#!/usr/bin/env python3
"""
ArduPilot automatic test suite.

Andrew Tridgell, October 2011

 AP_FLAKE8_CLEAN
"""
from __future__ import print_function
import atexit
import fnmatch
import copy
import glob
import optparse
import os
import re
import shutil
import signal
import subprocess
import sys
import time
import traceback

import blimp
import rover
import arducopter
import arduplane
import ardusub
import antennatracker
import quadplane
import balancebot
import sailboat
import helicopter

import examples
from pysim import util
from pymavlink.generator import mavtemplate

from vehicle_test_suite import Test

tester = None

build_opts = None


def buildlogs_dirpath():
    """Return BUILDLOGS directory path."""
    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 build_all_filepath():
    """Get build_all.sh path."""
    return util.reltopdir('Tools/scripts/build_all.sh')


def build_all():
    """Run the build_all.sh script."""
    print("Running build_all.sh")
    if util.run_cmd(build_all_filepath(), 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 (and various libraries used by the script) as it
    # changes git branch, which can change the script while running
    for thing in [
            "board_list.py",
            "build_binaries_history.py",
            "build_binaries.py",
            "build_sizes/build_sizes.py",
            "generate_manifest.py",
            "gen_stable.py",
    ]:
        orig = util.reltopdir('Tools/scripts/%s' % thing)
        copy = util.reltopdir('./%s' % os.path.basename(thing))
        shutil.copy2(orig, copy)

    if util.run_cmd("./build_binaries.py", directory=util.reltopdir('.')) != 0:
        print("Failed build_binaries.py")
        return False
    return True


def build_examples(**kwargs):
    """Build examples."""
    for target in 'Pixhawk1', 'navio', 'linux':
        print("Running build.examples for %s" % target)
        try:
            util.build_examples(target, **kwargs)
        except Exception as e:
            print("Failed build_examples on board=%s" % target)
            print(str(e))
            return False

    return True


def build_unit_tests(**kwargs):
    """Build tests."""
    for target in ['linux', 'sitl']:
        print("Running build.unit_tests for %s" % target)
        try:
            util.build_tests(target, **kwargs)
        except Exception as e:
            print("Failed build.unit_tests on board=%s" % target)
            print(str(e))
            return False

    return True


def run_unit_test(test):
    """Run unit test file."""
    print("Running (%s)" % test)
    subprocess.check_call([test])


def run_unit_tests():
    """Run all unit tests files."""
    success = True
    fail_list = []
    for target in ['linux', 'sitl']:
        binary_dir = util.reltopdir(os.path.join('build',
                                                 target,
                                                 'tests',
                                                 ))
        tests = glob.glob("%s/*" % binary_dir)
        for test in tests:
            try:
                run_unit_test(test)
            except subprocess.CalledProcessError:
                print("Exception running (%s)" % test)
                fail_list.append(target + '/' + os.path.basename(test))
                success = False

    print("Failing tests:")
    for failure in fail_list:
        print("  %s" % failure)
    return success


def run_clang_scan_build():
    """Run Clang Scan-build utility."""
    if util.run_cmd("scan-build python waf configure",
                    directory=util.reltopdir('.')) != 0:
        print("Failed scan-build-configure")
        return False

    if util.run_cmd("scan-build python waf clean",
                    directory=util.reltopdir('.')) != 0:
        print("Failed scan-build-clean")
        return False

    if util.run_cmd("scan-build python waf build",
                    directory=util.reltopdir('.')) != 0:
        print("Failed scan-build-build")
        return False

    return True


def param_parse_filepath():
    """Get param_parse.py script path."""
    return util.reltopdir('Tools/autotest/param_metadata/param_parse.py')


def all_vehicles():
    """Get all vehicles name."""
    return ('ArduPlane',
            'ArduCopter',
            'Rover',
            'AntennaTracker',
            'ArduSub',
            'Blimp')


