mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.5 KiB
Python
Executable File
119 lines
3.5 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, util, sys, shutil, arducopter
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import optparse, fnmatch
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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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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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mavproxy.close()
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sil.close()
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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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mavproxy.close()
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sil.close()
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print("Saved defaults for %s to %s" % (atype, dest))
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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, CLI=True)
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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.expect(']')
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mavproxy.send("logs\n")
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mavproxy.expect("logs enabled:")
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mavproxy.expect("(\d+) logs")
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numlogs = 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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mavproxy.send("dump %u\n" % (i+1))
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mavproxy.expect("logs enabled:")
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mavproxy.expect("Log]")
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mavproxy.close()
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sil.close()
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log.close()
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print("Saved log for %s to %s" % (atype, logfile))
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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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if not os.path.exists(util.reltopdir('../HILTest/hil_quad.py')):
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print('''
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You need to install HILTest in %s
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You can get it from git://git.samba.org/tridge/UAV/HILTest.git
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''' % util.reltopdir('../HILTest'))
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############## main program #############
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parser = optparse.OptionParser("autotest")
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parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)')
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parser.add_option("--list", action='store_true', default=False, help='list the available steps')
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opts, args = parser.parse_args()
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steps = [
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'build.ArduPlane',
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'defaults.ArduPlane',
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'logs.ArduPlane',
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'build.ArduCopter',
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'defaults.ArduCopter',
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'fly.ArduCopter',
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'logs.ArduCopter',
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]
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skipsteps = opts.skip.split(',')
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def skip_step(step):
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'''see if a step should be skipped'''
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for skip in skipsteps:
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if fnmatch.fnmatch(step, skip):
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return True
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return False
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# kill any previous instance
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util.kill('ArduCopter.elf')
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util.kill('ArduPilot.elf')
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test_prerequesites()
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for step in steps:
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if skip_step(step):
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continue
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if step == 'build.ArduPlane':
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util.build_SIL('ArduPlane')
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elif step == 'build.ArduCopter':
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util.build_SIL('ArduCopter')
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elif step == 'defaults.ArduPlane':
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get_default_params('ArduPlane')
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elif step == 'defaults.ArduCopter':
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get_default_params('ArduCopter')
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elif step == 'logs.ArduPlane':
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dump_logs('ArduPlane')
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elif step == 'logs.ArduCopter':
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dump_logs('ArduCopter')
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elif step == 'fly.ArduCopter':
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arducopter.fly_ArduCopter()
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else:
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raise RuntimeError("Unknown step %s" % step)
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util.kill('ArduCopter.elf')
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util.kill('ArduPilot.elf')
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