mirror of https://github.com/ArduPilot/ardupilot
492 lines
16 KiB
Python
Executable File
492 lines
16 KiB
Python
Executable File
#!/usr/bin/env python
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# APM automatic test suite
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# Andrew Tridgell, October 2011
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import pexpect, os, sys, shutil, atexit
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pysim'))
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import optparse, fnmatch, time, glob, traceback, signal, util, time, math, common, random
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from common import *
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from pymavlink import mavutil, mavwp
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import arduplane, arducopter
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# Defaults
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HOME=mavutil.location(-35.362938,149.165085,584,270)
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# ArduCopter defaults
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FRAME='+'
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homeloc = None
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num_wp = 0
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# get location of scripts
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testdir=os.path.dirname(os.path.realpath(__file__))
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os.environ['PYTHONUNBUFFERED'] = '1'
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os.putenv('TMPDIR', util.reltopdir('tmp'))
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def get_default_params(atype):
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'''get default parameters'''
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sil = util.start_SIL(atype, wipe=True)
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mavproxy = util.start_MAVProxy_SIL(atype)
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print("Dumping defaults")
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idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
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if idx == 0:
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# we need to restart it after eeprom erase
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL(atype)
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mavproxy = util.start_MAVProxy_SIL(atype)
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idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
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parmfile = mavproxy.match.group(1)
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dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
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shutil.copy(parmfile, dest)
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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print("Saved defaults for %s to %s" % (atype, dest))
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return True
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def dump_logs(atype):
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'''dump DataFlash logs'''
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print("Dumping logs for %s" % atype)
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sil = util.start_SIL(atype)
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logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
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log = open(logfile, mode='w')
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mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
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mavproxy.send('\n\n\n')
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print("navigating menus")
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mavproxy.expect(']')
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mavproxy.send("logs\n")
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mavproxy.expect("logs enabled:")
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lognums = []
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i = mavproxy.expect(["No logs", "(\d+) logs"])
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if i == 0:
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numlogs = 0
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else:
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numlogs = int(mavproxy.match.group(1))
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for i in range(numlogs):
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mavproxy.expect("Log (\d+),")
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lognums.append(int(mavproxy.match.group(1)))
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mavproxy.expect("Log]")
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for i in range(numlogs):
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print("Dumping log %u (i=%u)" % (lognums[i], i))
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mavproxy.send("dump %u\n" % lognums[i])
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mavproxy.expect("logs enabled:", timeout=120)
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mavproxy.expect("Log]")
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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log.close()
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print("Saved log for %s to %s" % (atype, logfile))
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return True
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def convert_gpx():
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'''convert any tlog files to GPX and KML'''
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import glob
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mavlog = glob.glob(util.reltopdir("../buildlogs/*.tlog"))
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for m in mavlog:
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util.run_cmd(util.reltopdir("../mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m)
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gpx = m + '.gpx'
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kml = m + '.kml'
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util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False)
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util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False)
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return True
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def test_prerequesites():
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'''check we have the right directories and tools to run tests'''
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print("Testing prerequesites")
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util.mkdir_p(util.reltopdir('../buildlogs'))
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return True
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def alarm_handler(signum, frame):
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'''handle test timeout'''
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global results, opts
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try:
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results.add('TIMEOUT', '<span class="failed-text">FAILED</span>', opts.timeout)
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util.pexpect_close_all()
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results.addfile('Full Logs', 'autotest-output.txt')
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results.addglob('DataFlash Log', '*.flashlog')
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results.addglob("MAVLink log", '*.tlog')
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results.addfile('ArduPlane build log', 'ArduPlane.txt')
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results.addfile('ArduPlane defaults', 'ArduPlane.defaults.txt')
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results.addfile('ArduCopter build log', 'ArduCopter.txt')
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results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt')
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write_webresults(results)
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os.killpg(0, signal.SIGKILL)
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except Exception:
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pass
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sys.exit(1)
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import arducopter, arduplane
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class Test(object):
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''' unit test class '''
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def __init__(self, name, path, test):
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self.name = name
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self.path = path
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self.test = test
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self.result = False
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self.log = ''
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def fly_ArduCopter_scripted(testname):
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'''fly ArduCopter in SIL
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'''
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global homeloc
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sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
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FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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sim_cmd += ' --wind=6,45,.3'
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sil = util.start_SIL('ArduCopter', wipe=True)
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
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mavproxy.expect('Received [0-9]+ parameters')
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# setup test parameters
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mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
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mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
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mavproxy.expect('Loaded [0-9]+ parameters')
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# reboot with new parameters
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('ArduCopter', height=HOME.alt)
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sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
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sim.delaybeforesend = 0
