Tools: setup CI test for CANBus

Tools/autotest/arducopter.py

@@ -1956,6 +1956,13 @@ class AutoTestCopter(AutoTest):
 
         self.progress("Auto mission completed: passed!")
 
+    # fly_auto_test using CAN GPS - fly mission which tests normal operation alongside CAN GPS
+    def fly_auto_test_using_can_gps(self):
+        self.set_parameter("CAN_P1_DRIVER", 1)
+        self.set_parameter("GPS_TYPE", 9)
+        self.reboot_sitl()
+        self.fly_auto_test()
+
     def fly_motor_fail(self, fail_servo=0, fail_mul=0.0, holdtime=30):
         """Test flight with reduced motor efficiency"""
 
@@ -5638,6 +5645,15 @@ class AutoTestCopter(AutoTest):
         ])
         return ret
 
+    def testcan(self):
+        ret = ([
+            ("CANGPSCopterMission",
+             "Fly copter mission",
+             self.fly_auto_test_using_can_gps),
+        ])
+        return ret
+
+
     def tests(self):
         ret = []
         ret.extend(self.tests1())
@@ -5980,6 +5996,7 @@ class AutoTestCopterTests2a(AutoTestCopter):
 class AutoTestCopterTests2b(AutoTestCopter):
     def tests(self):
         return self.tests2b()
+class AutoTestCAN(AutoTestCopter):
 
-
-
+    def tests(self):
+        return self.testcan()

Tools/autotest/autotest.py

@@ -279,6 +279,8 @@ __bin_names = {
     "QuadPlane": "arduplane",
     "Sub": "ardusub",
     "BalanceBot": "ardurover",
+    "SITLPeriphGPS" : "sitl_periph_gp.AP_Periph",
+    "CAN" : "arducopter",
 }
 
 
@@ -289,13 +291,18 @@ def binary_path(step, debug=False):
         return None
 
     if vehicle in __bin_names:
-        binary_name = __bin_names[vehicle]
+        if len(__bin_names[vehicle].split(".")) == 2:
+            config_name = __bin_names[vehicle].split(".")[0]
+            binary_name = __bin_names[vehicle].split(".")[1]
+        else:
+            config_name = 'sitl'
+            binary_name = __bin_names[vehicle]
     else:
         # cope with builds that don't have a specific binary
         return None
 
     binary = util.reltopdir(os.path.join('build',
-                                         'sitl',
+                                         config_name,
                                          'bin',
                                          binary_name))
     if not os.path.exists(binary):
@@ -338,6 +345,11 @@ tester_class_map = {
     "test.Helicopter": arducopter.AutoTestHeli,
     "test.Sub": ardusub.AutoTestSub,
     "test.Tracker": antennatracker.AutoTestTracker,
+    "test.CAN": arducopter.AutoTestCAN,
+}
+
+suplementary_test_binary_map = {
+    "test.CAN": "sitl_periph_gps.AP_Periph",
 }
 
 def run_specific_test(step, *args, **kwargs):
@@ -397,8 +409,14 @@ def run_step(step):
     if step == 'build.Sub':
         vehicle_binary = 'bin/ardusub'
     
+    if step == 'build.SITLPeriphGPS':
+        vehicle_binary = 'sitl_periph_gps.bin/AP_Periph'
+
     if vehicle_binary is not None:
-        return util.build_SITL(vehicle_binary, **build_opts)
+        if len(vehicle_binary.split(".")) == 1:
+            return util.build_SITL(vehicle_binary, **build_opts)
+        else:
+            return util.build_SITL(vehicle_binary.split(".")[1], board = vehicle_binary.split(".")[0], **build_opts)
 
     binary = binary_path(step, debug=opts.debug)
 
@@ -406,6 +424,18 @@ def run_step(step):
         vehicle = step[9:]
         return get_default_params(vehicle, binary)
 
