#!/usr/bin/env python # APM automatic test suite # Andrew Tridgell, October 2011 import pexpect, os, sys, shutil, atexit import optparse, fnmatch, time, glob, traceback, signal sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pysim')) import util 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.parm' % 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 build_all(): '''run the build_all.sh script''' print("Running build_all.sh") if util.run_cmd(util.reltopdir('Tools/scripts/build_all.sh'), dir=util.reltopdir('.')) != 0: print("Failed build_all.sh") return False return True def build_binaries(): '''run the build_binaries.sh script''' print("Running build_binaries.sh") import shutil # copy the script as it changes git branch, which can change the script while running orig=util.reltopdir('Tools/scripts/build_binaries.sh') copy=util.reltopdir('./build_binaries.sh') shutil.copyfile(orig, copy) shutil.copymode(orig, copy) if util.run_cmd(copy, dir=util.reltopdir('.')) != 0: print("Failed build_binaries.sh") return False return True def build_devrelease(): '''run the build_devrelease.sh script''' print("Running build_devrelease.sh") import shutil # copy the script as it changes git branch, which can change the script while running orig=util.reltopdir('Tools/scripts/build_devrelease.sh') copy=util.reltopdir('./build_devrelease.sh') shutil.copyfile(orig, copy) shutil.copymode(orig, copy) if util.run_cmd(copy, dir=util.reltopdir('.')) != 0: print("Failed build_devrelease.sh") return False return True def build_examples(): '''run the build_examples.sh script''' print("Running build_examples.sh") if util.run_cmd(util.reltopdir('Tools/scripts/build_examples.sh'), dir=util.reltopdir('.')) != 0: print("Failed build_examples.sh") return False return True def build_parameters(): '''run the param_parse.py script''' print("Running param_parse.py") if util.run_cmd(util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), dir=util.reltopdir('.')) != 0: print("Failed param_parse.py") return False 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) util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m,m)) 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() convert_gpx() write_fullresults() os.killpg(0, signal.SIGKILL) except Exception: pass sys.exit(1) ############## main program ############# parser = optparse.OptionParser("autotest") parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)') parser.add_option("--list", action='store_true', default=False, help='list the available steps') parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to') 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') opts, args = parser.parse_args() import arducopter, arduplane, apmrover2 steps = [ 'prerequisites', 'build.All', 'build.Binaries', 'build.DevRelease', 'build.Examples', 'build.Parameters', 'build2560.ArduPlane', 'build.ArduPlane', 'defaults.ArduPlane', 'fly.ArduPlane', 'build2560.APMrover2', 'build.APMrover2', 'defaults.APMrover2', 'drive.APMrover2', 'build2560.ArduCopter', 'build.ArduCopter', 'defaults.ArduCopter', 'fly.ArduCopter', 'fly.CopterAVC', 'convertgpx', ] skipsteps = opts.skip.split(',') # ensure we catch timeouts signal.signal(signal.SIGALRM, alarm_handler) signal.alarm(opts.timeout) if opts.list: for step in steps: print(step) sys.exit(0) def skip_step(step): '''see if a step should be skipped''' for skip in skipsteps: if fnmatch.fnmatch(step.lower(), skip.lower()): return True return False def run_step(step): '''run one step''' if step == "prerequisites": return test_prerequisites() if step == 'build.ArduPlane': return util.build_SIL('ArduPlane') if step == 'build.APMrover2': return util.build_SIL('APMrover2') if step == 'build.ArduCopter': return util.build_SIL('ArduCopter') if step == 'build2560.ArduCopter': return util.build_AVR('ArduCopter', board='mega2560') if step == 'build2560.ArduPlane': return util.build_AVR('ArduPlane', board='mega2560') if step == 'build2560.APMrover2': return util.build_AVR('APMrover2', board='mega2560') if step == 'defaults.ArduPlane': return get_default_params('ArduPlane') if step == 'defaults.ArduCopter': return get_default_params('ArduCopter') if step == 'defaults.APMrover2': return get_default_params('APMrover2') if step == 'fly.ArduCopter': return arducopter.fly_ArduCopter(viewerip=opts.viewerip, map=opts.map) if