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ardupilot/Tools/autotest/autotest.py

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#!/usr/bin/env python
"""
APM automatic test suite
Andrew Tridgell, October 2011
AP_FLAKE8_CLEAN
"""
from __future__ import print_function
import atexit
import fnmatch
import glob
import optparse
import os
import re
import shutil
import signal
import subprocess
import sys
import time
import traceback
from distutils.dir_util import copy_tree
import rover
import arducopter
import arduplane
import ardusub
import antennatracker
import quadplane
import balancebot
import sailboat
import examples
from pysim import util
from pymavlink import mavutil
from pymavlink.generator import mavtemplate
from common import Test
tester = None
def buildlogs_dirpath():
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 get_default_params(atype, binary):
"""Get default parameters."""
# use rover simulator so SITL is not starved of input
HOME = mavutil.location(40.071374969556928,
-105.22978898137808,
1583.702759,
246)
if "plane" in binary or "rover" in binary:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
mavproxy_master = 'tcp:127.0.0.1:5760'
sitl = util.start_SITL(binary,
wipe=True,
model=frame,
home=home,
speedup=10,
unhide_parameters=True)
mavproxy = util.start_MAVProxy_SITL(atype,
master=mavproxy_master)
print("Dumping defaults")
idx = mavproxy.expect([r'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL(atype,
master=mavproxy_master)
mavproxy.expect(r'Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = buildlogs_path('%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
print("Saved defaults for %s to %s" % (atype, dest))
return True
def build_all_filepath():
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 "build_binaries.py", "generate_manifest.py", "gen_stable.py", "build_binaries_history.py":
orig = util.reltopdir('Tools/scripts/%s' % thing)
copy = util.reltopdir('./%s' % 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():
"""Build examples."""
for target in 'fmuv2', 'Pixhawk1', 'navio', 'linux':
print("Running build.examples for %s" % target)
try:
util.build_examples(target)
except Exception as e:
print("Failed build_examples on board=%s" % target)
print(str(e))
return False
return True
def build_unit_tests():
"""Build tests."""
for target in ['linux']:
print("Running build.unit_tests for %s" % target)
try:
util.build_tests(target)
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):
print("Running (%s)" % test)
subprocess.check_call([test])
def run_unit_tests():
binary_dir = util.reltopdir(os.path.join('build',
'linux',
'tests',
))
tests = glob.glob("%s/*" % binary_dir)
success = True
for test in tests:
try:
run_unit_test(test)
except Exception as e:
print("Exception running (%s): %s" % (test, e.message))
success = False
return success
def run_clang_scan_build():
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():
return util.reltopdir('Tools/autotest/param_metadata/param_parse.py')
def all_vehicles():
return ('ArduPlane',
'ArduCopter',
'Rover',
'AntennaTracker',
'ArduSub')
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():
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",
"CopterTests1": "arducopter",
"CopterTests1a": "arducopter",
"CopterTests1b": "arducopter",
"CopterTests1c": "arducopter",
"CopterTests1d": "arducopter",
"CopterTests1e": "arducopter",
"CopterTests2": "arducopter",
"CopterTests2a": "arducopter",
"CopterTests2b": "arducopter",
"Plane": "arduplane",
"Rover": "ardurover",
"Tracker": "antennatracker",
"Helicopter": "arducopter-heli",
"QuadPlane": "arduplane",
"Sub": "ardusub",
"BalanceBot": "ardurover",
"Sailboat": "ardurover",
"SITLPeriphGPS": "sitl_periph_gp.AP_Periph",
"CAN": "arducopter",
}
def binary_path(step, debug=False):
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):
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):
t = split_specific_test_step(step)
if t is None:
return None
(testname, test) = t
return "%s.%s" % (testname, test)
tester_class_map = {
"test.Copter": arducopter.AutoTestCopter,
"test.CopterTests1": arducopter.AutoTestCopterTests1, # travis-ci
"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.CopterTests2": arducopter.AutoTestCopterTests2, # travis-ci
"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": arducopter.AutoTestHeli,
"test.Sub": ardusub.AutoTestSub,
"test.Tracker": antennatracker.AutoTestTracker,
"test.CAN": arducopter.AutoTestCAN,
}
suplementary_test_binary_map = {
"test.CAN": ["sitl_periph_gps.AP_Periph", "sitl_periph_gps.AP_Periph.1"],
}
def run_specific_test(step, *args, **kwargs):
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 hasattr(a, 'name'):
a = Test(a[0], a[1], a[2])
print("Got %s" % (a.name))
if a.name == test:
return tester.run_tests([a])
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,
"extra_configure_args": opts.waf_configure_args,
}
if opts.Werror:
build_opts['extra_configure_args'].append("--Werror")
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.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:
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)
if step.startswith("defaults"):
vehicle = step[9:]
return get_default_params(vehicle, binary)
supplementary_binaries = []
if step in suplementary_test_binary_map:
for supplementary_test_binary in suplementary_test_binary_map[step]:
config_name = supplementary_test_binary.split('.')[0]
binary_name = supplementary_test_binary.split('.')[1]
instance_num = 0
if len(supplementary_test_binary.split('.')) >= 3:
instance_num = int(supplementary_test_binary.split('.')[2])
supplementary_binaries.append([util.reltopdir(os.path.join('build',
config_name,
'bin',
binary_name)),
'-I {}'.format(instance_num)])
# we are running in conjunction with a supplementary app
# can't have speedup
opts.speedup = 1.0
else:
supplementary_binaries = []
fly_opts = {
"viewerip": opts.viewerip,
"use_map": opts.map,
"valgrind": opts.valgrind,
"gdb": opts.gdb,
"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,
"logs_dir": buildlogs_dirpath(),
"sup_binaries": supplementary_binaries,
}
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()
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()
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):
self.name = name
self.result = result
self.elapsed = "%.1f" % elapsed
class TestFile(object):
"""Test result file."""
