#!/usr/bin/env python
"""
APM automatic test suite
Andrew Tridgell, October 2011
"""
from __future__ import print_function
import atexit
import fnmatch
import glob
import optparse
import os
import shutil
import signal
import sys
import time
import traceback
import apmrover2
import arducopter
import arduplane
import quadplane
import ardusub
from pysim import util
from pymavlink import mavutil
from pymavlink.generator import mavtemplate
def buildlogs_dirpath():
return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
def buildlogs_path(path):
'''return a string representing path in the buildlogs directory'''
bits = [buildlogs_dirpath()]
if isinstance(path, list):
bits.extend(path)
else:
bits.append(path)
return os.path.join(*bits)
def get_default_params(atype, binary):
"""Get default parameters."""
# use rover simulator so SITL is not starved of input
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246)
if "plane" in binary or "rover" in binary:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10, unhide_parameters=True)
mavproxy = util.start_MAVProxy_SITL(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(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = buildlogs_path('%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
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'), directory=util.reltopdir('.')) != 0:
print("Failed build_all.sh")
return False
return True
def build_binaries():
"""Run the build_binaries.py script."""
print("Running build_binaries.py")
# copy the script as it changes git branch, which can change the script while running
orig = util.reltopdir('Tools/scripts/build_binaries.py')
copy = util.reltopdir('./build_binaries.py')
shutil.copy2(orig, copy)
# also copy generate_manifest library:
orig_gm = util.reltopdir('Tools/scripts/generate_manifest.py')
copy_gm = util.reltopdir('./generate_manifest.py')
shutil.copy2(orig_gm, copy_gm)
if util.run_cmd(copy, directory=util.reltopdir('.')) != 0:
print("Failed build_binaries.py")
return False
return True
def build_devrelease():
"""Run the build_devrelease.sh script."""
print("Running build_devrelease.sh")
# 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.copy2(orig, copy)
if util.run_cmd(copy, directory=util.reltopdir('.')) != 0:
print("Failed build_devrelease.sh")
return False
return True
def build_examples():
"""Build examples."""
for target in 'px4-v2', 'navio':
print("Running build.examples for %s" % target)
try:
util.build_examples(target)
except Exception as e:
print("Failed build_examples on board=%s" % target)
print(str(e))
return False
return True
def build_parameters():
"""Run the param_parse.py script."""
print("Running param_parse.py")
for vehicle in 'ArduPlane', 'ArduCopter', 'ArduSub', 'APMrover2', 'AntennaTracker':
if util.run_cmd([util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), '--vehicle', vehicle], directory=util.reltopdir('.')) != 0:
print("Failed param_parse.py (%s)" % vehicle)
return False
return True
def convert_gpx():
"""Convert any tlog files to GPX and KML."""
mavlog = glob.glob(buildlogs_path("*.tlog"))
for m in mavlog:
util.run_cmd(util.reltopdir("modules/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(buildlogs_dirpath())
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)
def should_run_step(step):
"""See if a step should be skipped."""
for skip in skipsteps:
if fnmatch.fnmatch(step.lower(), skip.lower()):
return False
return True
__bin_names = {
"ArduCopter" : "arducopter",
"ArduPlane" : "arduplane",
"APMrover2" : "ardurover",
"AntennaTracker" : "antennatracker",
"CopterAVC" : "arducopter-heli",
"QuadPlane" : "arduplane",
"ArduSub" : "ardusub"
}
def binary_path(step, debug=False):
try:
vehicle = step.split(".")[1]
except Exception:
return None
if vehicle in __bin_names:
binary_name = __bin_names[vehicle]
else:
# cope with builds that don't have a specific binary
return None
if debug:
binary_basedir = "sitl-debug"
else:
binary_basedir = "sitl"
binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name))
if not os.path.exists(binary):
if os.path.exists(binary + ".exe"):
binary += ".exe"
else:
raise ValueError("Binary (%s) does not exist" % (binary,))
return binary
def run_step(step):
"""Run one step."""
