Tools: factor init up into parent class

Tools: autotest: use speedup 8 for all suites

for reliability

Tools/autotest/antennatracker.py

@@ -12,39 +12,18 @@ import operator
 
 # get location of scripts
 testdir = os.path.dirname(os.path.realpath(__file__))
-HOME = mavutil.location(-27.274439, 151.290064, 343, 8.7)
+SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7)
 
 class AutoTestTracker(AutoTest):
-    def __init__(self,
-                 binary,
-                 valgrind=False,
-                 gdb=False,
-                 speedup=10,
-                 frame=None,
-                 params=None,
-                 gdbserver=False,
-                 breakpoints=[],
-                 **kwargs):
-        super(AutoTestTracker, self).__init__(**kwargs)
-        self.binary = binary
-        self.valgrind = valgrind
-        self.gdb = gdb
-        self.frame = frame
-        self.params = params
-        self.gdbserver = gdbserver
-        self.breakpoints = breakpoints
 
-        self.home = "%f,%f,%u,%u" % (HOME.lat,
+    def log_name(self):
-                                     HOME.lng,
+        return "AntennaTracker"
-                                     HOME.alt,
-                                     HOME.heading)
-        self.homeloc = None
-        self.speedup = speedup
 
-        self.log_name = "AntennaTracker"
+    def test_filepath(self):
-        self.logfile = None
+         return os.path.realpath(__file__)
 
-        self.sitl = None
+    def sitl_start_location(self):
+        return SITL_START_LOCATION
 
     def start_stream_systemtime(self):
         '''AntennaTracker doesn't stream this by default but we need it for get_sim_time'''
@@ -68,43 +47,12 @@ class AutoTestTracker(AutoTest):
     def is_tracker(self):
         return True
 
-    def init(self):
+    def default_frame(self):
-        if self.frame is None:
+        return "tracker"
-            self.frame = "tracker"
 
-        self.mavproxy_logfile = self.open_mavproxy_logfile()
+    def apply_defaultfile_parameters(self):
-
+        # tracker doesn't have a default parameters file
-        self.sitl = util.start_SITL(self.binary,
+        pass
-                                    wipe=True,
-                                    model=self.frame,
-                                    home=self.home,
-                                    speedup=self.speedup,
-                                    valgrind=self.valgrind,
-                                    gdb=self.gdb,
-                                    gdbserver=self.gdbserver,
-                                    breakpoints=self.breakpoints,
-                                    )
-        self.mavproxy = util.start_MAVProxy_SITL(
-            'AntennaTracker',
-            logfile=self.mavproxy_logfile,
-            options=self.mavproxy_options())
-        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
-        self.logfile = self.mavproxy.match.group(1)
-        self.progress("LOGFILE %s" % self.logfile)
-        self.try_symlink_tlog()
-
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        util.expect_setup_callback(self.mavproxy, self.expect_callback)
-
-        self.expect_list_clear()
-        self.expect_list_extend([self.sitl, self.mavproxy])
-
-        self.progress("Started simulator")
-
-        self.get_mavlink_connection_going()
-
-        self.progress("Ready to start testing!")
 
     def sysid_thismav(self):
         return 2

Tools/autotest/apmrover2.py

@@ -28,74 +28,18 @@ SITL_START_LOCATION = mavutil.location(40.071374969556928,
 
 
 class AutoTestRover(AutoTest):
-    def __init__(self,
-                 binary,
-                 valgrind=False,
-                 gdb=False,
-                 speedup=8,
-                 frame=None,
-                 params=None,
-                 gdbserver=False,
-                 breakpoints=[],
-                 **kwargs):
-        super(AutoTestRover, self).__init__(**kwargs)
-        self.binary = binary
-        self.valgrind = valgrind
-        self.gdb = gdb
-        self.frame = frame
-        self.params = params
-        self.gdbserver = gdbserver
-        self.breakpoints = breakpoints
 
-        self.speedup = speedup
+    def log_name(self):
+        return "APMrover2"
 