def __init__(self, name, fname):
self.name = name
self.fname = fname
class TestResults(object):
"""Test results class."""
def __init__(self):
self.date = time.asctime()
self.githash = util.run_cmd('git rev-parse HEAD',
output=True,
directory=util.reltopdir('.')).strip()
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):
"""
Gets 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 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"))
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} defaults', '{vehicle}-defaults.parm'),
('{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.addglobimage("Flight Track", '*.png')
write_webresults(results)
def run_tests(steps):
"""Run a list of steps."""
global results
corefiles = glob.glob("core*")
if corefiles:
print('Removing corefiles: %s' % str(corefiles))
for f in corefiles:
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 type(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:
(desc, exception, debug_filename) = failure
print(" %s (%s) (see %s)" % (desc, exception, debug_filename))
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']
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 type(subtest) is tuple:
(name, description, function) = subtest
sorted_list.append([name, description])
else:
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 type(subtest) is tuple:
(name, description, function) = subtest
sorted_list.append([name, description])
else:
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):
def format_epilog(self, formatter):
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=False,
action='store_true',
help='make built binaries debug binaries')
group_build.add_option("--enable-math-check-indexes",
default=False,
action="store_true",
dest="math_check_indexes",
help="enable checking of math indexes")
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("--gdb",
default=False,
action='store_true',
help='run ArduPilot binaries under gdb')
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")
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')
parser.add_option_group(group_completion)
opts, args = parser.parse_args()
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.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',
'defaults.Plane',
'test.Plane',
'test.QuadPlane',
'build.Rover',
'defaults.Rover',
'test.Rover',
'test.BalanceBot',
'test.Sailboat',
'build.Copter',
'defaults.Copter',
'test.Copter',
'build.Helicopter',
'test.Helicopter',
'build.Tracker',
'defaults.Tracker',
'test.Tracker',
'build.Sub',
'defaults.Sub',
'test.Sub',
'build.SITLPeriphGPS',
'test.CAN',
'convertgpx',
]
moresteps = [
'test.CopterTests1',
'test.CopterTests1a',
'test.CopterTests1b',
'test.CopterTests1c',
'test.CopterTests1d',
'test.CopterTests1e',
'test.CopterTests2',
'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",
"defaults.ArduCopter": "defaults.Copter",
"defaults.ArduPlane": "defaults.Plane",
"defaults.ArduSub": "defaults.Sub",
"defaults.APMrover2": "defaults.Rover",
"defaults.AntennaTracker": "defaults.Tracker",
"fly.ArduCopterTests1": "test.CopterTests1",
"fly.ArduCopterTests1a": "test.CopterTests1a",
"fly.ArduCopterTests1b": "test.CopterTests1b",
"fly.ArduCopterTests1c": "test.CopterTests1c",
"fly.ArduCopterTests1d": "test.CopterTests1d",
"fly.ArduCopterTests1e": "test.CopterTests1e",
"fly.ArduCopterTests2": "test.CopterTests2",
"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:
# 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
elif opts.autotest_server:
# we will be changing this script to give a help message if
# --autotest-server isn't given, instead of assuming we want
# to do everything that happens on autotest.ardupilot.org,
# which includes some significant state-changing actions.
print("AutoTest-Server Mode")
# 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
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