest: add tests for log download

This commit is contained in:
Peter Barker 2020-05-12 09:29:39 +10:00 committed by Peter Barker
parent 41245acf14
commit b0916231b2
7 changed files with 281 additions and 41 deletions
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24
Tools/autotest/arducopter.py
View File

@ -5092,11 +5092,9 @@ class AutoTestCopter(AutoTest):
"Test Different Altitude Types",
self.test_altitude_types),
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin"),
upload_logs=len(self.fail_list) > 0))
("LogUpload",
"Log upload",
self.log_upload),
])
return ret
@ -5123,11 +5121,9 @@ class AutoTestCopter(AutoTest):
"Fly Gyro FFT Harmonic Matching",
self.fly_gyro_fft_harmonic),
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin"),
upload_logs=len(self.fail_list) > 0))
("LogUpload",
"Log upload",
self.log_upload),
])
return ret
@ -5349,11 +5345,9 @@ class AutoTestHeli(AutoTestCopter):
"Fly AutoRotation",
self.fly_autorotation),
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin"),
upload_logs=len(self.fail_list) > 0))
("LogUpload",
"Log upload",
self.log_upload),
])
return ret

9
Tools/autotest/arduplane.py
View File

@ -1851,11 +1851,8 @@ class AutoTestPlane(AutoTest):
"Test Soaring feature",
self.fly_soaring),
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduPlane-log.bin"),
timeout=450,
upload_logs=True))
("LogUpload",
"Log upload",
self.log_upload),
])
return ret

11
Tools/autotest/ardusub.py
View File

@ -312,10 +312,13 @@ class AutoTestSub(AutoTest):
"Move vehicle using SET_POSITION_TARGET_GLOBAL_INT",
self.dive_set_position_target),
("DownLoadLogs", "Download logs", lambda:
self.log_download(
self.buildlogs_path("ArduSub-log.bin"),
upload_logs=len(self.fail_list) > 0)),
("TestLogDownloadMAVProxy",
"Test Onboard Log Download using MAVProxy",
self.test_log_download_mavproxy),
("LogUpload",
"Upload logs",
self.log_upload),
])
return ret

7
Tools/autotest/balancebot.py
View File

@ -123,10 +123,9 @@ inherit Rover's tests!'''
"Test ServoRelayEvents",
self.test_servorelayevents),
("DownLoadLogs", "Download logs", lambda:
self.log_download(
self.buildlogs_path("Rover-log.bin"),
upload_logs=len(self.fail_list) > 0)),
("LogUpload",
"Upload logs",
self.log_upload),
])
return ret