-        self.sitl = None
+    def test_filepath(self):
-
+         return os.path.realpath(__file__)
-        self.log_name = "APMrover2"
 
     def sitl_start_location(self):
         return SITL_START_LOCATION
 
-    def init(self):
+    def default_frame(self):
-        super(AutoTestRover, self).init(os.path.realpath(__file__))
+        return "rover"
-        if self.frame is None:
-            self.frame = 'rover'
-
-        self.mavproxy_logfile = self.open_mavproxy_logfile()
-
-        self.sitl = util.start_SITL(self.binary,
-                                    model=self.frame,
-                                    home=self.sitl_home(),
-                                    speedup=self.speedup,
-                                    valgrind=self.valgrind,
-                                    gdb=self.gdb,
-                                    gdbserver=self.gdbserver,
-                                    breakpoints=self.breakpoints,
-                                    wipe=True)
-        self.mavproxy = util.start_MAVProxy_SITL(
-            'APMrover2',
-            logfile=self.mavproxy_logfile,
-            options=self.mavproxy_options())
-        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
-        self.logfile = self.mavproxy.match.group(1)
-        self.progress("LOGFILE %s" % self.logfile)
-        self.try_symlink_tlog()
-
-        self.progress("WAITING FOR PARAMETERS")
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        util.expect_setup_callback(self.mavproxy, self.expect_callback)
-
-        self.expect_list_clear()
-        self.expect_list_extend([self.sitl, self.mavproxy])
-
-        self.progress("Started simulator")
-
-        self.get_mavlink_connection_going()
-
-        self.apply_defaultfile_parameters()
-
-        self.progress("Ready to start testing!")
 
     def is_rover(self):
         return True

Tools/autotest/arducopter.py

@@ -33,29 +33,12 @@ SITL_START_LOCATION_AVC = mavutil.location(40.072842, -105.230575, 1586, 0)
 
 
 class AutoTestCopter(AutoTest):
-    def __init__(self, binary,
-                 valgrind=False,
-                 gdb=False,
-                 speedup=10,
-                 frame=None,
-                 params=None,
-                 gdbserver=False,
-                 breakpoints=[],
-                 **kwargs):
-        super(AutoTestCopter, self).__init__(**kwargs)
-        self.binary = binary
-        self.valgrind = valgrind
-        self.gdb = gdb
-        self.frame = frame
-        self.params = params
-        self.gdbserver = gdbserver
-        self.breakpoints = breakpoints
 
-        self.speedup = speedup
+    def log_name(self):
+        return "ArduCopter"
 
-        self.log_name = "ArduCopter"
+    def test_filepath(self):
-
+         return os.path.realpath(__file__)
-        self.sitl = None
 
     def sitl_start_location(self):
         return SITL_START_LOCATION
@@ -72,48 +55,11 @@ class AutoTestCopter(AutoTest):
     def vehicleinfo_key(self):
         return 'ArduCopter'
 
-    def init(self):
+    def default_frame(self):
-        super(AutoTestCopter, self).init(os.path.realpath(__file__))
+        return "+"
-        if self.frame is None:
-            self.frame = '+'
 
-        self.mavproxy_logfile = self.open_mavproxy_logfile()
+    def uses_vicon(self):
-
+        return True
-        self.sitl = util.start_SITL(self.binary,
-                                    model=self.frame,
-                                    home=self.sitl_home(),
-                                    speedup=self.speedup,
-                                    valgrind=self.valgrind,
-                                    gdb=self.gdb,
-                                    gdbserver=self.gdbserver,
-                                    breakpoints=self.breakpoints,
-                                    vicon=True,
-                                    wipe=True)
-        self.mavproxy = util.start_MAVProxy_SITL(
-            'ArduCopter',
-            logfile=self.mavproxy_logfile,
-            options=self.mavproxy_options())
-
-        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
-        self.logfile = self.mavproxy.match.group(1)
-        self.progress("LOGFILE %s" % self.logfile)
-        self.try_symlink_tlog()
-
-        self.progress("WAITING FOR PARAMETERS")
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        self.get_mavlink_connection_going()
-
-        self.apply_defaultfile_parameters()
-
-        util.expect_setup_callback(self.mavproxy, self.expect_callback)
-
-        self.expect_list_clear()
-        self.expect_list_extend([self.sitl, self.mavproxy])
-
-        self.progress("Started simulator")
-
-        self.progress("Ready to start testing!")
 
     def close(self):
         super(AutoTestCopter, self).close()
@@ -2999,12 +2945,11 @@ class AutoTestCopter(AutoTest):
 
 class AutoTestHeli(AutoTestCopter):
 
-    def __init__(self, *args, **kwargs):
+    def log_name(self):
+        return "HeliCopter"
 
-        super(AutoTestHeli, self).__init__(*args, **kwargs)
+    def default_frame(self):
-
+        return "heli"
-        self.log_name = "HeliCopter"
-        self.frame = 'heli'
 
     def sitl_start_location(self):
         return SITL_START_LOCATION_AVC

Tools/autotest/arduplane.py

@@ -23,75 +23,26 @@ WIND = "0,180,0.2"  # speed,direction,variance
 
 
 class AutoTestPlane(AutoTest):
-    def __init__(self,
-                 binary,
-                 valgrind=False,
-                 gdb=False,
-                 speedup=10,
-                 frame=None,
-                 params=None,
-                 gdbserver=False,
-                 breakpoints=[],
-                 **kwargs):
-        super(AutoTestPlane, self).__init__(**kwargs)
-        self.binary = binary
-        self.valgrind = valgrind
-        self.gdb = gdb
-        self.frame = frame
-        self.params = params
-        self.gdbserver = gdbserver
-        self.breakpoints = breakpoints
 
