mirror of https://github.com/ArduPilot/ardupilot
941 lines
28 KiB
Python
941 lines
28 KiB
Python
from __future__ import print_function
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'''
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AP_FLAKE8_CLEAN
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'''
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import atexit
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import math
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import os
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import random
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import re
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import shlex
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import signal
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import subprocess
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import sys
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import tempfile
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import time
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from math import acos, atan2, cos, pi, sqrt
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import pexpect
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from pymavlink.rotmat import Vector3, Matrix3
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if (sys.version_info[0] >= 3):
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ENCODING = 'ascii'
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else:
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ENCODING = None
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RADIUS_OF_EARTH = 6378100.0 # in meters
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# List of open terminal windows for macosx
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windowID = []
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def m2ft(x):
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"""Meters to feet."""
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return float(x) / 0.3048
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def ft2m(x):
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"""Feet to meters."""
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return float(x) * 0.3048
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def kt2mps(x):
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return x * 0.514444444
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def mps2kt(x):
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return x / 0.514444444
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def topdir():
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"""Return top of git tree where autotest is running from."""
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d = os.path.dirname(os.path.realpath(__file__))
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assert(os.path.basename(d) == 'pysim')
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d = os.path.dirname(d)
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assert(os.path.basename(d) == 'autotest')
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d = os.path.dirname(d)
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assert(os.path.basename(d) == 'Tools')
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d = os.path.dirname(d)
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return d
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def relcurdir(path):
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"""Return a path relative to current dir"""
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return os.path.relpath(path, os.getcwd())
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def reltopdir(path):
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"""Returns the normalized ABSOLUTE path for 'path', where path is a path relative to topdir"""
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return os.path.normpath(os.path.join(topdir(), path))
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def run_cmd(cmd, directory=".", show=True, output=False, checkfail=True):
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"""Run a shell command."""
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shell = False
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if not isinstance(cmd, list):
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cmd = [cmd]
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shell = True
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if show:
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print("Running: (%s) in (%s)" % (cmd_as_shell(cmd), directory,))
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if output:
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return subprocess.Popen(cmd, shell=shell, stdout=subprocess.PIPE, cwd=directory).communicate()[0]
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elif checkfail:
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return subprocess.check_call(cmd, shell=shell, cwd=directory)
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else:
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return subprocess.call(cmd, shell=shell, cwd=directory)
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def rmfile(path):
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"""Remove a file if it exists."""
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try:
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os.unlink(path)
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except Exception:
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pass
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def deltree(path):
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"""Delete a tree of files."""
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run_cmd('rm -rf %s' % path)
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def relwaf():
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return "./modules/waf/waf-light"
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def waf_configure(board,
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j=None,
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debug=False,
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math_check_indexes=False,
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coverage=False,
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ekf_single=False,
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postype_single=False,
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sitl_32bit=False,
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extra_args=[],
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extra_hwdef=None,
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ubsan=False,
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ubsan_abort=False,
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extra_defines={}):
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cmd_configure = [relwaf(), "configure", "--board", board]
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if debug:
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cmd_configure.append('--debug')
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if coverage:
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cmd_configure.append('--coverage')
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if math_check_indexes:
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cmd_configure.append('--enable-math-check-indexes')
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if ekf_single:
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cmd_configure.append('--ekf-single')
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if postype_single:
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cmd_configure.append('--postype-single')
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if sitl_32bit:
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cmd_configure.append('--sitl-32bit')
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if ubsan:
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cmd_configure.append('--ubsan')
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if ubsan_abort:
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cmd_configure.append('--ubsan-abort')
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if extra_hwdef is not None:
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cmd_configure.extend(['--extra-hwdef', extra_hwdef])
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for nv in extra_defines.items():
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cmd_configure.extend(['--define', "%s=%s" % nv])
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if j is not None:
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cmd_configure.extend(['-j', str(j)])
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pieces = [shlex.split(x) for x in extra_args]
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for piece in pieces:
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cmd_configure.extend(piece)
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run_cmd(cmd_configure, directory=topdir(), checkfail=True)
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def waf_clean():
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run_cmd([relwaf(), "clean"], directory=topdir(), checkfail=True)
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def waf_build(target=None):
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cmd = [relwaf(), "build"]
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if target is not None:
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cmd.append(target)
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run_cmd(cmd, directory=topdir(), checkfail=True)
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def build_SITL(
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build_target,
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board='sitl',
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clean=True,
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configure=True,
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coverage=False,
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debug=False,
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ekf_single=False,
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extra_configure_args=[],
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extra_defines={},
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j=None,
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math_check_indexes=False,
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postype_single=False,
