mirror of https://github.com/ArduPilot/ardupilot
383 lines
14 KiB
Python
Executable File
383 lines
14 KiB
Python
Executable File
#!/usr/bin/env python3
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'''A helper script for bisecting common problems when working with ArduPilot
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When running bisections, you should
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export SITL_PANIC_EXIT=1
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Bisect between a commit which builds and one which doesn't,
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finding the first commit which broke the build with a
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specific failure:
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git bisect reset
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git bisect good a7647e77d9
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git bisect bad 153ad9539866f8d93a99e9998118bb090d2f747f
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cp -a Tools/autotest/bisect-helper.py /tmp
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git bisect run /tmp/bisect-helper.py --build \
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--build-failure-string= \
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"reference to 'OpticalFlow' is ambiguous"
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Work out who killed bebop:
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cp -a Tools/autotest/bisect-helper.py /tmp
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git bisect reset
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git bisect good a7647e77d9 &&
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git bisect bad 153ad9539866f8d93a99e9998118bb090d2f747f &&
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git bisect run /tmp/bisect-helper.py --build \
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--waf-configure-arg="--board bebop"
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# Use a failing test to work out which commit broke things:
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cp Tools/autotest/bisect-helper.py /tmp
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git bisect reset
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git bisect start
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git bisect bad
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git bisect good HEAD~1024
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time git bisect run /tmp/bisect-helper.py --autotest --autotest-vehicle=Plane --autotest-test=NeedEKFToArm --autotest-branch=wip/bisection-using-named-test # noqa
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Work out who overflowed Omnbusf4pro:
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cp -a Tools Tools2
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GOOD=c4ce6fa3851f93df34393c376fee5b37e0a270d2
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BAD=f00bf77af75f828334f735580d6b19698b639a74
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BFS="overflowed by"
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git bisect reset
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git bisect start
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git bisect good $GOOD &&
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git bisect bad $BAD &&
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git bisect run Tools2/autotest/bisect-helper.py --build \
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--waf-configure-arg="--board OmniBusF4Pro" \
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--build-failure-string="$BFS"
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# Use a flapping test to work out which commit broke things. The
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# "autotest-branch" is the branch containing the flapping test (which
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# may be master)
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rm /tmp/bisect-debug/*; git commit -m "stuff" -a ; cp Tools/autotest/bisect-helper.py /tmp; git bisect reset; git bisect start; git bisect bad d24e569b20; git bisect good 3f6fd49507f286ad8f6ccc9e29b110d5e9fc9207^
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time git bisect run /tmp/bisect-helper.py --autotest --autotest-vehicle=Copter --autotest-test=Replay --autotest-branch=wip/bisection-using-flapping-test --autotest-test-passes=40 --autotest-failure-require-string="Mismatch in field XKF1.Pitch" --autotest-failure-ignore-string="HALSITL::SITL_State::_check_rc_input"
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AP_FLAKE8_CLEAN
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'''
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import optparse
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import os
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import subprocess
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import shlex
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import sys
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import time
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import traceback
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def get_exception_stacktrace(e):
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if sys.version_info[0] >= 3:
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ret = "%s\n" % e
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ret += ''.join(traceback.format_exception(type(e),
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value=e,
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tb=e.__traceback__))
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return ret
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return traceback.format_exc(e)
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class Bisect(object):
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def __init__(self, opts):
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self.opts = opts
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def exit_skip_code(self):
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return 125
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def exit_pass_code(self):
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return 0
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def exit_fail_code(self):
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return 1
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def exit_abort_code(self):
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return 129
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def exit_skip(self):
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self.progress("SKIP")
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sys.exit(self.exit_skip_code())
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def exit_pass(self):
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self.progress("PASS")
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sys.exit(self.exit_pass_code())
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def exit_fail(self):
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self.progress("FAIL")
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sys.exit(self.exit_fail_code())
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def exit_abort(self):
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'''call when this harness has failed (e.g. to reset to required
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state)'''
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self.progress("ABORT")
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sys.exit(self.exit_abort_code())
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def progress(self, string):
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'''pretty-print progress'''
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print("BH: %s" % string)
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def run_program(self, prefix, cmd_list):
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'''copied in from build_binaries.py'''
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'''run cmd_list, spewing and setting output in self'''
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self.progress("Running (%s)" % " ".join(cmd_list))
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p = subprocess.Popen(cmd_list,
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stdin=None,
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close_fds=True,
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stdout=subprocess.PIPE,
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stderr=subprocess.STDOUT)
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self.program_output = ""
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while True:
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x = p.stdout.readline()
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if len(x) == 0:
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waitpid_result = os.waitpid(p.pid, 0)
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if waitpid_result:
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break
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# select not available on Windows... probably...