-        self.homeloc = None
+    def log_name(self):
-        self.speedup = speedup
+        return "ArduPlane"
 
-        self.sitl = None
+    def test_filepath(self):
-
+        return os.path.realpath(__file__)
-        self.log_name = "ArduPlane"
 
     def sitl_start_location(self):
         return SITL_START_LOCATION
 
-    def init(self):
+    def defaults_filepath(self):
-        super(AutoTestPlane, self).init(os.path.realpath(__file__))
+        return os.path.join(testdir, 'default_params/plane-jsbsim.parm')
-        if self.frame is None:
-            self.frame = 'plane-elevrev'
 
-        self.mavproxy_logfile = self.open_mavproxy_logfile()
+    def default_frame(self):
+        return "plane-elevrev"
 
-        defaults_file = os.path.join(testdir,
+    def apply_defaultfile_parameters(self):
-                                     'default_params/plane-jsbsim.parm')
+        # plane passes in a defaults_file in place of applying
-        self.sitl = util.start_SITL(self.binary,
+        # parameters afterwards.
-                                    wipe=True,
+        pass
-                                    model=self.frame,
-                                    home=self.sitl_home(),
-                                    speedup=self.speedup,
-                                    defaults_file=defaults_file,
-                                    valgrind=self.valgrind,
-                                    gdb=self.gdb,
-                                    gdbserver=self.gdbserver,
-                                    breakpoints=self.breakpoints)
-        self.mavproxy = util.start_MAVProxy_SITL(
-            'ArduPlane',
-            logfile=self.mavproxy_logfile,
-            options=self.mavproxy_options())
-        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
-        self.logfile = self.mavproxy.match.group(1)
-        self.progress("LOGFILE %s" % self.logfile)
-        self.try_symlink_tlog()
-
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        util.expect_setup_callback(self.mavproxy, self.expect_callback)
-
-        self.expect_list_clear()
-        self.expect_list_extend([self.sitl, self.mavproxy])
-
-        self.progress("Started simulator")
-
-        self.get_mavlink_connection_going()
-
-        self.progress("Ready to start testing!")
 
     def is_plane(self):
         return True

Tools/autotest/ardusub.py

@@ -12,37 +12,15 @@ from pysim import util
 from common import AutoTest
 from common import NotAchievedException
 
-# get location of scripts
-testdir = os.path.dirname(os.path.realpath(__file__))
-
 SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185)
 
-
 class AutoTestSub(AutoTest):
-    def __init__(self,
-                 binary,
-                 valgrind=False,
-                 gdb=False,
-                 speedup=10,
-                 frame=None,
-                 params=None,
-                 gdbserver=False,
-                 breakpoints=[],
-                 **kwargs):
-        super(AutoTestSub, self).__init__(**kwargs)
-        self.binary = binary
-        self.valgrind = valgrind
-        self.gdb = gdb
-        self.frame = frame
-        self.params = params
-        self.gdbserver = gdbserver
-        self.breakpoints = breakpoints
 
-        self.speedup = speedup
+    def log_name(self):
+        return "ArduSub"
 
-        self.sitl = None
+    def test_filepath(self):
-
+         return os.path.realpath(__file__)
-        self.log_name = "ArduSub"
 
     def default_mode(self):
         return 'MANUAL'
@@ -50,50 +28,15 @@ class AutoTestSub(AutoTest):
     def sitl_start_location(self):
         return SITL_START_LOCATION
 