def build_parameters():
    """Run the param_parse.py script."""
    print("Running param_parse.py")
    for vehicle in all_vehicles():
        if util.run_cmd([param_parse_filepath(), '--vehicle', vehicle],
                        directory=util.reltopdir('.')) != 0:
            print("Failed param_parse.py (%s)" % vehicle)
            return False
    return True


def mavtogpx_filepath():
    """Get mavtogpx script path."""
    return util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py")


def convert_gpx():
    """Convert any tlog files to GPX and KML."""
    mavlog = glob.glob(buildlogs_path("*.tlog"))
    passed = True
    for m in mavlog:
        util.run_cmd(mavtogpx_filepath() + " --nofixcheck " + m)
        gpx = m + '.gpx'
        kml = m + '.kml'
        try:
            util.run_cmd('gpsbabel -i gpx -f %s '
                         '-o kml,units=m,floating=1,extrude=1 -F %s' %
                         (gpx, kml))
        except subprocess.CalledProcessError:
            passed = False
        try:
            util.run_cmd('zip %s.kmz %s.kml' % (m, m))
        except subprocess.CalledProcessError:
            passed = False
        util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m))
    return passed


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, tester
    try:
        print("Alarm handler called")
        if tester is not None:
            if tester.rc_thread is not None:
                tester.rc_thread_should_quit = True
                tester.rc_thread.join()
                tester.rc_thread = None
        results.add('TIMEOUT',
                    '<span class="failed-text">FAILED</span>',
                    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 = {
    "Copter": "arducopter",
    "CopterTests1a": "arducopter",
    "CopterTests1b": "arducopter",
    "CopterTests1c": "arducopter",
    "CopterTests1d": "arducopter",
    "CopterTests1e": "arducopter",

    "CopterTests2a": "arducopter",
    "CopterTests2b": "arducopter",

    "Plane": "arduplane",
    "Rover": "ardurover",
    "Tracker": "antennatracker",
    "Helicopter": "arducopter-heli",
    "QuadPlane": "arduplane",
    "Sub": "ardusub",
    "Blimp": "blimp",
    "BalanceBot": "ardurover",
    "Sailboat": "ardurover",
    "SITLPeriphGPS": "sitl_periph_gp.AP_Periph",
    "CAN": "arducopter",
}


def binary_path(step, debug=False):
    """Get vehicle binary path."""
    try:
        vehicle = step.split(".")[1]
    except Exception:
        return None

    if vehicle in __bin_names:
        if len(__bin_names[vehicle].split(".")) == 2:
            config_name = __bin_names[vehicle].split(".")[0]
            binary_name = __bin_names[vehicle].split(".")[1]
        else:
            config_name = 'sitl'
            binary_name = __bin_names[vehicle]
    else:
        # cope with builds that don't have a specific binary
        return None

    binary = util.reltopdir(os.path.join('build',
                                         config_name,
                                         '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 split_specific_test_step(step):
    """Extract test from argument."""
    print('step=%s' % str(step))
    m = re.match("((fly|drive|dive|test)[.][^.]+)[.](.*)", step)
    if m is None:
        return None
    return ((m.group(1), m.group(3)))


def find_specific_test_to_run(step):
    """Find test to run in argument."""
    t = split_specific_test_step(step)
    if t is None:
        return None
    (testname, test) = t
    return "%s.%s" % (testname, test)


tester_class_map = {
    "test.Blimp": blimp.AutoTestBlimp,
    "test.Copter": arducopter.AutoTestCopter,
    "test.CopterTests1a": arducopter.AutoTestCopterTests1a, # 8m43s
    "test.CopterTests1b": arducopter.AutoTestCopterTests1b, # 8m5s
    "test.CopterTests1c": arducopter.AutoTestCopterTests1c, # 5m17s
    "test.CopterTests1d": arducopter.AutoTestCopterTests1d, # 8m20s
    "test.CopterTests1e": arducopter.AutoTestCopterTests1e, # 8m32s
    "test.CopterTests2a": arducopter.AutoTestCopterTests2a, # 8m23s
    "test.CopterTests2b": arducopter.AutoTestCopterTests2b, # 8m18s
    "test.Plane": arduplane.AutoTestPlane,
    "test.QuadPlane": quadplane.AutoTestQuadPlane,
    "test.Rover": rover.AutoTestRover,
    "test.BalanceBot": balancebot.AutoTestBalanceBot,
    "test.Sailboat": sailboat.AutoTestSailboat,
    "test.Helicopter": helicopter.AutoTestHelicopter,
    "test.Sub": ardusub.AutoTestSub,
    "test.Tracker": antennatracker.AutoTestTracker,
    "test.CAN": arducopter.AutoTestCAN,
}