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util.pexpect_autoclose(sim)
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options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
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mavproxy.expect('Logging to (\S+)')
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logfile = mavproxy.match.group(1)
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print("LOGFILE %s" % logfile)
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buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
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print("buildlog=%s" % buildlog)
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if os.path.exists(buildlog):
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os.unlink(buildlog)
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os.link(logfile, buildlog)
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# the received parameters can come before or after the ready to fly message
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mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
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mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
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util.expect_setup_callback(mavproxy, arducopter.expect_callback)
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expect_list_clear()
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expect_list_extend([sim, sil, mavproxy])
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# get a mavlink connection going
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try:
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mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
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except Exception, msg:
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print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
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raise
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mav.message_hooks.append(message_hook)
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mav.idle_hooks.append(idle_hook)
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failed = False
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e = 'None'
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try:
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mav.wait_heartbeat()
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arducopter.setup_rc(mavproxy)
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homeloc = mav.location()
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print("# Executing test - " + testname)
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if not test_suite[testname].test(mavproxy, mav):
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print("Test script failed")
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failed = True
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except pexpect.TIMEOUT, e:
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failed = True
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mav.close()
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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util.pexpect_close(sim)
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if os.path.exists('ArduCopter-valgrind.log'):
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os.chmod('ArduCopter-valgrind.log', 0644)
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shutil.copy("ArduCopter-valgrind.log", util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
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if failed:
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print("FAILED: %s" % e)
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return False
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return True
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class TestResult(object):
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'''test result class'''
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def __init__(self, name, result="", elapsed=0):
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self.name = name
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self.success = False
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self.result = result
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self.elapsed = "%1.f" % elapsed
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class TestFile(object):
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'''test result file'''
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def __init__(self, name, fname):
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self.name = name
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self.fname = fname
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class TestResults(object):
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'''test results class'''
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def __init__(self):
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self.date = time.asctime()
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self.isotime = time.strftime("%Y-%m-%dT%H:%M:%S")
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self.githash = util.run_cmd('git rev-parse HEAD', output=True, dir=util.reltopdir('.')).strip()
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self.tests = []
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self.files = []
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def add(self, name, result, elapsed):
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'''add a result'''
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self.tests.append(TestResult(name, result, elapsed))
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def addfile(self, name, fname):
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'''add a result file'''
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self.files.append(TestFile(name, fname))
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def addglob(self, name, pattern):
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'''add a set of files'''
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import glob
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for f in glob.glob(util.reltopdir('../buildlogs/%s' % pattern)):
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self.addfile(name, os.path.basename(f))
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def write_XMLresults(atype, results):
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'''write XML JUnit results'''
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from pymavlink.generator import mavtemplate
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t = mavtemplate.MAVTemplate()
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for x in glob.glob(util.reltopdir('Tools/autotest/junit.xml')):
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junit_xml = util.loadfile(x)
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f = open(util.reltopdir("../buildlogs/%s-%s" % (atype, os.path.basename(x))), mode='w')
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t.write(f, junit_xml, results)
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f.close()
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def write_webresults(results):
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'''write webpage results'''
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from pymavlink.generator import mavtemplate
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t = mavtemplate.MAVTemplate()
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for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
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html = util.loadfile(h)
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f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)), mode='w')
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t.write(f, html, results)
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f.close()
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for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
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shutil.copy(f, util.reltopdir('../buildlogs/%s' % os.path.basename(f)))
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results = TestResults()
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unit_test_results = TestResults()
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def run_tests(tests):
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'''run a list of tests'''
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global results, unit_test_results
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passed = True
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failed = []
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for testname in tests:
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util.pexpect_close_all()
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testcase = TestResult(testname)
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testcase.success = False
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t1 = time.time()
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print(">>>> RUNNING test: %s at %s" % (testname, time.asctime()))
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try:
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if not fly_ArduCopter_scripted(testname):
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print(">>>> FAILED test: %s at %s" % (testname, time.asctime()))
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passed = False
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testcase.elapsed = "%.1f" % (time.time() - t1)
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testcase.result = '''
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<testcase classname="ardupilot-mega-autotest"
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name=\"%s\" time=\"%s\">
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<failure type=\"test failure\">
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%s
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</failure>
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</testcase>
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''' % (testcase.name, testcase.elapsed, "failed")
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unit_test_results.tests.append(testcase)
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print testcase.result
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failed.append(testname)
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continue
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except Exception, msg:
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testcase.elapsed = "%.1f" % (time.time() - t1)
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passed = False