+    def default_frame(self):
+        return 'vectored'
+
     def init(self):
-        super(AutoTestSub, self).init(os.path.realpath(__file__))
+        super(AutoTestSub, self).init()
-        if self.frame is None:
-            self.frame = 'vectored'
-
-        self.mavproxy_logfile = self.open_mavproxy_logfile()
-
-        self.sitl = util.start_SITL(self.binary,
-                                    model=self.frame,
-                                    home=self.sitl_home(),
-                                    speedup=self.speedup,
-                                    valgrind=self.valgrind,
-                                    gdb=self.gdb,
-                                    gdbserver=self.gdbserver,
-                                    breakpoints=self.breakpoints,
-                                    wipe=True)
-        self.mavproxy = util.start_MAVProxy_SITL(
-            'ArduSub',
-            logfile=self.mavproxy_logfile,
-            options=self.mavproxy_options())
-        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
-        self.logfile = self.mavproxy.match.group(1)
-        self.progress("LOGFILE %s" % self.logfile)
-        self.try_symlink_tlog()
-
-        self.progress("WAITING FOR PARAMETERS")
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        util.expect_setup_callback(self.mavproxy, self.expect_callback)
-
-        self.expect_list_clear()
-        self.expect_list_extend([self.sitl, self.mavproxy])
-
-        self.progress("Started simulator")
-
-        self.get_mavlink_connection_going()
-
-        self.apply_defaultfile_parameters()
 
         # FIXME:
         self.set_parameter("FS_GCS_ENABLE", 0)
 
-        self.progress("Ready to start testing!")
-
     def is_sub(self):
         return True
 

Tools/autotest/common.py

@@ -154,9 +154,27 @@ class AutoTest(ABC):
     It implements the common function for all vehicle types.
     """
     def __init__(self,
+                 binary,
+                 valgrind=False,
+                 gdb=False,
+                 speedup=8,
+                 frame=None,
+                 params=None,
+                 gdbserver=False,
+                 breakpoints=[],
                  viewerip=None,
                  use_map=False,
                  _show_test_timings=False):
+
+        self.binary = binary
+        self.valgrind = valgrind
+        self.gdb = gdb
+        self.frame = frame
+        self.params = params
+        self.gdbserver = gdbserver
+        self.breakpoints = breakpoints
+        self.speedup = speedup
+
         self.mavproxy = None
         self.mav = None
         self.viewerip = viewerip
@@ -231,7 +249,7 @@ class AutoTest(ABC):
         return ret
 
     def vehicleinfo_key(self):
-        return self.log_name
+        return self.log_name()
 
     def repeatedly_apply_parameter_file(self, filepath):
         '''keep applying a parameter file until no parameters changed'''
@@ -249,6 +267,7 @@ class AutoTest(ABC):
 
     def apply_defaultfile_parameters(self):
         """Apply parameter file."""
+        self.progress("Applying default parameters file")
         # setup test parameters
         vinfo = vehicleinfo.VehicleInfo()
         if self.params is None:
@@ -337,7 +356,7 @@ class AutoTest(ABC):
             os.chmod(valgrind_log, 0o644)
             shutil.copy(valgrind_log,
                         self.buildlogs_path("%s-valgrind.log" %
-                                            self.log_name))
+                                            self.log_name()))
 
     def start_test(self, description):
         self.progress("#")
@@ -345,7 +364,7 @@ class AutoTest(ABC):
         self.progress("#")
 
     def try_symlink_tlog(self):
-        self.buildlog = self.buildlogs_path(self.log_name + "-test.tlog")
+        self.buildlog = self.buildlogs_path(self.log_name() + "-test.tlog")
         self.progress("buildlog=%s" % self.buildlog)
         if os.path.exists(self.buildlog):
             os.unlink(self.buildlog)
@@ -1677,7 +1696,7 @@ class AutoTest(ABC):
     def run_one_test(self, name, desc, test_function, interact=False):
         '''new-style run-one-test used by run_tests'''
         test_output_filename = self.buildlogs_path("%s-%s.txt" %
-                                                   (self.log_name, name))
+                                                   (self.log_name(), name))
         tee = TeeBoth(test_output_filename, 'w', self.mavproxy_logfile)
 
         prettyname = "%s (%s)" % (name, desc)
@@ -1735,9 +1754,58 @@ class AutoTest(ABC):
             exit(1)
         self.progress("PASSED: Check for syntax mistake in autotest lambda")
 
