mirror of https://github.com/ArduPilot/ardupilot
456 lines
15 KiB
Python
Executable File
456 lines
15 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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import optparse, fnmatch, time, glob, traceback, signal
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pysim'))
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import util
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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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# use rover simulator so SITL is not starved of input
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from pymavlink import mavutil
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HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
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if atype in ['APMrover2', 'ArduPlane']:
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frame = 'rover'
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else:
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frame = '+'
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home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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sil = util.start_SIL(atype, wipe=True, model=frame, home=home, speedup=10)
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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, model=frame, home=home, speedup=10)
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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.parm' % 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 build_all():
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'''run the build_all.sh script'''
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print("Running build_all.sh")
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if util.run_cmd(util.reltopdir('Tools/scripts/build_all.sh'), dir=util.reltopdir('.')) != 0:
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print("Failed build_all.sh")
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return False
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return True
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def build_binaries():
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'''run the build_binaries.sh script'''
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print("Running build_binaries.sh")
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import shutil
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# copy the script as it changes git branch, which can change the script while running
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orig=util.reltopdir('Tools/scripts/build_binaries.sh')
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copy=util.reltopdir('./build_binaries.sh')
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shutil.copyfile(orig, copy)
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shutil.copymode(orig, copy)
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if util.run_cmd(copy, dir=util.reltopdir('.')) != 0:
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print("Failed build_binaries.sh")
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return False
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return True
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def build_devrelease():
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'''run the build_devrelease.sh script'''
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print("Running build_devrelease.sh")
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import shutil
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# copy the script as it changes git branch, which can change the script while running
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orig=util.reltopdir('Tools/scripts/build_devrelease.sh')
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copy=util.reltopdir('./build_devrelease.sh')
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shutil.copyfile(orig, copy)
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shutil.copymode(orig, copy)
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if util.run_cmd(copy, dir=util.reltopdir('.')) != 0:
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print("Failed build_devrelease.sh")
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return False
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return True
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def build_examples():
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'''run the build_examples.sh script'''
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print("Running build_examples.sh")
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if util.run_cmd(util.reltopdir('Tools/scripts/build_examples.sh'), dir=util.reltopdir('.')) != 0:
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print("Failed build_examples.sh")
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return False
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return True
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def build_parameters():
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'''run the param_parse.py script'''
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print("Running param_parse.py")
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if util.run_cmd(util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), dir=util.reltopdir('.')) != 0:
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print("Failed param_parse.py")
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return False
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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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util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m,m))
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return True
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def test_prerequisites():
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'''check we have the right directories and tools to run tests'''
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print("Testing prerequisites")
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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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convert_gpx()
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write_fullresults()
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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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############## 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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parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to')
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parser.add_option("--map", action='store_true', default=False, help='show map')
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parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
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parser.add_option("--timeout", default=3000, type='int', help='maximum runtime in seconds')
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parser.add_option("-j", default=1, type='int', help='build CPUs')
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opts, args = parser.parse_args()
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import arducopter, arduplane, apmrover2
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steps = [
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'prerequisites',
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'build.All',
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'build.Binaries',
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# 'build.DevRelease',
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'build.Examples',
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'build.Parameters',
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'build.ArduPlane',
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'defaults.ArduPlane',
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'fly.ArduPlane',
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'build.APMrover2',
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'defaults.APMrover2',
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'drive.APMrover2',
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'build.ArduCopter',
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'defaults.ArduCopter',
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'fly.ArduCopter',
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'build.Helicopter',
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'fly.CopterAVC',
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'build.AntennaTracker',
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'convertgpx',
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]
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skipsteps = opts.skip.split(',')
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# ensure we catch timeouts
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signal.signal(signal.SIGALRM, alarm_handler)
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signal.alarm(opts.timeout)
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if opts.list:
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for step in steps:
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print(step)
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sys.exit(0)
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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.lower(), skip.lower()):
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return True
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return False
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def run_step(step):
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'''run one step'''
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# remove old logs
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util.run_cmd('/bin/rm -f logs/*.BIN logs/LASTLOG.TXT')
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if step == "prerequisites":
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return test_prerequisites()
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if step == 'build.ArduPlane':
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return util.build_SIL('ArduPlane', j=opts.j)
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if step == 'build.APMrover2':
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return util.build_SIL('APMrover2', j=opts.j)
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if step == 'build.ArduCopter':
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return util.build_SIL('ArduCopter', j=opts.j)
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if step == 'build.AntennaTracker':
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return util.build_SIL('AntennaTracker', j=opts.j)
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if step == 'build.Helicopter':
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return util.build_SIL('ArduCopter', target='sitl-heli', j=opts.j)
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if step == 'defaults.ArduPlane':
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return get_default_params('ArduPlane')
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if step == 'defaults.ArduCopter':
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return get_default_params('ArduCopter')
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if step == 'defaults.APMrover2':
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return get_default_params('APMrover2')
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if step == 'fly.ArduCopter':
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return arducopter.fly_ArduCopter(viewerip=opts.viewerip, map=opts.map)
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if step == 'fly.CopterAVC':
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return arducopter.fly_CopterAVC(viewerip=opts.viewerip, map=opts.map)
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if step == 'fly.ArduPlane':
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return arduplane.fly_ArduPlane(viewerip=opts.viewerip, map=opts.map)
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if step == 'drive.APMrover2':
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return apmrover2.drive_APMrover2(viewerip=opts.viewerip, map=opts.map)
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if step == 'build.All':
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return build_all()