supplementary_test_binary_map = {
    "test.CAN": ["sitl_periph_gps:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
                 "sitl_periph_gps:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
}


def run_specific_test(step, *args, **kwargs):
    """Run a specific test."""
    t = split_specific_test_step(step)
    if t is None:
        return []
    (testname, test) = t

    tester_class = tester_class_map[testname]
    global tester
    tester = tester_class(*args, **kwargs)

    # print("Got %s" % str(tester))
    for a in tester.tests():
        if not isinstance(a, Test):
            a = Test(a)
        print("Got %s" % (a.name))
        if a.name == test:
            return (tester.autotest(tests=[a], allow_skips=False), tester)
    print("Failed to find test %s on %s" % (test, testname))
    sys.exit(1)


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,
        "math_check_indexes": opts.math_check_indexes,
        "ekf_single": opts.ekf_single,
        "postype_single": opts.postype_single,
        "extra_configure_args": opts.waf_configure_args,
        "coverage": opts.coverage,
        "force_32bit" : opts.force_32bit,
        "ubsan" : opts.ubsan,
        "ubsan_abort" : opts.ubsan_abort,
        "num_aux_imus" : opts.num_aux_imus,
        "dronecan_tests" : opts.dronecan_tests,
    }

    if opts.Werror:
        build_opts['extra_configure_args'].append("--Werror")

    build_opts = build_opts

    vehicle_binary = None
    if step == 'build.Plane':
        vehicle_binary = 'bin/arduplane'

    if step == 'build.Rover':
        vehicle_binary = 'bin/ardurover'

    if step == 'build.Copter':
        vehicle_binary = 'bin/arducopter'

    if step == 'build.Blimp':
        vehicle_binary = 'bin/blimp'

    if step == 'build.Tracker':
        vehicle_binary = 'bin/antennatracker'

    if step == 'build.Helicopter':
        vehicle_binary = 'bin/arducopter-heli'

    if step == 'build.Sub':
        vehicle_binary = 'bin/ardusub'

    if step == 'build.SITLPeriphGPS':
        vehicle_binary = 'sitl_periph_gps.bin/AP_Periph'

    if step == 'build.Replay':
        return util.build_replay(board='SITL')

    if vehicle_binary is not None:
        try:
            binary = binary_path(step, debug=opts.debug)
            os.unlink(binary)
        except (FileNotFoundError, ValueError):
            pass
        if len(vehicle_binary.split(".")) == 1:
            return util.build_SITL(vehicle_binary, **build_opts)
        else:
            return util.build_SITL(
                vehicle_binary.split(".")[1],
                board=vehicle_binary.split(".")[0],
                **build_opts
            )

    binary = binary_path(step, debug=opts.debug)

    # see if we need any supplementary binaries
    supplementary_binaries = []
    for k in supplementary_test_binary_map.keys():
        if step.startswith(k):
            # this test needs to use supplementary binaries
            for supplementary_test_binary in supplementary_test_binary_map[k]:
                a = supplementary_test_binary.split(':')
                if len(a) != 4:
                    raise ValueError("Bad supplementary_test_binary %s" % supplementary_test_binary)
                config_name = a[0]
                binary_name = a[1]
                instance_num = int(a[2])
                param_file = a[3].split(",")
                bin_path = util.reltopdir(os.path.join('build', config_name, 'bin', binary_name))
                customisation = '-I {}'.format(instance_num)
                sup_binary = {"binary" : bin_path,
                              "customisation" : customisation,
                              "param_file" : param_file}
                supplementary_binaries.append(sup_binary)
            # we are running in conjunction with a supplementary app
            # can't have speedup
            opts.speedup = 1.0
            break