-    def init(self, file):
+    def uses_vicon(self):
+        return False
+
+    def defaults_filepath(self):
+        return None
+
+    def init(self):
         """Initilialize autotest feature."""
-        self.check_test_syntax(test_file=os.path.realpath(file))
+        self.check_test_syntax(test_file=self.test_filepath())
+
+        self.mavproxy_logfile = self.open_mavproxy_logfile()
+
+        if self.frame is None:
+            self.frame = self.default_frame()
+
+        self.progress("Starting simulator")
+        self.sitl = util.start_SITL(self.binary,
+                                    breakpoints=self.breakpoints,
+                                    defaults_file=self.defaults_filepath(),
+                                    gdb=self.gdb,
+                                    gdbserver=self.gdbserver,
+                                    home=self.sitl_home(),
+                                    model=self.frame,
+                                    speedup=self.speedup,
+                                    valgrind=self.valgrind,
+                                    vicon=self.uses_vicon(),
+                                    wipe=True,
+                                    )
+        self.progress("Starting MAVProxy")
+        self.mavproxy = util.start_MAVProxy_SITL(
+            self.vehicleinfo_key(),
+            logfile=self.mavproxy_logfile,
+            options=self.mavproxy_options())
+        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
+        self.logfile = self.mavproxy.match.group(1)
+        self.progress("LOGFILE %s" % self.logfile)
+        self.try_symlink_tlog()
+
+        self.progress("Waiting for Parameters")
+        self.mavproxy.expect('Received [0-9]+ parameters')
+
+        self.progress("Starting MAVLink connection")
+        self.get_mavlink_connection_going()
+
+        self.apply_defaultfile_parameters()
+
+        util.expect_setup_callback(self.mavproxy, self.expect_callback)
+
+        self.expect_list_clear()
+        self.expect_list_extend([self.sitl, self.mavproxy])
+
+        self.progress("Ready to start testing!")
 
 
     def poll_home_position(self, quiet=False):

Tools/autotest/quadplane.py

@@ -13,87 +13,35 @@ import operator
 
 # get location of scripts
 testdir = os.path.dirname(os.path.realpath(__file__))
-HOME = mavutil.location(-27.274439, 151.290064, 343, 8.7)
+SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7)
 MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt'
 FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt'
 WIND = "0,180,0.2"  # speed,direction,variance
 
 
 class AutoTestQuadPlane(AutoTest):
-    def __init__(self,
-                 binary,
-                 valgrind=False,
-                 gdb=False,
-                 speedup=10,
-                 frame=None,
-                 params=None,
-                 gdbserver=False,
-                 breakpoints=[],
-                 **kwargs):
-        super(AutoTestQuadPlane, self).__init__(**kwargs)
-        self.binary = binary
-        self.valgrind = valgrind
-        self.gdb = gdb
-        self.frame = frame
-        self.params = params
-        self.gdbserver = gdbserver
-        self.breakpoints = breakpoints
 
-        self.home = "%f,%f,%u,%u" % (HOME.lat,
+    def default_frame(self):
-                                     HOME.lng,
+        return "quadplane"
-                                     HOME.alt,
-                                     HOME.heading)
-        self.homeloc = None
-        self.speedup = speedup
 
-        self.log_name = "QuadPlane"
+    def test_filepath(self):
-        self.logfile = None
+        return os.path.realpath(__file__)
 
-        self.sitl = None
+    def sitl_start_location(self):
+        return SITL_START_LOCATION
 
-    def init(self):
+    def log_name(self):
-        super(AutoTestQuadPlane, self).init(os.path.realpath(__file__))
+        return "QuadPlane"
-        if self.frame is None:
-            self.frame = 'quadplane'
 
-        self.mavproxy_logfile = self.open_mavproxy_logfile()
+    def apply_defaultfile_parameters(self):
+        # plane passes in a defaults_file in place of applying
+        # parameters afterwards.
+        pass
 
+    def defaults_filepath(self):
         vinfo = vehicleinfo.VehicleInfo()
         defaults_file = vinfo.options["ArduPlane"]["frames"][self.frame]["default_params_filename"]
-        defaults_filepath = os.path.join(testdir, defaults_file)
+        return os.path.join(testdir, defaults_file)
-
-        self.sitl = util.start_SITL(self.binary,
-                                    wipe=True,
-                                    model=self.frame,
-                                    home=self.home,
-                                    speedup=self.speedup,
-                                    defaults_file=defaults_filepath,
-                                    valgrind=self.valgrind,
-                                    gdb=self.gdb,
-                                    gdbserver=self.gdbserver,
-                                    breakpoints=self.breakpoints,
-                                    )
-        self.mavproxy = util.start_MAVProxy_SITL(
-            'QuadPlane',
-            logfile=self.mavproxy_logfile,
-            options=self.mavproxy_options())
-        self.mavproxy.expect('Telemetry log: (\S+)\r\n')
-        self.logfile = self.mavproxy.match.group(1)
-        self.progress("LOGFILE %s" % self.logfile)
-        self.try_symlink_tlog()
-
-        self.mavproxy.expect('Received [0-9]+ parameters')
-
-        util.expect_setup_callback(self.mavproxy, self.expect_callback)
-
-        self.expect_list_clear()
-        self.expect_list_extend([self.sitl, self.mavproxy])
-
-        self.progress("Started simulator")
-
-        self.get_mavlink_connection_going()
-
-        self.progress("Ready to start testing!")
 
     def is_plane(self):
         return True