260
Tools/autotest/common.py
View File

@ -17,6 +17,7 @@ import operator
import numpy
import socket
import struct
import random
from MAVProxy.modules.lib import mp_util
@ -1530,6 +1531,250 @@ class AutoTest(ABC):
self.progress("Drained %u messages from mav (%s)" % (count, rate))
def log_filepath(self, lognum):
'''return filepath to lognum (where lognum comes from LOG_ENTRY'''
log_list = sorted(self.log_list())
return log_list[lognum-1]
def assert_bytes_equal(self, bytes1, bytes2):
for i in range(0,len(bytes1)):
if bytes1[i] != bytes2[i]:
raise NotAchievedException("differ at offset %u" % i)
def test_log_download(self):
if self.is_tracker():
# tracker starts armed, which is annoying
return
self.progress("Ensuring we have contents we care about")
self.set_parameter("LOG_FILE_DSRMROT", 1)
self.set_parameter("LOG_DISARMED", 0)
self.reboot_sitl()
original_log_list = self.log_list()
for i in range(0,10):
self.wait_ready_to_arm()
self.arm_vehicle()
self.delay_sim_time(1)
self.disarm_vehicle()
new_log_list = self.log_list()
new_log_count = len(new_log_list) - len(original_log_list)
if new_log_count != 10:
raise NotAchievedException("Expected exactly 10 new logs got %u (%s) to (%s)" %
(new_log_count, original_log_list, new_log_list))
self.progress("Directory contents: %s" % str(new_log_list))
tstart = self.get_sim_time()
self.mav.mav.log_request_list_send(self.sysid_thismav(),
1, # target component
0,
0xff)
logs = []
last_id = None
num_logs = None
while True:
now = self.get_sim_time_cached()
if now - tstart > 5:
raise NotAchievedException("Did not download list")
m = self.mav.recv_match(type='LOG_ENTRY',
blocking=True,
timeout=1)
print("Received (%s)" % str(m))
if m is None:
continue
logs.append(m)
if last_id is None:
if m.num_logs == 0:
# caller to guarantee this works:
raise NotAchievedException("num_logs is zero")
num_logs = m.num_logs
else:
if m.id != last_id + 1:
raise NotAchievedException("Sequence not increasing")
if m.num_logs != num_logs:
raise NotAchievedException("Number of logs changed")
if m.time_utc < 1000:
raise NotAchievedException("Bad timestamp")
if m.id != m.last_log_num:
if m.size == 0:
raise NotAchievedException("Zero-sized log")
last_id = m.id
if m.id == m.last_log_num:
self.progress("Got all logs")
break
# ensure we don't get any extras:
m = self.mav.recv_match(type='LOG_ENTRY',
blocking=True,
timeout=2)
if m is not None:
raise NotAchievedException("Received extra LOG_ENTRY?!")
# download the 6th and seventh byte of the fifth log
log_id = 5
ofs = 6
count = 2
self.mav.mav.log_request_data_send(self.sysid_thismav(),
1, # target component
log_id,
ofs,
count
)
m = self.mav.recv_match(type='LOG_DATA',
blocking=True,
timeout=2)
if m is None:
raise NotAchievedException("Did not get log data")
if m.ofs != ofs:
raise NotAchievedException("Incorrect offset")
if m.count != count:
raise NotAchievedException("Did not get correct number of bytes")
log_filepath = self.log_filepath(log_id)
self.progress("Checking against log_filepath (%s)" % str(log_filepath))
with open(log_filepath, "rb") as bob:
bob.seek(ofs)
actual_bytes = bob.read(2)
actual_bytes = bytearray(actual_bytes)
if m.data[0] != actual_bytes[0]:
raise NotAchievedException("Bad first byte got=(0x%02x) want=(0x%02x)" %
(m.data[0], actual_bytes[0]))
if m.data[1] != actual_bytes[1]:
raise NotAchievedException("Bad second byte")
# make file contents available
# download an entire file
log_id = 7
log_filepath = self.log_filepath(log_id)
with open(log_filepath, "rb") as bob:
actual_bytes = bytearray(bob.read())
# get the size first
self.mav.mav.log_request_list_send(self.sysid_thismav(),
1, # target component
log_id,
log_id)
log_entry = self.mav.recv_match(type='LOG_ENTRY',
blocking=True,
timeout=2)
if log_entry.size != len(actual_bytes):
raise NotAchievedException("Incorrect bytecount")
self.progress("Using log entry (%s)" % str(log_entry))
if log_entry.id != log_id:
raise NotAchievedException("Incorrect log id received")
# download the log file in the normal way:
bytes_to_fetch = 10000000
self.progress("Sending request for %u bytes at offset 0" % (bytes_to_fetch,))
tstart = self.get_sim_time()
self.mav.mav.log_request_data_send(
self.sysid_thismav(),
1, # target component
log_id,
0,
bytes_to_fetch
)
bytes_to_read = log_entry.size
data_downloaded = []
bytes_read = 0
last_print = 0
while True:
if bytes_read >= bytes_to_read:
break
if self.get_sim_time_cached() - tstart > 120:
raise NotAchievedException("Did not download log in good time")
m = self.mav.recv_match(type='LOG_DATA',
blocking=True,
timeout=2)
if m is None:
raise NotAchievedException("Did not get data")
if m.ofs != bytes_read:
raise NotAchievedException("Unexpected offset")
if m.id != log_id:
raise NotAchievedException("Unexpected id")
data_downloaded.extend(m.data[0:m.count])
bytes_read += m.count
