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autotest: add --gdb option to autotest.py

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This commit is contained in:
Peter Barker 2016-06-27 12:05:16 +10:00 committed by Lucas De Marchi
parent 1f96336f7c
commit b23f983459
6 changed files with 25 additions and 16 deletions
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4
Tools/autotest/apmrover2.py
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@ -79,7 +79,7 @@ def drive_mission(mavproxy, mav, filename):
return True
def drive_APMrover2(binary, viewerip=None, map=False, valgrind=False):
def drive_APMrover2(binary, viewerip=None, map=False, valgrind=False, gdb=False):
'''drive APMrover2 in SIL
you can pass viewerip as an IP address to optionally send fg and
@ -111,7 +111,7 @@ def drive_APMrover2(binary, viewerip=None, map=False, valgrind=False):
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL(binary, model='rover', home=home, speedup=10, valgrind=valgrind)
sil = util.start_SIL(binary, model='rover', home=home, speedup=10, valgrind=valgrind, gdb=gdb)
mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)

8
Tools/autotest/arducopter.py
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@ -914,7 +914,7 @@ def setup_rc(mavproxy):
# zero throttle
mavproxy.send('rc 3 1000\n')
def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False):
def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False, gdb=False):
'''fly ArduCopter in SIL
you can pass viewerip as an IP address to optionally send fg and
@ -938,7 +938,7 @@ def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False):
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL(binary, model='+', home=home, speedup=speedup_default, valgrind=valgrind)
sil = util.start_SIL(binary, model='+', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
@ -1265,7 +1265,7 @@ def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False):
return True
def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False):
def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False, gdb=False):
'''fly ArduCopter in SIL for AVC2013 mission
'''
global homeloc
@ -1286,7 +1286,7 @@ def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False):
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind)
sil = util.start_SIL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip

4
Tools/autotest/arduplane.py
View File

@ -426,7 +426,7 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
return True
def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False):
def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
'''fly ArduPlane in SIL
you can pass viewerip as an IP address to optionally send fg and
@ -461,7 +461,7 @@ def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False):
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL(binary, model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind)
sil = util.start_SIL(binary, model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind, gdb=gdb)
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)

11
Tools/autotest/autotest.py
View File

@ -144,6 +144,7 @@ parser.add_option("--map", action='store_true', default=False, help='show map')
parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
parser.add_option("--timeout", default=3000, type='int', help='maximum runtime in seconds')
parser.add_option("--valgrind", default=False, action='store_true', help='run ArduPilot binaries under valgrind')
parser.add_option("--gdb", default=False, action='store_true', help='run ArduPilot binaries under gdb')
parser.add_option("--debug", default=False, action='store_true', help='make built binaries debug binaries')
parser.add_option("-j", default=None, type='int', help='build CPUs')
@ -265,19 +266,19 @@ def run_step(step):
return get_default_params('APMrover2', binary)
if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'fly.CopterAVC':
return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'fly.ArduPlane':
return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'fly.QuadPlane':
return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'drive.APMrover2':
return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'build.All':
return build_all()

10
Tools/autotest/pysim/util.py
View File

@ -190,7 +190,15 @@ class SIL(pexpect.spawn):
pexpect_autoclose(self)
# give time for parameters to properly setup
time.sleep(3)
self.expect('Waiting for connection',timeout=300)
if gdb:
# if we run GDB we do so in an xterm. "Waiting for
# connection" is never going to appear on xterm's output.
#... so let's give it another magic second.
time.sleep(1)
# TODO: have a SITL-compiled ardupilot able to have its
# console on an output fd.
else:
self.expect('Waiting for connection',timeout=300)
def valgrind_log_filepath(self):

4
Tools/autotest/quadplane.py
View File

@ -40,7 +40,7 @@ def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
return True
def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False):
def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
'''fly QuadPlane in SIL
you can pass viewerip as an IP address to optionally send fg and
@ -55,7 +55,7 @@ def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False):
options += ' --map'
sil = util.start_SIL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
defaults_file=os.path.join(testdir, 'quadplane.parm'), valgrind=valgrind)
defaults_file=os.path.join(testdir, 'quadplane.parm'), valgrind=valgrind, gdb=gdb)
mavproxy = util.start_MAVProxy_SIL('QuadPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)