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time.sleep(0.1)
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continue
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if isinstance(x, bytes):
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x = x.decode('utf-8')
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self.program_output += x
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x = x.rstrip()
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print("%s: %s" % (prefix, x))
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(pid, status) = waitpid_result
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if status != 0:
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self.progress("Process failed (%s)" %
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str(waitpid_result))
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raise subprocess.CalledProcessError(
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status, cmd_list)
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def build(self):
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'''run ArduCopter build. May exit with skip or fail'''
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self.run_program("WAF-clean", ["./waf", "clean"])
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cmd_configure = ["./waf", "configure"]
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pieces = [shlex.split(x)
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for x in self.opts.waf_configure_args]
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for piece in pieces:
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cmd_configure.extend(piece)
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self.run_program("WAF-configure", cmd_configure)
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cmd_build = ["./waf", "build"]
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pieces = [shlex.split(x)
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for x in self.opts.waf_build_args]
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for piece in pieces:
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cmd_build.extend(piece)
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try:
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self.run_program("WAF-build", cmd_build)
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except subprocess.CalledProcessError:
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# well, it definitely failed....
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if self.opts.build_failure_string is not None:
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if self.opts.build_failure_string in self.program_output:
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self.progress("Found relevant build failure")
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self.exit_fail()
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# it failed, but not for the reason we're looking
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# for...
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self.exit_skip()
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else:
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self.exit_fail()
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def update_submodules(self):
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try:
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self.run_program("Update submodules",
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["git", "submodule", "update", "--init", "--recursive"])
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except subprocess.CalledProcessError:
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self.exit_abort()
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class BisectBuild(Bisect):
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def __init__(self, opts):
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super(BisectBuild, self).__init__(opts)
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def run(self):
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if self.opts.build_failure_string is None:
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self.progress("--build-failure-string is required when using --build")
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self.exit_abort()
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self.update_submodules()
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self.build() # may exit with skip or fail
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self.exit_pass()
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class BisectCITest(Bisect):
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def __init__(self, opts):
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super(BisectCITest, self).__init__(opts)
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def autotest_script(self):
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return os.path.join("Tools", "autotest", "autotest.py")
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def git_reset(self):
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try:
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self.run_program("Reset autotest directory", ["git", "reset", "--hard"])
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except subprocess.CalledProcessError:
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self.exit_abort()
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def get_current_hash(self):
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self.run_program("Get current hash", ["git", "rev-parse", "HEAD"])
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x = self.program_output
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return x.strip()
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def run(self):
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current_hash = self.get_current_hash()
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self.debug_dir = os.path.join("/tmp", "bisect-debug")
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if not os.path.exists(self.debug_dir):
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os.mkdir(self.debug_dir)
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if self.opts.autotest_branch is None:
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raise ValueError("expected autotest branch")
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self.update_submodules()
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try:
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self.run_program("Check autotest directory out from master",
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["git", "checkout", self.opts.autotest_branch, "Tools/autotest"])
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except subprocess.CalledProcessError:
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self.exit_abort()
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self.progress("Build")
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cmd = [self.autotest_script()]
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if self.opts.autotest_valgrind:
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cmd.append("--debug")
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cmd.append("build.%s" % self.opts.autotest_vehicle)
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print("build cmd: %s" % str(cmd))
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try:
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self.run_program("Run autotest (build)", cmd)
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except subprocess.CalledProcessError:
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self.git_reset()
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self.exit_skip()
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cmd = [self.autotest_script()]
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if self.opts.autotest_valgrind:
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cmd.append("--valgrind")
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cmd.append("test.%s.%s" % (self.opts.autotest_vehicle, self.opts.autotest_test))
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code = self.exit_pass_code()
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for i in range(0, self.opts.autotest_test_passes):
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ignore = False
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try:
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self.run_program(
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"Run autotest (%u/%u)" % (i+1, self.opts.autotest_test_passes),
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cmd)
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except subprocess.CalledProcessError:
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for ignore_string in self.opts.autotest_failure_ignore_string:
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if ignore_string in self.program_output:
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self.progress("Found ignore string (%s) in program output" % ignore_string)
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ignore = True
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if not ignore and self.opts.autotest_failure_require_string is not None:
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if self.opts.autotest_failure_require_string not in self.program_output:
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# it failed, but not for the reason we're looking
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# for...