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if step == 'build.Binaries':
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return build_binaries()
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if step == 'build.DevRelease':
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return build_devrelease()
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if step == 'build.Examples':
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return build_examples()
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if step == 'build.Parameters':
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return build_parameters()
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if step == 'convertgpx':
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return convert_gpx()
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raise RuntimeError("Unknown step %s" % step)
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class TestResult(object):
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'''test result class'''
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def __init__(self, name, result, elapsed):
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self.name = name
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self.result = result
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self.elapsed = "%.1f" % 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.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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self.images = []
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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 addimage(self, name, fname):
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'''add a result image'''
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self.images.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 addglobimage(self, name, pattern):
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'''add a set of images'''
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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.addimage(name, os.path.basename(f))
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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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def write_fullresults():
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'''write out full results set'''
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global results
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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', '*-log.bin')
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results.addglob("MAVLink log", '*.tlog')
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results.addglob("GPX track", '*.gpx')
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results.addfile('ArduPlane build log', 'ArduPlane.txt')
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results.addfile('ArduPlane code size', 'ArduPlane.sizes.txt')
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results.addfile('ArduPlane stack sizes', 'ArduPlane.framesizes.txt')
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results.addfile('ArduPlane defaults', 'ArduPlane-defaults.parm')
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results.addglob("ArduPlane log", 'ArduPlane-*.BIN')
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results.addglob("ArduPlane core", 'ArduPlane.core')
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results.addglob("ArduPlane ELF", 'ArduPlane.elf')
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results.addfile('ArduCopter build log', 'ArduCopter.txt')
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results.addfile('ArduCopter code size', 'ArduCopter.sizes.txt')
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results.addfile('ArduCopter stack sizes', 'ArduCopter.framesizes.txt')
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results.addfile('ArduCopter defaults', 'ArduCopter-defaults.parm')
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results.addglob("ArduCopter log", 'ArduCopter-*.BIN')
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results.addglob("ArduCopter core", 'ArduCopter.core')
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results.addglob("ArduCopter elf", 'ArduCopter.elf')
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results.addglob("CopterAVC log", 'CopterAVC-*.BIN')
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results.addglob("CopterAVC core", 'CopterAVC.core')
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results.addfile('APMrover2 build log', 'APMrover2.txt')
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results.addfile('APMrover2 code size', 'APMrover2.sizes.txt')
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results.addfile('APMrover2 stack sizes', 'APMrover2.framesizes.txt')
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results.addfile('APMrover2 defaults', 'APMrover2-defaults.parm')
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results.addglob("APMrover2 log", 'APMrover2-*.BIN')
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results.addglob("APMrover2 core", 'APMrover2.core')
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results.addglob("APMrover2 ELF", 'APMrover2.elf')
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results.addfile('AntennaTracker build log', 'AntennaTracker.txt')
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results.addfile('AntennaTracker code size', 'AntennaTracker.sizes.txt')
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results.addfile('AntennaTracker stack sizes', 'AntennaTracker.framesizes.txt')
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results.addglob("AntennaTracker ELF", 'AntennaTracker.elf')
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results.addglob('APM:Libraries documentation', 'docs/libraries/index.html')
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results.addglob('APM:Plane documentation', 'docs/ArduPlane/index.html')
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results.addglob('APM:Copter documentation', 'docs/ArduCopter/index.html')
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results.addglob('APM:Rover documentation', 'docs/APMrover2/index.html')
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results.addglobimage("Flight Track", '*.png')
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write_webresults(results)
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results = TestResults()
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def check_logs(step):
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'''check for log files from a step'''
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print("check step: ", step)
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if step.startswith('fly.'):
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vehicle = step[4:]
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elif step.startswith('drive.'):
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vehicle = step[6:]
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else:
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return
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logs = glob.glob("logs/*.BIN")
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for log in logs:
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bname = os.path.basename(log)
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newname = util.reltopdir("../buildlogs/%s-%s" % (vehicle, bname))
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print("Renaming %s to %s" % (log, newname))
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os.rename(log, newname)
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corefile = "core"
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if os.path.exists(corefile):
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newname = util.reltopdir("../buildlogs/%s.core" % vehicle)
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print("Renaming %s to %s" % (corefile, newname))
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os.rename(corefile, newname)
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util.run_cmd('/bin/cp A*/A*.elf ../buildlogs', dir=util.reltopdir('.'))
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def run_tests(steps):
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'''run a list of steps'''
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global results
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passed = True
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failed = []
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for step in steps:
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util.pexpect_close_all()
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if skip_step(step):
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continue
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t1 = time.time()
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print(">>>> RUNNING STEP: %s at %s" % (step, time.asctime()))
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try:
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if not run_step(step):
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print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
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passed = False
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failed.append(step)
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results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
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continue
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except Exception, msg:
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passed = False
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failed.append(step)
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print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg))
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traceback.print_exc(file=sys.stdout)
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results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
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check_logs(step)
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continue
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results.add(step, '<span class="passed-text">PASSED</span>', time.time() - t1)
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print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
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check_logs(step)
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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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write_fullresults()
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return passed
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util.mkdir_p(util.reltopdir('../buildlogs'))
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lck = util.lock_file(util.reltopdir('../buildlogs/autotest.lck'))
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if lck is None:
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print("autotest is locked - exiting")
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sys.exit(0)
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atexit.register(util.pexpect_close_all)
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if len(args) > 0:
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# allow a wildcard list of steps
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matched = []
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for a in args:
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for s in steps:
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if fnmatch.fnmatch(s.lower(), a.lower()):
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matched.append(s)
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steps = matched
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try:
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if not run_tests(steps):
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sys.exit(1)
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except KeyboardInterrupt:
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util.pexpect_close_all()
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sys.exit(1)
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except Exception:
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# make sure we kill off any children
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util.pexpect_close_all()
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raise
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