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print(">>>> FAILED test: %s at %s (%s)" % (testname, time.asctime(), msg))
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traceback.print_exc(file=sys.stdout)
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testcase.result = '''
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<testcase classname="ardupilot-mega-autotest"
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name=\"%s\" time=\"%s\">
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<error type=\"Test error\">
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%s
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</error>
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</testcase>
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''' % (testcase.name, testcase.elapsed, traceback.format_exc() )
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print testcase.result
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unit_test_results.tests.append(testcase)
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failed.append(testcase.name)
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continue
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#success
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testcase.elapsed = "%.1f" % (time.time() - t1)
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testcase.success = True
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testcase.result = '''
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<testcase classname="ardupilot-mega-autotest"
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name=\"%s\" time=\"%s\">
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</testcase>
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''' % (testcase.name, testcase.elapsed )
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unit_test_results.tests.append(testcase)
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print(">>>> PASSED test: %s at %s" % (testname, time.asctime()))
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print testcase.result
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dump_logs('ArduCopter')
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convert_gpx()
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if not passed:
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print("FAILED %u tests: %s" % (len(failed), failed))
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util.pexpect_close_all()
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results.addglob("Google Earth track", '*.kmz')
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results.addfile('Full Logs', 'autotest-output.txt')
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results.addglob('DataFlash Log', '*.flashlog')
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results.addglob("MAVLink log", '*.tlog')
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results.addglob("GPX track", '*.gpx')
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unit_test_results.num_tests = len(results.tests)
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unit_test_results.num_failures = len(failed)
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write_XMLresults("ArduCopter", unit_test_results)
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write_webresults(results)
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# individual test results in XML. Always True
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return True
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############## main program #############
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parser = optparse.OptionParser(sys.argv[0])
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parser.add_option("--list", action='store_true', default=False, help='list the available tests (comma separated, can be used as TESTLIST')
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parser.add_option("--run", type='string', default='', metavar="TESTLIST", help='list of tests to run (comma separated)' )
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parser.add_option("--rungroup", type='string', default='', metavar="TESTLIST", help='list of test groups to run (comma separated)' )
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parser.add_option("--skip", type='string', default='', metavar="TESTLIST", help='list of tests to skip (comma separated)')
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parser.add_option("--skipgroup", type='string', default='', metavar="TESTLIST", help='list of test groups to skip (comma separated)')
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opts, args = parser.parse_args()
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#### Load test modules ####
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print '>>>>>> Loading ArduCopter TEST MODULES'
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import glob
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test_suite = {}
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test_groups = {}
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test_base_path = 'APM/Tools/autotest/apm_unit_tests/'
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print test_base_path
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print os.path.dirname(os.path.realpath(__file__))
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test_group_names = glob.glob(test_base_path+'*')
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for gname in test_group_names:
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sys.path.insert(0, gname)
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gname = os.path.basename(gname)
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gtests = glob.glob(test_base_path + gname + '/*.py')
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if gtests:
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test_groups[gname] = []
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for tmodule in gtests:
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tname = os.path.basename(tmodule)
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if (tname.endswith('.py')):
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tname = (tname[:-3]).strip() # chop off the .py
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test_groups[gname].append(tname)
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test_suite[tname.strip()] = tmodule
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alltests = test_suite.keys()
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allgroups = test_groups.keys()
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if (len(alltests) == 0):
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print "Error: no test modules selected"
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exit(1)
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if opts.list:
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print "\n\nFound %s modules in %s groups" % ((len(alltests), len(allgroups)))
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print "\n\nAvailable tests: "
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print ', '.join(alltests)
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print "\n\nAvailable groups: "
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for g in allgroups:
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print g + " --- " + ','.join(test_groups[g])
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if opts.rungroup:
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for group in opts.rungroup.split(','):
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opts.run += ','.join(test_groups[group])
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if opts.skipgroup:
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for group in opts.skipgroup.split(','):
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opts.skip += ','.join(test_groups[group])
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runtests = []
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print "Selected: " + opts.run
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print "Skipping: " + opts.skip
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if opts.run:
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for runtest in opts.run.split(','):
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runtests.append(runtest.strip())
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print "Adding test - %s" % runtest
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else:
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runtests = alltests
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finaltests = []
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if opts.skip:
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skiptests = opts.skip.split(',')
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print "Skipping tests: " + ','.join(skiptests)
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for runtest in runtests:
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if runtest not in skiptests:
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finaltests.append(runtest)
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else:
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print "Skipping test - %s" % runtest
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else:
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finaltests = runtests
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if (len(finaltests) > 0):
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print "\n\n***\nLoading selected tests: " + ','.join(finaltests)
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else:
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print "Error: no test modules selected"
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exit(1)
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for tname in finaltests:
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print "Loading ArduCopter test module: " + tname
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try:
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mpath = test_suite[tname]
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m = __import__ (tname)
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unit_test = getattr(m,'unit_test')
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test_module = Test(tname, mpath, unit_test)
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|
test_suite[tname] = test_module
|
|
|
|
except Exception:
|
|
raise
|
|
|
|
print '>>>>>> Running TEST MODULES'
|
|
|
|
atexit.register(util.pexpect_close_all)
|
|
|
|
try:
|
|
run_tests(finaltests)
|
|
sys.exit(0)
|
|
except KeyboardInterrupt:
|
|
util.pexpect_close_all()
|
|
sys.exit(1)
|
|
except Exception:
|
|
# make sure we kill off any children
|
|
util.pexpect_close_all()
|
|
raise
|