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sitl_32bit=False,
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ubsan=False,
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ubsan_abort=False,
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):
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# first configure
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if configure:
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waf_configure(board,
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j=j,
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debug=debug,
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math_check_indexes=math_check_indexes,
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ekf_single=ekf_single,
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postype_single=postype_single,
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coverage=coverage,
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sitl_32bit=sitl_32bit,
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ubsan=ubsan,
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ubsan_abort=ubsan_abort,
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extra_defines=extra_defines,
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extra_args=extra_configure_args)
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# then clean
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if clean:
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waf_clean()
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# then build
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cmd_make = [relwaf(), "build", "--target", build_target]
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if j is not None:
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cmd_make.extend(['-j', str(j)])
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run_cmd(cmd_make, directory=topdir(), checkfail=True, show=True)
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return True
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def build_examples(board, j=None, debug=False, clean=False, configure=True, math_check_indexes=False, coverage=False,
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ekf_single=False, postype_single=False, sitl_32bit=False, ubsan=False, ubsan_abort=False,
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extra_configure_args=[]):
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# first configure
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if configure:
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waf_configure(board,
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j=j,
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debug=debug,
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math_check_indexes=math_check_indexes,
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ekf_single=ekf_single,
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postype_single=postype_single,
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coverage=coverage,
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sitl_32bit=sitl_32bit,
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ubsan=ubsan,
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ubsan_abort=ubsan_abort,
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extra_args=extra_configure_args)
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# then clean
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if clean:
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waf_clean()
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# then build
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cmd_make = [relwaf(), "examples"]
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run_cmd(cmd_make, directory=topdir(), checkfail=True, show=True)
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return True
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def build_replay(board, j=None, debug=False, clean=False):
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# first configure
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waf_configure(board, j=j, debug=debug)
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# then clean
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if clean:
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waf_clean()
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# then build
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cmd_make = [relwaf(), "replay"]
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run_cmd(cmd_make, directory=topdir(), checkfail=True, show=True)
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return True
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def build_tests(board,
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j=None,
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debug=False,
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clean=False,
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configure=True,
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math_check_indexes=False,
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coverage=False,
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ekf_single=False,
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postype_single=False,
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sitl_32bit=False,
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ubsan=False,
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ubsan_abort=False,
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extra_configure_args=[]):
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# first configure
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if configure:
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waf_configure(board,
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j=j,
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debug=debug,
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math_check_indexes=math_check_indexes,
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ekf_single=ekf_single,
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postype_single=postype_single,
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coverage=coverage,
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sitl_32bit=sitl_32bit,
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ubsan=ubsan,
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ubsan_abort=ubsan_abort,
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extra_args=extra_configure_args)
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# then clean
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if clean:
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waf_clean()
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# then build
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run_cmd([relwaf(), "tests"], directory=topdir(), checkfail=True, show=True)
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return True
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# list of pexpect children to close on exit
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close_list = []
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def pexpect_autoclose(p):
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"""Mark for autoclosing."""
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global close_list
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close_list.append(p)
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def pexpect_close(p):
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"""Close a pexpect child."""
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global close_list
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ex = None
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if p is None:
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print("Nothing to close")
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return
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try:
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p.kill(signal.SIGTERM)
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except IOError as e:
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print("Caught exception: %s" % str(e))
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ex = e
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pass
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if ex is None:
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# give the process some time to go away
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for i in range(20):
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if not p.isalive():
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break
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time.sleep(0.05)
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try:
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p.close()
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except Exception:
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pass
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try:
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p.close(force=True)
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except Exception:
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pass
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if p in close_list:
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close_list.remove(p)
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def pexpect_close_all():
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"""Close all pexpect children."""
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global close_list
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for p in close_list[:]:
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pexpect_close(p)
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def pexpect_drain(p):
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"""Drain any pending input."""
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try:
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p.read_nonblocking(1000, timeout=0)
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except Exception:
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pass
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def cmd_as_shell(cmd):
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return (" ".join(['"%s"' % x for x in cmd]))
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def make_safe_filename(text):
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"""Return a version of text safe for use as a filename."""