    fly_opts = {
        "viewerip": opts.viewerip,
        "use_map": opts.map,
        "valgrind": opts.valgrind,
        "callgrind": opts.callgrind,
        "gdb": opts.gdb,
        "gdb_no_tui": opts.gdb_no_tui,
        "lldb": opts.lldb,
        "gdbserver": opts.gdbserver,
        "breakpoints": opts.breakpoint,
        "disable_breakpoints": opts.disable_breakpoints,
        "frame": opts.frame,
        "_show_test_timings": opts.show_test_timings,
        "force_ahrs_type": opts.force_ahrs_type,
        "num_aux_imus" : opts.num_aux_imus,
        "replay": opts.replay,
        "logs_dir": buildlogs_dirpath(),
        "sup_binaries": supplementary_binaries,
        "reset_after_every_test": opts.reset_after_every_test,
        "build_opts": copy.copy(build_opts),
    }
    if opts.speedup is not None:
        fly_opts["speedup"] = opts.speedup

    # handle "test.Copter" etc:
    if step in tester_class_map:
        # create an instance of the tester class:
        global tester
        tester = tester_class_map[step](binary, **fly_opts)
        # run the test and return its result and the tester itself
        return (tester.autotest(), tester)

    # handle "test.Copter.CPUFailsafe" etc:
    specific_test_to_run = find_specific_test_to_run(step)
    if specific_test_to_run is not None:
        return run_specific_test(specific_test_to_run, binary, **fly_opts)

    if step == 'build.All':
        return build_all()

    if step == 'build.Binaries':
        return build_binaries()

    if step == 'build.examples':
        return build_examples(**build_opts)

    if step == 'run.examples':
        return examples.run_examples(debug=opts.debug, valgrind=False, gdb=False)

    if step == 'build.Parameters':
        return build_parameters()

    if step == 'convertgpx':
        return convert_gpx()

    if step == 'build.unit_tests':
        return build_unit_tests(**build_opts)

    if step == 'run.unit_tests':
        return run_unit_tests()

    if step == 'clang-scan-build':
        return run_clang_scan_build()

    raise RuntimeError("Unknown step %s" % step)


class TestResult(object):
    """Test result class."""

    def __init__(self, name, result, elapsed):
        """Init test result class."""
        self.name = name
        self.result = result
        self.elapsed = "%.1f" % elapsed


class TestFile(object):
    """Test result file."""

    def __init__(self, name, fname):
        """Init test result file."""
        self.name = name
        self.fname = fname


class TestResults(object):
    """Test results class."""

    def __init__(self):
        """Init test results class."""
        self.date = time.asctime()
        self.githash = util.run_cmd('git rev-parse HEAD',
                                    output=True,
                                    directory=util.reltopdir('.')).strip()
        if sys.version_info.major >= 3:
            self.githash = self.githash.decode('utf-8')
        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 generate_badge(self):
        """Get the badge template, populates and saves the result to buildlogs path."""
        passed_tests = len([t for t in self.tests if "PASSED" in t.result])
        total_tests = len(self.tests)
        badge_color = "#4c1" if passed_tests == total_tests else "#e05d44"

        badge_text = "{0}/{1}".format(passed_tests, total_tests)
        # Text length so it is not stretched by svg
        text_length = len(badge_text) * 70

        # Load template file
        template_path = 'Tools/autotest/web/autotest-badge-template.svg'
        with open(util.reltopdir(template_path), "r") as f:
            template = f.read()

        # Add our results to the template
        badge = template.format(color=badge_color,
                                text=badge_text,
                                text_length=text_length)
        with open(buildlogs_path("autotest-badge.svg"), "w") as f:
            f.write(badge)


def copy_tree(f, t, dirs_exist_ok=False):
    shutil.copytree(f, t, dirs_exist_ok=dirs_exist_ok)


