#!/usr/bin/env python # APM automatic test suite # Andrew Tridgell, October 2011 import pexpect, os, sys, shutil, atexit sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pysim')) import optparse, fnmatch, time, glob, traceback, signal, util, time, math, common, random from common import * from pymavlink import mavutil, mavwp import arduplane, arducopter # Defaults HOME=mavutil.location(-35.362938,149.165085,584,270) # ArduCopter defaults FRAME='+' homeloc = None num_wp = 0 # get location of scripts testdir=os.path.dirname(os.path.realpath(__file__)) os.environ['PYTHONUNBUFFERED'] = '1' os.putenv('TMPDIR', util.reltopdir('tmp')) def get_default_params(atype): '''get default parameters''' sil = util.start_SIL(atype, wipe=True) mavproxy = util.start_MAVProxy_SIL(atype) print("Dumping defaults") idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)']) if idx == 0: # we need to restart it after eeprom erase util.pexpect_close(mavproxy) util.pexpect_close(sil) sil = util.start_SIL(atype) mavproxy = util.start_MAVProxy_SIL(atype) idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)') parmfile = mavproxy.match.group(1) dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype) shutil.copy(parmfile, dest) util.pexpect_close(mavproxy) util.pexpect_close(sil) print("Saved defaults for %s to %s" % (atype, dest)) return True def dump_logs(atype): '''dump DataFlash logs''' print("Dumping logs for %s" % atype) sil = util.start_SIL(atype) logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype) log = open(logfile, mode='w') mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log) mavproxy.send('\n\n\n') print("navigating menus") mavproxy.expect(']') mavproxy.send("logs\n") mavproxy.expect("logs enabled:") lognums = [] i = mavproxy.expect(["No logs", "(\d+) logs"]) if i == 0: numlogs = 0 else: numlogs = int(mavproxy.match.group(1)) for i in range(numlogs): mavproxy.expect("Log (\d+),") lognums.append(int(mavproxy.match.group(1))) mavproxy.expect("Log]") for i in range(numlogs): print("Dumping log %u (i=%u)" % (lognums[i], i)) mavproxy.send("dump %u\n" % lognums[i]) mavproxy.expect("logs enabled:", timeout=120) mavproxy.expect("Log]") util.pexpect_close(mavproxy) util.pexpect_close(sil) log.close() print("Saved log for %s to %s" % (atype, logfile)) return True def convert_gpx(): '''convert any tlog files to GPX and KML''' import glob mavlog = glob.glob(util.reltopdir("../buildlogs/*.tlog")) for m in mavlog: util.run_cmd(util.reltopdir("../mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m) gpx = m + '.gpx' kml = m + '.kml' util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False) util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False) return True def test_prerequisites(): '''check we have the right directories and tools to run tests''' print("Testing prerequisites") util.mkdir_p(util.reltopdir('../buildlogs')) return True def alarm_handler(signum, frame): '''handle test timeout''' global results, opts try: results.add('TIMEOUT', 'FAILED', opts.timeout) util.pexpect_close_all() results.addfile('Full Logs', 'autotest-output.txt') results.addglob('DataFlash Log', '*.flashlog') results.addglob("MAVLink log", '*.tlog') results.addfile('ArduPlane build log', 'ArduPlane.txt') results.addfile('ArduPlane defaults', 'ArduPlane.defaults.txt') results.addfile('ArduCopter build log', 'ArduCopter.txt') results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt') write_webresults(results) os.killpg(0, signal.SIGKILL) except Exception: pass sys.exit(1) import arducopter, arduplane class Test(object): ''' unit test class ''' def __init__(self, name, path, test): self.name = name self.path = path self.test = test self.result = False self.log = '' def fly_ArduCopter_scripted(testname): '''fly ArduCopter in SIL ''' global homeloc sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % ( FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading) sim_cmd += ' --wind=6,45,.3' sil = util.start_SIL('ArduCopter', wipe=True) mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter') mavproxy.expect('Received [0-9]+ parameters') # setup test parameters mavproxy.send("param load %s/ArduCopter.parm\n" % testdir) mavproxy.expect('Loaded [0-9]+ parameters') # reboot with new parameters util.pexpect_close(mavproxy) util.pexpect_close(sil) sil = util.start_SIL('ArduCopter', height=HOME.alt) sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10) sim.delaybeforesend = 0 util.pexpect_autoclose(sim) options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5' mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options) mavproxy.expect('Logging to (\S+)') logfile = mavproxy.match.group(1) print("LOGFILE %s" % logfile) buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog") print("buildlog=%s" % buildlog) if os.path.exists(buildlog): os.unlink(buildlog) os.link(logfile, buildlog) # the received parameters can come before or after the ready to fly message mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY']) mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY']) util.expect_setup_callback(mavproxy, arducopter.expect_callback) expect_list_clear() expect_list_extend([sim, sil, mavproxy]) # get a mavlink connection going try: mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True) except Exception, msg: print("Failed to start mavlink connection on 127.0.0.1:19550" % msg) raise mav.message_hooks.append(message_hook) mav.idle_hooks.append(idle_hook) failed = False e = 'None' try: mav.wait_heartbeat() arducopter.setup_rc(mavproxy) homeloc = mav.location() print("# Executing test - " + testname) if not test_suite[testname].test(mavproxy, mav): print("Test script failed") failed = True except pexpect.TIMEOUT, e: failed = True mav.close() util.pexpect_close(mavproxy) util.pexpect_close(sil) util.pexpect_close(sim) if os.path.exists('ArduCopter-valgrind.log'): os.chmod('ArduCopter-valgrind.log', 0644) shutil.copy("ArduCopter-valgrind.log", util.reltopdir("../buildlogs/ArduCopter-valgrind.log")) if failed: print("FAILED: %s" % e) return False return True class TestResult(object): '''test result class''' def __init__(self, name, result="", elapsed=0): self.name = name self.success = False self.result = result self.elapsed = "%1.f" % elapsed class TestFile(object): '''test result file''' def __init__(self, name, fname): self.name = name self.fname = fname class TestResults(object): '''test results class''' def __init__(self): self.date = time.asctime() self.isotime = time.strftime("%Y-%m-%dT%H:%M:%S") self.githash = util.run_cmd('git rev-parse HEAD', output=True, dir=util.reltopdir('.')).strip() self.tests = [] self.files = [] def add(self, name, result, elapsed): '''add a result''' self.tests.append(TestResult(name, result, elapsed)) def addfile(self, name, fname): '''add a result file''' self.files.append(TestFile(name, fname)) def addglob(self, name, pattern): '''add a set of files''' import glob for f in glob.glob(util.reltopdir('../buildlogs/%s' % pattern)): self.addfile(name, os.path.basename(f)) def write_XMLresults(atype, results): '''write XML JUnit results''' from pymavlink.generator import mavtemplate t = mavtemplate.MAVTemplate() for x in glob.glob(util.reltopdir('Tools/autotest/junit.xml')): junit_xml = util.loadfile(x) f = open(util.reltopdir("../buildlogs/%s-%s" % (atype, os.path.basename(x))), mode='w') t.write(f, junit_xml, results) f.close() def write_webresults(results): '''write webpage results''' from pymavlink.generator import mavtemplate t = mavtemplate.MAVTemplate() for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')): html = util.loadfile(h) f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)), mode='w') t.write(f, html, results) f.close() for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')): shutil.copy(f, util.reltopdir('../buildlogs/%s' % os.path.basename(f))) results = TestResults() unit_test_results = TestResults() def run_tests(tests): '''run a list of tests''' global results, unit_test_results passed = True failed = [] for testname in tests: util.pexpect_close_all() testcase = TestResult(testname) testcase.success = False t1 = time.time() print(">>>> RUNNING test: %s at %s" % (testname, time.asctime())) try: if not fly_ArduCopter_scripted(testname): print(">>>> FAILED test: %s at %s" % (testname, time.asctime())) passed = False testcase.elapsed = "%.1f" % (time.time() - t1) testcase.result = ''' %s ''' % (testcase.name, testcase.elapsed, "failed") unit_test_results.tests.append(testcase) print testcase.result failed.append(testname) continue except Exception, msg: testcase.elapsed = "%.1f" % (time.time() - t1) passed = False