# remove old logs
util.run_cmd('/bin/rm -f logs/*.BIN logs/LASTLOG.TXT')
if step == "prerequisites":
return test_prerequisites()
build_opts = {
"j": opts.j,
"debug": opts.debug,
"clean": not opts.no_clean,
"configure": not opts.no_configure,
}
if step == 'build.ArduPlane':
return util.build_SITL('bin/arduplane', **build_opts)
if step == 'build.APMrover2':
return util.build_SITL('bin/ardurover', **build_opts)
if step == 'build.ArduCopter':
return util.build_SITL('bin/arducopter', **build_opts)
if step == 'build.AntennaTracker':
return util.build_SITL('bin/antennatracker', **build_opts)
if step == 'build.Helicopter':
return util.build_SITL('bin/arducopter-heli', **build_opts)
if step == 'build.ArduSub':
return util.build_SITL('bin/ardusub', **build_opts)
binary = binary_path(step, debug=opts.debug)
if step.startswith("default"):
vehicle = step[8:]
return get_default_params(vehicle, binary)
fly_opts = {
"viewerip": opts.viewerip,
"use_map": opts.map,
"valgrind": opts.valgrind,
"gdb": opts.gdb,
"gdbserver": opts.gdbserver,
}
if opts.speedup is not None:
fly_opts["speedup"] = opts.speedup
if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter(binary, frame=opts.frame, **fly_opts)
if step == 'fly.CopterAVC':
return arducopter.fly_CopterAVC(binary, **fly_opts)
if step == 'fly.ArduPlane':
return arduplane.fly_ArduPlane(binary, **fly_opts)
if step == 'fly.QuadPlane':
return quadplane.fly_QuadPlane(binary, **fly_opts)
if step == 'drive.APMrover2':
return apmrover2.drive_APMrover2(binary, frame=opts.frame, **fly_opts)
if step == 'dive.ArduSub':
return ardusub.dive_ArduSub(binary, **fly_opts)
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, directory=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."""
for f in glob.glob(buildlogs_path(pattern)):
self.addfile(name, os.path.basename(f))
def addglobimage(self, name, pattern):
"""Add a set of images."""
for f in glob.glob(buildlogs_path(pattern)):
self.addimage(name, os.path.basename(f))
def write_webresults(results_to_write):
"""Write webpage results."""
t = mavtemplate.MAVTemplate()
for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
html = util.loadfile(h)
f = open(buildlogs_path(os.path.basename(h)), mode='w')
t.write(f, html, results_to_write)
f.close()
for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
shutil.copy(f, buildlogs_path(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 common to all vehicles:
vehicle_files = [ ('{vehicle} build log', '{vehicle}.txt'),
('{vehicle} code size', '{vehicle}.sizes.txt'),
('{vehicle} stack sizes', '{vehicle}.framesizes.txt'),
('{vehicle} defaults', 'default_params/{vehicle}-defaults.parm'),
('{vehicle} core', '{vehicle}.core'),
('{vehicle} ELF', '{vehicle}.elf'),
]
vehicle_globs = [('{vehicle} log', '{vehicle}-*.BIN'),
]
for vehicle in 'ArduPlane','ArduCopter','APMrover2','AntennaTracker', 'ArduSub':
subs = { 'vehicle': vehicle }
for vehicle_file in vehicle_files:
description = vehicle_file[0].format(**subs)
filename = vehicle_file[1].format(**subs)
results.addfile(description, filename)
for vehicle_glob in vehicle_globs:
description = vehicle_glob[0].format(**subs)
glob = vehicle_glob[1].format(**subs)
results.addglob(description, glob)
results.addglob("CopterAVC log", 'CopterAVC-*.BIN')
results.addfile("CopterAVC core", 'CopterAVC.core')
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.addglob('APM:Sub documentation', 'docs/ArduSub/index.html')
results.addglobimage("Flight Track", '*.png')
write_webresults(results)
def check_logs(step):
"""Check for log files from a step."""
