#!/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 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 = util.reltopdir('../buildlogs/%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.sh script.""" print("Running build_binaries.sh") # 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, directory=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") # 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, 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") if util.run_cmd(util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), directory=util.reltopdir('.')) != 0: print("Failed param_parse.py") return False return True def convert_gpx(): """Convert any tlog files to GPX and KML.""" mavlog = glob.glob(util.reltopdir("../buildlogs/*.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(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) 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): vehicle = step.split(".")[1] 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() if step == 'build.ArduPlane': return util.build_SITL('bin/arduplane', j=opts.j, debug=opts.debug) if step == 'build.APMrover2': return util.build_SITL('bin/ardurover', j=opts.j, debug=opts.debug) if step == 'build.ArduCopter': return util.build_SITL('bin/arducopter', j=opts.j, debug=opts.debug) if step == 'build.AntennaTracker': return util.build_SITL('bin/antennatracker', j=opts.j, debug=opts.debug) if step == 'build.Helicopter': return util.build_SITL('bin/arducopter-heli', j=opts.j, debug=opts.debug) if step == 'build.ArduSub': return util.build_SITL('bin/ardusub', j=opts.j, debug=opts.debug) binary = binary_path(step, debug=opts.debug) if step == 'defaults.ArduPlane': return get_default_params('ArduPlane', binary) if step == 'defaults.ArduCopter': return get_default_params('ArduCopter', binary) if step == 'defaults.APMrover2': return get_default_params('APMrover2', binary) if step == 'defaults.ArduSub': return get_default_params('ArduSub', binary) if step == 'fly.ArduCopter': return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame) if step == 'fly.CopterAVC': return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame) if step == 'fly.ArduPlane': return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb) if step == 'fly.QuadPlane': return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb) if step == 'drive.APMrover2': return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame) if step == 'dive.ArduSub': return ardusub.dive_ArduSub(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb) 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(util.reltopdir('../buildlogs/%s' % pattern)): self.addfile(name, os.path.basename(f)) def addglobimage(self, name, pattern): """Add a set of images.""" for f in glob.glob(util.reltopdir('../buildlogs/%s' % 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(util.reltopdir("../buildlogs/%s" % 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, 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', 'default_params/ArduPlane-defaults.parm') results.addglob("ArduPlane log", 'ArduPlane-*.BIN') results.addglob("ArduPlane core", 'ArduPlane.core') results.addglob("ArduPlane ELF", 'ArduPlane.elf') 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', 'default_params/ArduCopter-defaults.parm') results.addglob("ArduCopter log", 'ArduCopter-*.BIN') results.addglob("ArduCopter core", 'ArduCopter.core') results.addglob("ArduCopter elf", 'ArduCopter.elf') results.addglob("CopterAVC log", 'CopterAVC-*.BIN') results.addglob("CopterAVC core", 'CopterAVC.core') 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', 'default_params/APMrover2-defaults.parm') results.addglob("APMrover2 log", 'APMrover2-*.BIN') results.addglob("APMrover2 core", 'APMrover2.core') results.addglob("APMrover2 ELF", 'APMrover2.elf') results.addfile('AntennaTracker build log', 'AntennaTracker.txt') results.addfile('AntennaTracker code size', 'AntennaTracker.sizes.txt') results.addfile('AntennaTracker stack sizes', 'AntennaTracker.framesizes.txt') results.addglob("AntennaTracker ELF", 'AntennaTracker.elf') results.addfile('ArduSub build log', 'ArduSub.txt') results.addfile('ArduSub code size', 'ArduSub.sizes.txt') results.addfile('ArduSub stack sizes', 'ArduSub.framesizes.txt') results.addfile('ArduSub defaults', 'default_params/ArduSub-defaults.parm') results.addglob("ArduSub log", 'ArduSub-*.BIN') results.addglob("ArduSub core", 'ArduSub.core') results.addglob("ArduSub ELF", 'ArduSub.elf') 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 = util.reltopdir("../buildlogs/%s-%s" % (vehicle, bname)) print("Renaming %s to %s" % (log, newname)) os.rename(log, newname) corefile = "core" if os.path.exists(corefile): newname = util.reltopdir("../buildlogs/%s.core" % vehicle) print("Renaming %s to %s" % (corefile, newname)) os.rename(corefile, newname) util.run_cmd('/bin/cp A*/A*.elf ../buildlogs', directory=util.reltopdir('.')) 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("--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') 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(util.reltopdir('../buildlogs')) lckfile = util.reltopdir('../buildlogs/autotest.lck') 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)) matched.extend(matches) steps = matched # skip steps according to --skip option: steps = [ s for s in steps if should_run_step(s) ] results = TestResults() 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