step == 'fly.CopterAVC': return arducopter.fly_CopterAVC(viewerip=opts.viewerip, map=opts.map) if step == 'fly.ArduPlane': return arduplane.fly_ArduPlane(viewerip=opts.viewerip, map=opts.map) if step == 'drive.APMrover2': return apmrover2.drive_APMrover2(viewerip=opts.viewerip, map=opts.map) if step == 'build.All': return build_all() if step == 'build.Binaries': return build_binaries() if step == 'build.DevRelease': return build_devrelease() if step == 'build.Examples': return build_examples() if step == 'build.Parameters': return build_parameters() if step == 'convertgpx': return convert_gpx() raise RuntimeError("Unknown step %s" % step) class TestResult(object): '''test result class''' def __init__(self, name, result, elapsed): self.name = name self.result = result self.elapsed = "%.1f" % 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.githash = util.run_cmd('git rev-parse HEAD', output=True, dir=util.reltopdir('.')).strip() self.tests = [] self.files = [] self.images = [] 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 addimage(self, name, fname): '''add a result image''' self.images.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 addglobimage(self, name, pattern): '''add a set of images''' import glob for f in glob.glob(util.reltopdir('../buildlogs/%s' % pattern)): self.addimage(name, os.path.basename(f)) 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))) def write_fullresults(): '''write out full results set''' global results results.addglob("Google Earth track", '*.kmz') results.addfile('Full Logs', 'autotest-output.txt') results.addglob('DataFlash Log', '*-log.bin') results.addglob("MAVLink log", '*.tlog') results.addglob("GPX track", '*.gpx') results.addfile('ArduPlane build log', 'ArduPlane.txt') results.addfile('ArduPlane code size', 'ArduPlane.sizes.txt') results.addfile('ArduPlane stack sizes', 'ArduPlane.framesizes.txt') results.addfile('ArduPlane defaults', 'ArduPlane-defaults.parm') results.addfile('ArduCopter build log', 'ArduCopter.txt') results.addfile('ArduCopter code size', 'ArduCopter.sizes.txt') results.addfile('ArduCopter stack sizes', 'ArduCopter.framesizes.txt') results.addfile('ArduCopter defaults', 'ArduCopter-defaults.parm') results.addfile('APMrover2 build log', 'APMrover2.txt') results.addfile('APMrover2 code size', 'APMrover2.sizes.txt') results.addfile('APMrover2 stack sizes', 'APMrover2.framesizes.txt') results.addfile('APMrover2 defaults', 'APMrover2-defaults.parm') results.addglob('APM:Libraries documentation', 'docs/libraries/index.html') results.addglob('APM:Plane documentation', 'docs/ArduPlane/index.html') results.addglob('APM:Copter documentation', 'docs/ArduCopter/index.html') results.addglob('APM:Rover documentation', 'docs/APMrover2/index.html') results.addglobimage("Flight Track", '*.png') write_webresults(results) results = TestResults() def run_tests(steps): '''run a list of steps''' global results passed = True failed = [] for step in steps: util.pexpect_close_all() if skip_step(step): continue t1 = time.time() print(">>>> RUNNING STEP: %s at %s" % (step, time.asctime())) try: if not run_step(step): print(">>>> FAILED STEP: %s at %s" % (step, time.asctime())) passed = False failed.append(step) results.add(step, 'FAILED', time.time() - t1) continue except Exception, msg: passed = False failed.append(step) print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg)) traceback.print_exc(file=sys.stdout) results.add(step, 'FAILED', time.time() - t1) continue results.add(step, 'PASSED', time.time() - t1) print(">>>> PASSED STEP: %s at %s" % (step, time.asctime())) if not passed: print("FAILED %u tests: %s" % (len(failed), failed)) util.pexpect_close_all() write_fullresults() return passed util.mkdir_p(util.reltopdir('../buildlogs')) lck = util.lock_file(util.reltopdir('../buildlogs/autotest.lck')) if lck is None: print("autotest is locked - exiting") sys.exit(0) atexit.register(util.pexpect_close_all) if len(args) > 0: # allow a wildcard list of steps matched = [] for a in args: for s in steps: if fnmatch.fnmatch(s.lower(), a.lower()): matched.append(s) steps = matched try: if not run_tests(steps): sys.exit(1) except KeyboardInterrupt: util.pexpect_close_all() sys.exit(1) except Exception: # make sure we kill off any children util.pexpect_close_all() raise