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)))
    copy_tree(util.reltopdir("Tools/autotest/web/css"), buildlogs_path("css"), dirs_exist_ok=True)
    results_to_write.generate_badge()


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} core', '{vehicle}.core'),
        ('{vehicle} ELF', '{vehicle}.elf'),
    ]
    vehicle_globs = [('{vehicle} log', '{vehicle}-*.BIN'), ]
    for vehicle in all_vehicles():
        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/Rover/index.html')
    results.addglob('APM:Sub documentation', 'docs/ArduSub/index.html')
    results.addglob('APM:Blimp documentation', 'docs/Blimp/index.html')
    results.addglobimage("Flight Track", '*.png')

    write_webresults(results)


def run_tests(steps):
    """Run a list of steps."""
    global results

    corefiles = glob.glob("core*")
    corefiles.extend(glob.glob("ap-*.core"))
    if corefiles:
        print('Removing corefiles: %s' % str(corefiles))
        for f in corefiles:
            os.unlink(f)

    diagnostic_files = []
    for p in "dumpstack.sh_*", "dumpcore.sh_*", "autotest-*tlog":
        diagnostic_files.extend(glob.glob(p))
    if diagnostic_files:
        print('Removing diagnostic files: %s' % str(diagnostic_files))
        for f in diagnostic_files:
            os.unlink(f)

    passed = True
    failed = []
    failed_testinstances = dict()
    for step in steps:
        util.pexpect_close_all()

        t1 = time.time()
        print(">>>> RUNNING STEP: %s at %s" % (step, time.asctime()))
        try:
            success = run_step(step)
            testinstance = None
            if isinstance(success, tuple):
                (success, testinstance) = success
            if success:
                results.add(step, '<span class="passed-text">PASSED</span>',
                            time.time() - t1)
                print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
            else:
                print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
                passed = False
                failed.append(step)
                if testinstance is not None:
                    if failed_testinstances.get(step) is None:
                        failed_testinstances[step] = []
                    failed_testinstances[step].append(testinstance)
                results.add(step, '<span class="failed-text">FAILED</span>',
                            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,
                        '<span class="failed-text">FAILED</span>',
                        time.time() - t1)

        global tester
        if tester is not None and tester.rc_thread is not None:
            if passed:
                print("BAD: RC Thread still alive after run_step")
            tester.rc_thread_should_quit = True
            tester.rc_thread.join()
            tester.rc_thread = None

    if not passed:
        keys = failed_testinstances.keys()
        if len(keys):
            print("Failure Summary:")
        for key in keys:
            print("  %s:" % key)
            for testinstance in failed_testinstances[key]:
                for failure in testinstance.fail_list:
                    print("  " + str(failure))

        print("FAILED %u tests: %s" % (len(failed), failed))

    util.pexpect_close_all()

    write_fullresults()

    return passed


vehicle_list = ['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'BalanceBot', 'Helicopter', 'Sailboat', 'Blimp']


def list_subtests():
    """Print the list of tests and tests description for each vehicle."""
    for vehicle in sorted(vehicle_list):
        tester_class = tester_class_map["test.%s" % vehicle]
        tester = tester_class("/bin/true", None)
        subtests = tester.tests()
        sorted_list = []
        for subtest in subtests:
            if str(type(subtest)) == "<class 'method'>":
                subtest = Test(subtest)
            sorted_list.append([subtest.name, subtest.description])
        sorted_list.sort()

        print("%s:" % vehicle)
        for subtest in sorted_list:
            print("    %s: %s" % (subtest[0], subtest[1]))
        print("")


