#!/usr/bin/env python
# APM automatic test suite
# Andrew Tridgell, October 2011

import pexpect, os, util, sys, shutil, arducopter
import optparse, fnmatch, time, glob, traceback

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)
    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, CLI=True)
    logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
    log = open(logfile, mode='w')
    mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
    mavproxy.expect(']')
    mavproxy.send("logs\n")
    mavproxy.expect("logs enabled:")
    mavproxy.expect("(\d+) logs")
    numlogs = int(mavproxy.match.group(1))
    mavproxy.expect("Log]")
    for i in range(numlogs):
        mavproxy.send("dump %u\n" % (i+1))
        mavproxy.expect("logs enabled:")
        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 mavlog files to GPX and KML'''
    import glob
    mavlog = glob.glob(util.reltopdir("../buildlogs/*.mavlog"))
    for m in mavlog:
        util.run_cmd(util.reltopdir("../pymavlink/examples/mavtogpx.py") + " --nofixcheck " + m)
        gpx = m + '.gpx'
        kml = m + '.kml'
        util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1 -F %s' % (gpx, kml), checkfail=False)
    return True


def test_prerequesites():
    '''check we have the right directories and tools to run tests'''
    print("Testing prerequesites")
    util.mkdir_p(util.reltopdir('../buildlogs'))
    if not os.path.exists(util.reltopdir('../HILTest/hil_quad.py')):
        print('''
You need to install HILTest in %s

You can get it from git://git.samba.org/tridge/UAV/HILTest.git

        ''' % util.reltopdir('../HILTest'))
        return False
    return True
    

############## 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')

opts, args = parser.parse_args()

steps = [
    'prerequesites',
    'build1280.ArduPlane',
    'build2560.ArduPlane',
    'build.ArduPlane',
    'defaults.ArduPlane',
    'logs.ArduPlane',
    'build1280.ArduCopter',
    'build2560.ArduCopter',
    'build.ArduCopter',
    'defaults.ArduCopter',
    'fly.ArduCopter',
    'logs.ArduCopter',
    'convertgpx',
    ]

skipsteps = opts.skip.split(',')

def skip_step(step):
    '''see if a step should be skipped'''
    for skip in skipsteps:
        if fnmatch.fnmatch(step, skip):
            return True
    return False

def run_step(step):
    '''run one step'''
    if step == "prerequesites":
        return test_prerequesites()

    if step == 'build.ArduPlane':
        return util.build_SIL('ArduPlane')

    if step == 'build.ArduCopter':
        return util.build_SIL('ArduCopter')

    if step == 'build1280.ArduCopter':
        return util.build_AVR('ArduCopter', board='mega')

    if step == 'build2560.ArduCopter':
        return util.build_AVR('ArduCopter', board='mega2560')

    if step == 'build1280.ArduPlane':
        return util.build_AVR('ArduPlane', board='mega')

    if step == 'build2560.ArduPlane':
        return util.build_AVR('ArduPlane', board='mega2560')

    if step == 'defaults.ArduPlane':
        return get_default_params('ArduPlane')

    if step == 'defaults.ArduCopter':
        return get_default_params('ArduCopter')

    if step == 'logs.ArduPlane':
        return dump_logs('ArduPlane')

    if step == 'logs.ArduCopter':
        return dump_logs('ArduCopter')

    if step == 'fly.ArduCopter':
        return arducopter.fly_ArduCopter()

    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.loadfile(util.reltopdir('.git/refs/heads/master'))
        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_webresults(results):
    '''write webpage results'''
    sys.path.insert(0, os.path.join(util.reltopdir("../pymavlink/generator")))
    import mavtemplate
    t = mavtemplate.MAVTemplate()
    html = util.loadfile(util.reltopdir('Tools/autotest/web/index.html'))
    f = open(util.reltopdir("../buildlogs/index.html"), mode='w')
    t.write(f, html, results)
    f.close()



def run_tests(steps):
    '''run a list of steps'''

    results = TestResults()

    passed = True
    failed = []
    for step in steps:
        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)
            pass
        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))

    results.addfile('Full Logs', 'autotest-output.txt')
    results.addglob('DataFlash Log', '*.flashlog')
    results.addglob("MAVLink log", '*.mavlog')
    results.addglob("GPX track", '*.gpx')
    results.addglob("KML track", '*.kml')
    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('ArduCopter build log', 'ArduCopter.txt')
    results.addfile('ArduCopter code size', 'ArduCopter.sizes.txt')
    results.addfile('ArduCopter stack sizes', 'ArduCopter.framesizes.txt')

    write_webresults(results)

    return passed


lck = util.lock_file(util.reltopdir('../buildlogs/autotest.lck'))
if lck is None:
    print("autotest is locked - exiting")
    sys.exit(0)

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