print("check step: ", step)
if step.startswith('fly.'):
vehicle = step[4:]
elif step.startswith('drive.'):
vehicle = step[6:]
else:
return
logs = glob.glob("logs/*.BIN")
for log in logs:
bname = os.path.basename(log)
newname = buildlogs_path("%s-%s" % (vehicle, bname))
print("Renaming %s to %s" % (log, newname))
shutil.move(log, newname)
corefile = "core"
if os.path.exists(corefile):
newname = buildlogs_path("%s.core" % vehicle)
print("Renaming %s to %s" % (corefile, newname))
shutil.move(corefile, newname)
try:
util.run_cmd('/bin/cp build/sitl/bin/* %s' % buildlogs_dirpath(),
directory=util.reltopdir('.'))
except Exception:
print("Unable to save binary")
def run_tests(steps):
"""Run a list of steps."""
global results
passed = True
failed = []
for step in steps:
util.pexpect_close_all()
t1 = time.time()
print(">>>> RUNNING STEP: %s at %s" % (step, time.asctime()))
try:
if run_step(step):
results.add(step, 'PASSED', time.time() - t1)
print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
check_logs(step)
else:
print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
passed = False
failed.append(step)
results.add(step, 'FAILED', time.time() - t1)
except Exception as 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)
check_logs(step)
if not passed:
print("FAILED %u tests: %s" % (len(failed), failed))
util.pexpect_close_all()
write_fullresults()
return passed
if __name__ == "__main__":
############## main program #############
os.environ['PYTHONUNBUFFERED'] = '1'
os.putenv('TMPDIR', util.reltopdir('tmp'))
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')
parser.add_option("--speedup", default=None, type='int', help='speedup to run the simulations at')
parser.add_option("--valgrind", default=False, action='store_true', help='run ArduPilot binaries under valgrind')
parser.add_option("--gdb", default=False, action='store_true', help='run ArduPilot binaries under gdb')
parser.add_option("--debug", default=False, action='store_true', help='make built binaries debug binaries')
parser.add_option("-j", default=None, type='int', help='build CPUs')
parser.add_option("--frame", type='string', default=None, help='specify frame type')
parser.add_option("--gdbserver", default=False, action='store_true', help='run ArduPilot binaries under gdbserver')
parser.add_option("--no-clean", default=False, action='store_true', help='do not clean before building', dest="no_clean")
parser.add_option("--no-configure", default=False, action='store_true', help='do not configure before building', dest="no_configure")
opts, args = parser.parse_args()
steps = [
'prerequisites',
'build.All',
'build.Binaries',
# 'build.DevRelease',
'build.Examples',
'build.Parameters',
'build.ArduPlane',
'defaults.ArduPlane',
'fly.ArduPlane',
'fly.QuadPlane',
'build.APMrover2',
'defaults.APMrover2',
'drive.APMrover2',
'build.ArduCopter',
'defaults.ArduCopter',
'fly.ArduCopter',
'build.Helicopter',
'fly.CopterAVC',
'build.AntennaTracker',
'build.ArduSub',
'defaults.ArduSub',
'dive.ArduSub',
'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)
util.mkdir_p(buildlogs_dirpath())
lckfile = buildlogs_path('autotest.lck')
print("lckfile=%s" % repr(lckfile))
lck = util.lock_file(lckfile)
if lck is None:
print("autotest is locked - exiting. lckfile=(%s)" % (lckfile,))
sys.exit(0)
atexit.register(util.pexpect_close_all)
if len(args) > 0:
# allow a wildcard list of steps
matched = []
for a in args:
matches = [step for step in steps if fnmatch.fnmatch(step.lower(), a.lower())]
if not len(matches):
print("No steps matched {}".format(a))
sys.exit(1)
matched.extend(matches)
steps = matched
# skip steps according to --skip option:
steps_to_run = [ s for s in steps if should_run_step(s) ]
results = TestResults()
try:
if not run_tests(steps_to_run):
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