def list_subtests_for_vehicle(vehicle_type):
    """Print the list of tests for a vehicle."""
    # Check that we aren't in a sub test
    if "Test" in vehicle_type:
        vehicle_type = re.findall('[A-Z][a-z0-9]*', vehicle_type)[0]
    if vehicle_type in vehicle_list:
        tester_class = tester_class_map["test.%s" % vehicle_type]
        tester = tester_class("/bin/true", None)
        subtests = tester.tests()
        sorted_list = []
        for subtest in subtests:
            if not isinstance(subtest, Test):
                subtest = Test(subtest)
            sorted_list.append([subtest.name, subtest.description])
        sorted_list.sort()
        for subtest in sorted_list:
            print("%s " % subtest[0], end='')
        print("")  # needed to clear the trailing %


if __name__ == "__main__":
    ''' main program '''
    os.environ['PYTHONUNBUFFERED'] = '1'

    if sys.platform != "darwin":
        os.putenv('TMPDIR', util.reltopdir('tmp'))

    class MyOptionParser(optparse.OptionParser):
        """Custom option parse class."""

        def format_epilog(self, formatter):
            """Retun customized option parser epilog."""
            return self.epilog

    parser = MyOptionParser(
        "autotest", epilog=""
        "e.g. autotest.py build.Rover test.Rover # test Rover\n"
        "e.g. autotest.py build.Rover test.Rover build.Plane test.Plane # test Rover and Plane\n"
        "e.g. autotest.py --debug --valgrind build.Rover test.Rover # test Rover under Valgrind\n"
        "e.g. autotest.py --debug --gdb build.Tracker test.Tracker # run Tracker under gdb\n"
        "e.g. autotest.py --debug --gdb build.Sub test.Sub.DiveManual # do specific Sub test\n"
    )
    parser.add_option("--autotest-server",
                      action='store_true',
                      default=False,
                      help='Run in autotest-server mode; dangerous!')
    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("--list-subtests",
                      action='store_true',
                      default=False,
                      help='list available subtests e.g. test.Copter')
    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=None,
                      type='int',
                      help='maximum runtime in seconds')
    parser.add_option("--frame",
                      type='string',
                      default=None,
                      help='specify frame type')
    parser.add_option("--show-test-timings",
                      action="store_true",
                      default=False,
                      help="show how long each test took to run")
    parser.add_option("--validate-parameters",
                      action="store_true",
                      default=False,
                      help="validate vehicle parameter files")
    parser.add_option("--Werror",
                      action='store_true',
                      default=False,
                      help='configure with --Werror')

    group_build = optparse.OptionGroup(parser, "Build options")
    group_build.add_option("--no-configure",
                           default=False,
                           action='store_true',
                           help='do not configure before building',
                           dest="no_configure")
    group_build.add_option("", "--waf-configure-args",
                           action="append",
                           dest="waf_configure_args",
                           type="string",
                           default=[],
                           help="extra arguments passed to waf in configure")
    group_build.add_option("-j", default=None, type='int', help='build CPUs')
    group_build.add_option("--no-clean",
                           default=False,
                           action='store_true',
                           help='do not clean before building',
                           dest="no_clean")
    group_build.add_option("--debug",
                           default=None,
                           action='store_true',
                           help='make built SITL binaries debug binaries')
    group_build.add_option("--no-debug",
                           default=None,
                           action='store_true',
                           help='do not make built SITL binaries debug binaries')
    group_build.add_option("--coverage",
                           default=False,
                           action='store_true',
                           help='make built binaries coverage binaries')
    group_build.add_option("--enable-math-check-indexes",
                           default=False,
                           action="store_true",
                           dest="math_check_indexes",
                           help="enable checking of math indexes")
    group_build.add_option("--postype-single",
                           default=False,
                           action="store_true",
                           dest="postype_single",
                           help="force single precision copter position controller")
    group_build.add_option("--ekf-single",
                           default=False,
                           action="store_true",
                           dest="ekf_single",
                           help="force single precision EKF")
    group_build.add_option("--force-32bit",
                           default=False,
                           action='store_true',
                           dest="force_32bit",
                           help="compile sitl using 32-bit")
    group_build.add_option("", "--ubsan",
                           default=False,
                           action='store_true',
                           dest="ubsan",
                           help="compile sitl with undefined behaviour sanitiser")
    group_build.add_option("", "--ubsan-abort",
                           default=False,
                           action='store_true',
                           dest="ubsan_abort",
                           help="compile sitl with undefined behaviour sanitiser and abort on error")
    group_build.add_option("--num-aux-imus",
                           dest="num_aux_imus",
                           default=0,
                           type='int',
                           help='number of auxiliary IMUs to simulate')
    group_build.add_option("--enable-dronecan-tests",
                           default=False,
                           action='store_true',
                           dest="dronecan_tests",
                           help="enable dronecan tests")
    parser.add_option_group(group_build)