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r = re.compile("([^a-zA-Z0-9_.+-])")
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text.replace('/', '-')
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filename = r.sub(lambda m: str(hex(ord(str(m.group(1))))).upper(), text)
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return filename
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def valgrind_log_filepath(binary, model):
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return make_safe_filename('%s-%s-valgrind.log' % (os.path.basename(binary), model,))
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def kill_screen_gdb():
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cmd = ["screen", "-X", "-S", "ardupilot-gdb", "quit"]
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subprocess.Popen(cmd)
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def kill_mac_terminal():
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global windowID
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for window in windowID:
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cmd = ("osascript -e \'tell application \"Terminal\" to close "
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"(window(get index of window id %s))\'" % window)
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os.system(cmd)
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class FakeMacOSXSpawn(object):
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'''something that looks like a pspawn child so we can ignore attempts
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to pause (and otherwise kill(1) SITL. MacOSX using osascript to
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start/stop sitl
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'''
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def __init__(self):
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pass
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def progress(self, message):
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print(message)
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def kill(self, sig):
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# self.progress("FakeMacOSXSpawn: ignoring kill(%s)" % str(sig))
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pass
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def isalive(self):
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self.progress("FakeMacOSXSpawn: assuming process is alive")
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return True
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def start_SITL(binary,
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valgrind=False,
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callgrind=False,
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gdb=False,
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gdb_no_tui=False,
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wipe=False,
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synthetic_clock=True,
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home=None,
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model=None,
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speedup=1,
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defaults_filepath=None,
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unhide_parameters=False,
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gdbserver=False,
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breakpoints=[],
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disable_breakpoints=False,
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customisations=[],
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lldb=False,
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enable_fgview_output=False,
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supplementary=False):
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if model is None and not supplementary:
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raise ValueError("model must not be None")
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"""Launch a SITL instance."""
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cmd = []
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if (callgrind or valgrind) and os.path.exists('/usr/bin/valgrind'):
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# we specify a prefix for vgdb-pipe because on Vagrant virtual
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# machines the pipes are created on the mountpoint for the
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# shared directory with the host machine. mmap's,
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# unsurprisingly, fail on files created on that mountpoint.
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vgdb_prefix = os.path.join(tempfile.gettempdir(), "vgdb-pipe")
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log_file = valgrind_log_filepath(binary=binary, model=model)
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cmd.extend([
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'valgrind',
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# adding this option allows valgrind to cope with the overload
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# of operator new
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"--soname-synonyms=somalloc=nouserintercepts",
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'--vgdb-prefix=%s' % vgdb_prefix,
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'-q',
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'--log-file=%s' % log_file])
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if callgrind:
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cmd.extend(["--tool=callgrind"])
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if gdbserver:
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cmd.extend(['gdbserver', 'localhost:3333'])
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if gdb:
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# attach gdb to the gdbserver:
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f = open("/tmp/x.gdb", "w")
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f.write("target extended-remote localhost:3333\nc\n")
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for breakpoint in breakpoints:
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f.write("b %s\n" % (breakpoint,))
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if disable_breakpoints:
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f.write("disable\n")
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f.close()
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run_cmd('screen -d -m -S ardupilot-gdbserver '
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'bash -c "gdb -x /tmp/x.gdb"')
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elif gdb:
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f = open("/tmp/x.gdb", "w")
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f.write("set pagination off\n")
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for breakpoint in breakpoints:
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f.write("b %s\n" % (breakpoint,))
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if disable_breakpoints:
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f.write("disable\n")
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if not gdb_no_tui:
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f.write("tui enable\n")
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f.write("r\n")
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f.close()
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if sys.platform == "darwin" and os.getenv('DISPLAY'):
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cmd.extend(['gdb', '-x', '/tmp/x.gdb', '--args'])
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elif os.environ.get('DISPLAY'):
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cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
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else:
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cmd.extend(['screen',
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'-L', '-Logfile', 'gdb.log',
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'-d',
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'-m',
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'-S', 'ardupilot-gdb',
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'gdb', '-x', '/tmp/x.gdb', binary, '--args'])
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elif lldb:
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f = open("/tmp/x.lldb", "w")
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for breakpoint in breakpoints:
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f.write("b %s\n" % (breakpoint,))
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if disable_breakpoints:
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f.write("disable\n")
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f.write("settings set target.process.stop-on-exec false\n")
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f.write("process launch\n")
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f.close()
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if sys.platform == "darwin" and os.getenv('DISPLAY'):
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cmd.extend(['lldb', '-s', '/tmp/x.lldb', '--'])
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elif os.environ.get('DISPLAY'):
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cmd.extend(['xterm', '-e', 'lldb', '-s', '/tmp/x.lldb', '--'])
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else:
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raise RuntimeError("DISPLAY was not set")
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cmd.append(binary)
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if not supplementary:
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if wipe:
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cmd.append('-w')
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if synthetic_clock:
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cmd.append('-S')
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if home is not None:
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cmd.extend(['--home', home])
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cmd.extend(['--model', model])
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if speedup != 1:
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cmd.extend(['--speedup', str(speedup)])
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|
if defaults_filepath is not None:
|
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if type(defaults_filepath) == list:
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defaults = [reltopdir(path) for path in defaults_filepath]
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if len(defaults):
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cmd.extend(['--defaults', ",".join(defaults)])
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else:
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cmd.extend(['--defaults', reltopdir(defaults_filepath)])
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|
if unhide_parameters:
|
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cmd.extend(['--unhide-groups'])
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|
# somewhere for MAVProxy to connect to:
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|
cmd.append('--uartC=tcp:2')
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if not enable_fgview_output:
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cmd.append("--disable-fgview")
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|
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cmd.extend(customisations)
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if (gdb or lldb) and sys.platform == "darwin" and os.getenv('DISPLAY'):
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global windowID
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# on MacOS record the window IDs so we can close them later
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atexit.register(kill_mac_terminal)
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child = None
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mydir = os.path.dirname(os.path.realpath(__file__))
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autotest_dir = os.path.realpath(os.path.join(mydir, '..'))
