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autotest: use defaults file to set speedup 

this solves a problem where after a reboot the vehicle runs fast because we honour the --speedup parmeter over the SIM_SPEEDUP parameter.
This commit is contained in:
Peter Barker 2024-04-10 12:40:17 +10:00 committed by Peter Barker
parent c59e96cc15
commit f9e95be590
1 changed files with 16 additions and 9 deletions
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25
Tools/autotest/pysim/util.py
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@ -421,7 +421,7 @@ def start_SITL(binary,
model=None, model=None,
speedup=1, speedup=1,
sim_rate_hz=None, sim_rate_hz=None,
defaults_filepath=None, defaults_filepath=[],
unhide_parameters=False, unhide_parameters=False,
gdbserver=False, gdbserver=False,
breakpoints=[], breakpoints=[],
@ -506,6 +506,13 @@ def start_SITL(binary,
raise RuntimeError("DISPLAY was not set") raise RuntimeError("DISPLAY was not set")
cmd.append(binary) cmd.append(binary)
if defaults_filepath is None:
defaults_filepath = []
if not isinstance(defaults_filepath, list):
defaults_filepath = [defaults_filepath]
defaults = [reltopdir(path) for path in defaults_filepath]
if not supplementary: if not supplementary:
if wipe: if wipe:
cmd.append('-w') cmd.append('-w')
@ -515,7 +522,12 @@ def start_SITL(binary,
cmd.extend(['--home', home]) cmd.extend(['--home', home])
cmd.extend(['--model', model]) cmd.extend(['--model', model])
if speedup is not None and speedup != 1: if speedup is not None and speedup != 1:
cmd.extend(['--speedup', str(speedup)]) ntf = tempfile.NamedTemporaryFile(mode="w", delete=False)
print(f"SIM_SPEEDUP {speedup}", file=ntf)
ntf.close()
# prepend it so that a caller can override the speedup in
# passed-in defaults:
defaults = [ntf.name] + defaults
if sim_rate_hz is not None: if sim_rate_hz is not None:
cmd.extend(['--rate', str(sim_rate_hz)]) cmd.extend(['--rate', str(sim_rate_hz)])
if unhide_parameters: if unhide_parameters:
@ -525,13 +537,8 @@ def start_SITL(binary,
if enable_fgview_output: if enable_fgview_output:
cmd.append("--enable-fgview") cmd.append("--enable-fgview")
if defaults_filepath is not None: if len(defaults):
if isinstance(defaults_filepath, list): cmd.extend(['--defaults', ",".join(defaults)])
defaults = [reltopdir(path) for path in defaults_filepath]
if len(defaults):
cmd.extend(['--defaults', ",".join(defaults)])
else:
cmd.extend(['--defaults', reltopdir(defaults_filepath)])
cmd.extend(customisations) cmd.extend(customisations)