#self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
if time.time() - last_print > 10:
last_print = time.time()
self.progress("Read %u/%u" % (bytes_read, bytes_to_read))
self.progress("actual_bytes_len=%u data_downloaded_len=%u" %
(len(actual_bytes), len(data_downloaded)))
self.assert_bytes_equal(actual_bytes, data_downloaded)
if False:
bytes_to_read = log_entry.size
bytes_read = 0
data_downloaded = []
while bytes_read < bytes_to_read:
bytes_to_fetch = int(random.random() * 100)
if bytes_to_fetch > 90:
bytes_to_fetch = 90
self.progress("Sending request for %u bytes at offset %u" % (bytes_to_fetch, bytes_read))
self.mav.mav.log_request_data_send(
self.sysid_thismav(),
1, # target component
log_id,
bytes_read,
bytes_to_fetch
)
m = self.mav.recv_match(type='LOG_DATA',
blocking=True,
timeout=2)
if m is None:
raise NotAchievedException("Did not get reply")
self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
if m.ofs != bytes_read:
raise NotAchievedException("Incorrect offset in reply want=%u got=%u (%s)" % (bytes_read, m.ofs, str(m)))
stuff = m.data[0:m.count]
data_downloaded.extend(stuff)
bytes_read += m.count
if len(data_downloaded) != bytes_read:
raise NotAchievedException("extend fail")
if len(actual_bytes) != len(data_downloaded):
raise NotAchievedException("Incorrect length: disk:%u downloaded: %u" %
(len(actual_bytes), len(data_downloaded)))
self.assert_bytes_equal(actual_bytes, data_downloaded)
# ... and now download it reading backwards...
bytes_to_read = log_entry.size
bytes_read = 0
backwards_data_downloaded = []
last_print = 0
while bytes_read < bytes_to_read:
bytes_to_fetch = int(random.random() * 100)
if bytes_to_fetch > 90:
bytes_to_fetch = 90
if bytes_to_fetch > bytes_to_read - bytes_read:
bytes_to_fetch = bytes_to_read - bytes_read
ofs = bytes_to_read - bytes_read - bytes_to_fetch
# self.progress("bytes_to_read=%u bytes_read=%u bytes_to_fetch=%u ofs=%d" % (bytes_to_read, bytes_read, bytes_to_fetch, ofs))
self.mav.mav.log_request_data_send(
self.sysid_thismav(),
1, # target component
log_id,
ofs,
bytes_to_fetch
)
m = self.mav.recv_match(type='LOG_DATA',
blocking=True,
timeout=2)
if m is None:
raise NotAchievedException("Did not get reply")
stuff = m.data[0:m.count]
stuff.extend(backwards_data_downloaded)
backwards_data_downloaded = stuff
bytes_read += m.count
# self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
if time.time() - last_print > 10:
last_print = time.time()
self.progress("Read %u/%u" % (bytes_read, bytes_to_read))
self.assert_bytes_equal(actual_bytes, backwards_data_downloaded)
if len(actual_bytes) != len(backwards_data_downloaded):
raise NotAchievedException("Size delta: actual=%u vs downloaded=%u" %
(len(actual_bytes), len(backwards_data_downloaded)))
#################################################
# SIM UTILITIES
#################################################
@ -1740,9 +1985,9 @@ class AutoTest(ABC):
self.onboard_logging_not_log_disarmed()
def log_download(self, filename, timeout=360, upload_logs=False):
def test_log_download_mavproxy(self, upload_logs=False):
"""Download latest log."""
self.wait_heartbeat()
filename = "MAVProxy-downloaded-log.BIN"
self.mavproxy.send("module load log\n")
self.mavproxy.expect("Loaded module log")
self.mavproxy.send("log list\n")
@ -1751,18 +1996,17 @@ class AutoTest(ABC):
self.wait_heartbeat()
self.mavproxy.send("set shownoise 0\n")
self.mavproxy.send("log download latest %s\n" % filename)
self.mavproxy.expect("Finished downloading", timeout=timeout)
self.mavproxy.expect("Finished downloading", timeout=120)
self.mavproxy.send("module unload log\n")
self.mavproxy.expect("Unloaded module log")
self.drain_mav_unparsed()
self.wait_heartbeat()
self.wait_heartbeat()
if upload_logs and os.getenv("AUTOTEST_UPLOAD"):
def log_upload(self):
if len(self.fail_list) > 0 and os.getenv("AUTOTEST_UPLOAD"):
# optionally upload logs to server so we can see travis failure logs
import datetime
import glob
import subprocess
logdir = os.path.dirname(filename)
logdir = self.buildlogs_dirpath()
datedir = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M")
flist = glob.glob("logs/*.BIN")
for e in ['BIN', 'bin', 'tlog']:

4
Tools/autotest/quadplane.py
View File

@ -470,6 +470,10 @@ class AutoTestQuadPlane(AutoTest):
"Test Arming Parameter Checks",
self.test_parameter_checks),
("TestLogDownload",
"Test Onboard Log Download",
self.test_log_download),
("Mission", "Dalby Mission",
lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),

7
Tools/autotest/rover.py
View File

@ -5157,10 +5157,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"Accelerometer Calibration testing",
self.accelcal),
("DownLoadLogs", "Download logs", lambda:
self.log_download(
self.buildlogs_path("Rover-log.bin"),
upload_logs=len(self.fail_list) > 0)),
("LogUpload",
"Upload logs",
self.log_upload),
])
return ret