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runme = [os.path.join(autotest_dir, "run_in_terminal_window.sh"), 'mactest']
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runme.extend(cmd)
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print(cmd)
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out = subprocess.Popen(runme, stdout=subprocess.PIPE).communicate()[0]
|
|
out = out.decode('utf-8')
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|
p = re.compile('tab 1 of window id (.*)')
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|
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tstart = time.time()
|
|
while time.time() - tstart < 5:
|
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tabs = p.findall(out)
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|
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if len(tabs) > 0:
|
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break
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|
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time.sleep(0.1)
|
|
# sleep for extra 2 seconds for application to start
|
|
time.sleep(2)
|
|
if len(tabs) > 0:
|
|
windowID.append(tabs[0])
|
|
else:
|
|
print("Cannot find %s process terminal" % binary)
|
|
child = FakeMacOSXSpawn()
|
|
elif gdb and not os.getenv('DISPLAY'):
|
|
subprocess.Popen(cmd)
|
|
atexit.register(kill_screen_gdb)
|
|
# we are expected to return a pexpect wrapped around the
|
|
# stdout of the ArduPilot binary. Not going to happen until
|
|
# AP gets a redirect-stdout-to-filehandle option. So, in the
|
|
# meantime, return a dummy:
|
|
return pexpect.spawn("true", ["true"],
|
|
logfile=sys.stdout,
|
|
encoding=ENCODING,
|
|
timeout=5)
|
|
else:
|
|
print("Running: %s" % cmd_as_shell(cmd))
|
|
|
|
first = cmd[0]
|
|
rest = cmd[1:]
|
|
child = pexpect.spawn(first, rest, logfile=sys.stdout, encoding=ENCODING, timeout=5)
|
|
pexpect_autoclose(child)
|
|
# give time for parameters to properly setup
|
|
time.sleep(3)
|
|
if gdb or lldb:
|
|
# if we run GDB we do so in an xterm. "Waiting for
|
|
# connection" is never going to appear on xterm's output.
|
|
# ... so let's give it another magic second.
|
|
time.sleep(1)
|
|
# TODO: have a SITL-compiled ardupilot able to have its
|
|
# console on an output fd.
|
|
else:
|
|
child.expect('Waiting for ', timeout=300)
|
|
return child
|
|
|
|
|
|
def mavproxy_cmd():
|
|
'''return path to which mavproxy to use'''
|
|
return os.getenv('MAVPROXY_CMD', 'mavproxy.py')
|
|
|
|
|
|
def MAVProxy_version():
|
|
'''return the current version of mavproxy as a tuple e.g. (1,8,8)'''
|
|
command = "%s --version" % mavproxy_cmd()
|
|
output = subprocess.Popen(command, shell=True, stdout=subprocess.PIPE).communicate()[0]
|
|
output = output.decode('ascii')
|
|
match = re.search("MAVProxy Version: ([0-9]+)[.]([0-9]+)[.]([0-9]+)", output)
|
|
if match is None:
|
|
raise ValueError("Unable to determine MAVProxy version from (%s)" % output)
|
|
return (int(match.group(1)), int(match.group(2)), int(match.group(3)))
|
|
|
|
|
|
def start_MAVProxy_SITL(atype,
|
|
aircraft=None,
|
|
setup=False,
|
|
master='tcp:127.0.0.1:5762',
|
|
options=[],
|
|
pexpect_timeout=60,
|
|
logfile=sys.stdout):
|
|
"""Launch mavproxy connected to a SITL instance."""