print(">>>> FAILED test: %s at %s (%s)" % (testname, time.asctime(), msg)) traceback.print_exc(file=sys.stdout) testcase.result = ''' %s ''' % (testcase.name, testcase.elapsed, traceback.format_exc() ) print testcase.result unit_test_results.tests.append(testcase) failed.append(testcase.name) continue #success testcase.elapsed = "%.1f" % (time.time() - t1) testcase.success = True testcase.result = ''' ''' % (testcase.name, testcase.elapsed ) unit_test_results.tests.append(testcase) print(">>>> PASSED test: %s at %s" % (testname, time.asctime())) print testcase.result dump_logs('ArduCopter') convert_gpx() if not passed: print("FAILED %u tests: %s" % (len(failed), failed)) util.pexpect_close_all() results.addglob("Google Earth track", '*.kmz') results.addfile('Full Logs', 'autotest-output.txt') results.addglob('DataFlash Log', '*.flashlog') results.addglob("MAVLink log", '*.tlog') results.addglob("GPX track", '*.gpx') unit_test_results.num_tests = len(results.tests) unit_test_results.num_failures = len(failed) write_XMLresults("ArduCopter", unit_test_results) write_webresults(results) # individual test results in XML. Always True return True ############## main program ############# parser = optparse.OptionParser(sys.argv[0]) parser.add_option("--list", action='store_true', default=False, help='list the available tests (comma separated, can be used as TESTLIST') parser.add_option("--run", type='string', default='', metavar="TESTLIST", help='list of tests to run (comma separated)' ) parser.add_option("--rungroup", type='string', default='', metavar="TESTLIST", help='list of test groups to run (comma separated)' ) parser.add_option("--skip", type='string', default='', metavar="TESTLIST", help='list of tests to skip (comma separated)') parser.add_option("--skipgroup", type='string', default='', metavar="TESTLIST", help='list of test groups to skip (comma separated)') opts, args = parser.parse_args() #### Load test modules #### print '>>>>>> Loading ArduCopter TEST MODULES' import glob test_suite = {} test_groups = {} test_base_path = 'APM/Tools/autotest/apm_unit_tests/' print test_base_path print os.path.dirname(os.path.realpath(__file__)) test_group_names = glob.glob(test_base_path+'*') for gname in test_group_names: sys.path.insert(0, gname) gname = os.path.basename(gname) gtests = glob.glob(test_base_path + gname + '/*.py') if gtests: test_groups[gname] = [] for tmodule in gtests: tname = os.path.basename(tmodule) if (tname.endswith('.py')): tname = (tname[:-3]).strip() # chop off the .py test_groups[gname].append(tname) test_suite[tname.strip()] = tmodule alltests = test_suite.keys() allgroups = test_groups.keys() if (len(alltests) == 0): print "Error: no test modules selected" exit(1) if opts.list: print "\n\nFound %s modules in %s groups" % ((len(alltests), len(allgroups))) print "\n\nAvailable tests: " print ', '.join(alltests) print "\n\nAvailable groups: " for g in allgroups: print g + " --- " + ','.join(test_groups[g]) if opts.rungroup: for group in opts.rungroup.split(','): opts.run += ','.join(test_groups[group]) if opts.skipgroup: for group in opts.skipgroup.split(','): opts.skip += ','.join(test_groups[group]) runtests = [] print "Selected: " + opts.run print "Skipping: " + opts.skip if opts.run: for runtest in opts.run.split(','): runtests.append(runtest.strip()) print "Adding test - %s" % runtest else: runtests = alltests finaltests = [] if opts.skip: skiptests = opts.skip.split(',') print "Skipping tests: " + ','.join(skiptests) for runtest in runtests: if runtest not in skiptests: finaltests.append(runtest) else: print "Skipping test - %s" % runtest else: finaltests = runtests if (len(finaltests) > 0): print "\n\n***\nLoading selected tests: " + ','.join(finaltests) else: print "Error: no test modules selected" exit(1) for tname in finaltests: print "Loading ArduCopter test module: " + tname try: mpath = test_suite[tname] m = __import__ (tname) unit_test = getattr(m,'unit_test') test_module = Test(tname, mpath, unit_test) test_suite[tname] = test_module except Exception: raise print '>>>>>> Running TEST MODULES' atexit.register(util.pexpect_close_all) try: run_tests(finaltests) sys.exit(0) except KeyboardInterrupt: util.pexpect_close_all() sys.exit(1) except Exception: # make sure we kill off any children util.pexpect_close_all() raise