    group_sim = optparse.OptionGroup(parser, "Simulation options")
    group_sim.add_option("--speedup",
                         default=None,
                         type='int',
                         help='speedup to run the simulations at')
    group_sim.add_option("--valgrind",
                         default=False,
                         action='store_true',
                         help='run ArduPilot binaries under valgrind')
    group_sim.add_option("", "--callgrind",
                         action='store_true',
                         default=False,
                         help="enable valgrind for performance analysis (slow!!)")
    group_sim.add_option("--gdb",
                         default=False,
                         action='store_true',
                         help='run ArduPilot binaries under gdb')
    group_sim.add_option("--gdb-no-tui",
                         default=False,
                         action='store_true',
                         help='when running under GDB do NOT start in TUI mode')
    group_sim.add_option("--gdbserver",
                         default=False,
                         action='store_true',
                         help='run ArduPilot binaries under gdbserver')
    group_sim.add_option("--lldb",
                         default=False,
                         action='store_true',
                         help='run ArduPilot binaries under lldb')
    group_sim.add_option("-B", "--breakpoint",
                         type='string',
                         action="append",
                         default=[],
                         help="add a breakpoint at given location in debugger")
    group_sim.add_option("--disable-breakpoints",
                         default=False,
                         action='store_true',
                         help="disable all breakpoints before starting")
    group_sim.add_option("", "--force-ahrs-type",
                         dest="force_ahrs_type",
                         default=None,
                         help="force a specific AHRS type (e.g. 10 for SITL-ekf")
    group_sim.add_option("", "--replay",
                         action='store_true',
                         help="enable replay logging for tests")
    parser.add_option_group(group_sim)

    group_completion = optparse.OptionGroup(parser, "Completion helpers")
    group_completion.add_option("--list-vehicles",
                                action='store_true',
                                default=False,
                                help='list available vehicles')
    group_completion.add_option("--list-vehicles-test",
                                action='store_true',
                                default=False,
                                help='list available vehicle tester')
    group_completion.add_option("--list-subtests-for-vehicle",
                                type='string',
                                default="",
                                help='list available subtests for a vehicle e.g Copter')
    group_completion.add_option("--reset-after-every-test",
                                action='store_true',
                                default=False,
                                help='reset everything after every test run')
    parser.add_option_group(group_completion)

    opts, args = parser.parse_args()

    # canonicalise on opts.debug:
    if opts.debug is None and opts.no_debug is None:
        # default is to create debug SITL binaries
        opts.debug = True
    elif opts.debug is not None and opts.no_debug is not None:
        if opts.debug == opts.no_debug:
            raise ValueError("no_debug != !debug")
    elif opts.no_debug is not None:
        opts.debug = not opts.no_debug

    if opts.timeout is None:
        opts.timeout = 5400
        # adjust if we're running in a regime which may slow us down e.g. Valgrind
        if opts.valgrind:
            opts.timeout *= 10
        elif opts.callgrind:
            opts.timeout *= 10
        elif opts.gdb:
            opts.timeout = None

    steps = [
        'prerequisites',
        'build.Binaries',
        'build.All',
        'build.Parameters',

        'build.Replay',

        'build.unit_tests',
        'run.unit_tests',
        'build.examples',
        'run.examples',

        'build.Plane',
        'test.Plane',
        'test.QuadPlane',

        'build.Rover',
        'test.Rover',
        'test.BalanceBot',
        'test.Sailboat',