+    if step in suplementary_test_binary_map:
+        config_name = suplementary_test_binary_map[step].split('.')[0]
+        binary_name = suplementary_test_binary_map[step].split('.')[1]
+        supplementary_binary =  util.reltopdir(os.path.join('build',
+                                                            config_name,
+                                                            'bin',
+                                                            binary_name))
+        # we are running in conjunction with a supplementary app
+        # can't have speedup
+        opts.speedup = 1.0
+    else:
+        supplementary_binary = None
     fly_opts = {
         "viewerip": opts.viewerip,
         "use_map": opts.map,
@@ -419,6 +449,7 @@ def run_step(step):
         "_show_test_timings": opts.show_test_timings,
         "force_ahrs_type": opts.force_ahrs_type,
         "logs_dir": buildlogs_dirpath(),
+        "sup_binary": supplementary_binary,
     }
     if opts.speedup is not None:
         fly_opts["speedup"] = opts.speedup
@@ -860,6 +891,9 @@ if __name__ == "__main__":
         'defaults.Sub',
         'test.Sub',
 
+        'build.SITLPeriphGPS',
+        'test.CAN',
+
         'convertgpx',
     ]
 

Tools/autotest/common.py

@@ -1084,7 +1084,8 @@ class AutoTest(ABC):
                  use_map=False,
                  _show_test_timings=False,
                  logs_dir=None,
-                 force_ahrs_type=None):
+                 force_ahrs_type=None,
+                 sup_binary=None):
 
         self.start_time = time.time()
         global __autotest__ # FIXME; make progress a non-staticmethod
@@ -1103,6 +1104,7 @@ class AutoTest(ABC):
         self.breakpoints = breakpoints
         self.disable_breakpoints = disable_breakpoints
         self.speedup = speedup
+        self.sup_binary = sup_binary
 
         self.mavproxy = None
         self.mav = None
@@ -4614,6 +4616,12 @@ Also, ignores heartbeats not from our target system'''
         self.progress("Starting SITL")
         self.sitl = util.start_SITL(self.binary, **start_sitl_args)
         self.expect_list_add(self.sitl)
+        if self.sup_binary is not None:
+            self.progress("Starting Supplementary Program")
+            self.sup_prog = util.start_SITL(self.sup_binary, **start_sitl_args)
+            self.expect_list_add(self.sup_prog)
+        else:
+            self.sup_prog = None
 
     def sitl_is_running(self):
         return self.sitl.isalive()
@@ -4641,7 +4649,10 @@ Also, ignores heartbeats not from our target system'''
         util.expect_setup_callback(self.mavproxy, self.expect_callback)
 
         self.expect_list_clear()
-        self.expect_list_extend([self.sitl, self.mavproxy])
+        if self.sup_prog is not None:
+            self.expect_list_extend([self.sitl, self.mavproxy])
+        else:
+            self.expect_list_extend([self.sitl, self.mavproxy, self.sup_prog])
 
         # need to wait for a heartbeat to arrive as then mavutil will
         # select the correct set of messages for us to receive in

Tools/autotest/pysim/util.py

@@ -408,7 +408,7 @@ def start_SITL(binary,
         # TODO: have a SITL-compiled ardupilot able to have its
         # console on an output fd.
     else:
-        child.expect('Waiting for connection', timeout=300)
+        child.expect('Waiting for ', timeout=300)
     return child
 
 

Tools/scripts/build_ci.sh

@@ -122,7 +122,13 @@ for t in $CI_BUILD_TARGET; do
         run_autotest "Copter" "build.Copter" "test.CopterTests2b"
         continue
     fi
-
+    if [ "$t" == "sitltest-can" ]; then
+        echo "Building navigator"
+        $waf configure --board sitl
+        $waf copter
+        run_autotest "Copter" "build.SITLPeriphGPS" "test.CAN"
+        continue
+    fi
     if [ "$t" == "sitltest-plane" ]; then
         run_autotest "Plane" "build.Plane" "test.Plane"
         continue