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self.progress("Did not find test failure string (%s); skipping" %
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self.opts.autotest_failure_require_string)
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code = self.exit_skip_code()
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break
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if not ignore:
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code = self.exit_fail_code()
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with open(os.path.join(self.debug_dir, "run-%s-%u.txt" % (current_hash, i+1)), "w") as f:
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f.write(self.program_output)
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if code == self.exit_fail_code():
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with open("/tmp/fail-counts", "a") as f:
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f.write("Failed on run %u\n" % (i+1,))
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if ignore:
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self.progress("Ignoring this run")
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continue
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if code != self.exit_pass_code():
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break
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self.git_reset()
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self.progress("Exit code is %u" % code)
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sys.exit(code)
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if __name__ == '__main__':
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parser = optparse.OptionParser("bisect.py ")
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parser.add_option("--build",
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action='store_true',
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default=False,
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help="Help bisect a build failure")
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parser.add_option("--build-failure-string",
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type='string',
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help="Must be present in"
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"build output to count as a failure")
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group_autotest = optparse.OptionGroup(parser, "Run-AutoTest Options")
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group_autotest.add_option("--autotest",
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action='store_true',
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default=False,
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help="Bisect a failure with an autotest test")
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group_autotest.add_option("", "--autotest-vehicle",
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dest="autotest_vehicle",
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type="string",
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default="ArduCopter",
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help="Which vehicle to run tests for")
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group_autotest.add_option("", "--autotest-test",
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dest="autotest_test",
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type="string",
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default="NavDelayAbsTime",
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help="Test to run to find failure")
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group_autotest.add_option("", "--autotest-valgrind",
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dest="autotest_valgrind",
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action='store_true',
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default=False,
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help="Run autotest under valgrind")
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group_autotest.add_option("", "--autotest-test-passes",
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dest="autotest_test_passes",
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type=int,
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default=1,
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help="Number of times to run test before declaring it is good")
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group_autotest.add_option("", "--autotest-branch",
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dest="autotest_branch",
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type="string",
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help="Branch on which the test exists. The autotest directory will be reset to this branch")
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group_autotest.add_option("--autotest-failure-require-string",
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type='string',
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default=None,
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help="If supplied, must be present in"
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"test output to count as a failure")
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group_autotest.add_option("--autotest-failure-ignore-string",
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type='string',
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default=[],
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action="append",
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help="If supplied and present in"
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"test output run will be ignored")
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group_build = optparse.OptionGroup(parser, "Build options")
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group_build.add_option("", "--waf-configure-arg",
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action="append",
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dest="waf_configure_args",
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type="string",
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default=["--board skyviper-v2450"],
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help="extra arguments to pass to"
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"waf in configure step")
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group_build.add_option("", "--waf-build-arg",
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action="append",
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dest="waf_build_args",
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type="string",
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default=["--target bin/arducopter"],
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help="extra arguments to pass"
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"to waf in its build step")
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parser.add_option_group(group_build)
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(opts, args) = parser.parse_args()
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if opts.build:
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bisecter = BisectBuild(opts)
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elif opts.autotest:
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bisecter = BisectCITest(opts)
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else:
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raise ValueError("Not told how to bisect")
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try:
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bisecter.run()
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except Exception as e:
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print("Caught exception in bisect-helper: %s" % str(e))
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print(get_exception_stacktrace(e))
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sys.exit(129) # should abort the bisect process
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