        'build.Copter',
        'test.Copter',

        'build.Helicopter',
        'test.Helicopter',

        'build.Tracker',
        'test.Tracker',

        'build.Sub',
        'test.Sub',

        'build.Blimp',
        'test.Blimp',

        'build.SITLPeriphGPS',
        'test.CAN',

        # convertgps disabled as it takes 5 hours
        # 'convertgpx',
    ]

    moresteps = [
        'test.CopterTests1a',
        'test.CopterTests1b',
        'test.CopterTests1c',
        'test.CopterTests1d',
        'test.CopterTests1e',

        'test.CopterTests2a',
        'test.CopterTests2b',

        'clang-scan-build',
    ]

    # canonicalise the step names.  This allows
    # backwards-compatability from the hodge-podge
    # fly.ArduCopter/drive.APMrover2 to the more common test.Copter
    # test.Rover
    step_mapping = {
        "build.ArduPlane": "build.Plane",
        "build.ArduCopter": "build.Copter",
        "build.APMrover2": "build.Rover",
        "build.ArduSub": "build.Sub",
        "build.AntennaTracker": "build.Tracker",
        "fly.ArduCopter": "test.Copter",
        "fly.ArduPlane": "test.Plane",
        "fly.QuadPlane": "test.QuadPlane",
        "dive.ArduSub": "test.Sub",
        "drive.APMrover2": "test.Rover",
        "drive.BalanceBot": "test.BalanceBot",
        "drive.balancebot": "test.BalanceBot",
        "fly.CopterAVC": "test.Helicopter",
        "test.AntennaTracker": "test.Tracker",
        "fly.ArduCopterTests1a": "test.CopterTests1a",
        "fly.ArduCopterTests1b": "test.CopterTests1b",
        "fly.ArduCopterTests1c": "test.CopterTests1c",
        "fly.ArduCopterTests1d": "test.CopterTests1d",
        "fly.ArduCopterTests1e": "test.CopterTests1e",

        "fly.ArduCopterTests2a": "test.CopterTests2a",
        "fly.ArduCopterTests2b": "test.CopterTests2b",

    }

    # form up a list of bits NOT to run, mapping from old step names
    # to new step names as appropriate.
    skipsteps = opts.skip.split(',')
    new_skipsteps = []
    for skipstep in skipsteps:
        if skipstep in step_mapping:
            new_skipsteps.append(step_mapping[skipstep])
        else:
            new_skipsteps.append(skipstep)
    skipsteps = new_skipsteps

    # ensure we catch timeouts
    signal.signal(signal.SIGALRM, alarm_handler)
    if opts.timeout is not None:
        signal.alarm(opts.timeout)

    if opts.list:
        for step in steps:
            print(step)
        sys.exit(0)

    if opts.list_subtests:
        list_subtests()
        sys.exit(0)

    if opts.list_subtests_for_vehicle:
        list_subtests_for_vehicle(opts.list_subtests_for_vehicle)
        sys.exit(0)

    if opts.list_vehicles_test:
        print(' '.join(__bin_names.keys()))
        sys.exit(0)

    if opts.list_vehicles:
        print(' '.join(vehicle_list))
        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)

    # provide backwards-compatability from (e.g.) drive.APMrover2 -> test.Rover
    newargs = []
    for arg in args:
        for _from, to in step_mapping.items():
            arg = re.sub("^%s" % _from, to, arg)
        newargs.append(arg)
    args = newargs

    if len(args) == 0 and not opts.autotest_server:
        print("Steps must be supplied; try --list and/or --list-subtests or --help")
        sys.exit(1)

    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())]
            x = find_specific_test_to_run(a)
            if x is not None:
                matches.append(x)

            if a in moresteps:
                matches.append(a)

            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:
        print("KeyboardInterrupt caught; closing pexpect connections")
        util.pexpect_close_all()
        raise
    except Exception:
        # make sure we kill off any children
        util.pexpect_close_all()
        raise