|
|
local_mp_modules_dir = os.path.abspath(
|
|
os.path.join(__file__, '..', '..', '..', 'mavproxy_modules'))
|
|
env = dict(os.environ)
|
|
old = env.get('PYTHONPATH', None)
|
|
env['PYTHONPATH'] = local_mp_modules_dir
|
|
if old is not None:
|
|
env['PYTHONPATH'] += os.path.pathsep + old
|
|
|
|
import pexpect
|
|
global close_list
|
|
cmd = []
|
|
cmd.append(mavproxy_cmd())
|
|
cmd.extend(['--master', master])
|
|
if setup:
|
|
cmd.append('--setup')
|
|
if aircraft is None:
|
|
aircraft = 'test.%s' % atype
|
|
cmd.extend(['--aircraft', aircraft])
|
|
cmd.extend(options)
|
|
cmd.extend(['--default-modules', 'misc,wp,rally,fence,param,arm,mode,rc,cmdlong,output'])
|
|
|
|
print("PYTHONPATH: %s" % str(env['PYTHONPATH']))
|
|
print("Running: %s" % cmd_as_shell(cmd))
|
|
|
|
ret = pexpect.spawn(cmd[0], cmd[1:], logfile=logfile, encoding=ENCODING, timeout=pexpect_timeout, env=env)
|
|
ret.delaybeforesend = 0
|
|
pexpect_autoclose(ret)
|
|
return ret
|
|
|
|
|
|
def expect_setup_callback(e, callback):
|
|
"""Setup a callback that is called once a second while waiting for
|
|
patterns."""
|
|
import pexpect
|
|
|
|
def _expect_callback(pattern, timeout=e.timeout):
|
|
tstart = time.time()
|
|
while time.time() < tstart + timeout:
|
|
try:
|
|
ret = e.expect_saved(pattern, timeout=1)
|
|
return ret
|
|
except pexpect.TIMEOUT:
|
|
e.expect_user_callback(e)
|
|
print("Timed out looking for %s" % pattern)
|
|
raise pexpect.TIMEOUT(timeout)
|
|
|
|
e.expect_user_callback = callback
|
|
e.expect_saved = e.expect
|
|
e.expect = _expect_callback
|
|
|
|
|
|
def mkdir_p(directory):
|
|
"""Like mkdir -p ."""
|
|
if not directory:
|
|
return
|
|
if directory.endswith("/"):
|
|
mkdir_p(directory[:-1])
|
|
return
|
|
if os.path.isdir(directory):
|
|
return
|
|
mkdir_p(os.path.dirname(directory))
|
|
os.mkdir(directory)
|
|
|
|
|
|
def loadfile(fname):
|
|
"""Load a file as a string."""
|
|
f = open(fname, mode='r')
|
|
r = f.read()
|
|
f.close()
|
|
return r
|
|
|
|
|
|
def lock_file(fname):
|
|
"""Lock a file."""
|
|
import fcntl
|
|
f = open(fname, mode='w')
|
|
try:
|
|
fcntl.lockf(f, fcntl.LOCK_EX | fcntl.LOCK_NB)
|
|
except Exception:
|
|
return None
|
|
return f
|
|
|
|
|
|
def check_parent(parent_pid=None):
|
|
"""Check our parent process is still alive."""
|
|
if parent_pid is None:
|
|
try:
|
|
parent_pid = os.getppid()
|
|
except Exception:
|
|
pass
|
|
if parent_pid is None:
|
|
return
|
|
try:
|
|
os.kill(parent_pid, 0)
|
|
except Exception:
|
|
print("Parent had finished - exiting")
|
|
sys.exit(1)
|
|
|
|
|
|
def EarthRatesToBodyRates(dcm, earth_rates):
|
|
"""Convert the angular velocities from earth frame to
|
|
body frame. Thanks to James Goppert for the formula
|
|
|
|
all inputs and outputs are in radians
|
|
|
|
returns a gyro vector in body frame, in rad/s .
|
|
"""
|
|
from math import sin, cos
|
|
|
|
(phi, theta, psi) = dcm.to_euler()
|
|
phiDot = earth_rates.x
|
|
thetaDot = earth_rates.y
|
|
psiDot = earth_rates.z
|
|
|
|
p = phiDot - psiDot * sin(theta)
|
|
q = cos(phi) * thetaDot + sin(phi) * psiDot * cos(theta)
|
|
r = cos(phi) * psiDot * cos(theta) - sin(phi) * thetaDot
|
|
return Vector3(p, q, r)
|
|
|
|
|
|
def BodyRatesToEarthRates(dcm, gyro):
|
|
"""Convert the angular velocities from body frame to
|
|
earth frame.
|
|
|
|
all inputs and outputs are in radians/s
|
|
|
|
returns a earth rate vector.
|
|
"""
|
|
from math import sin, cos, tan, fabs
|
|
|
|
p = gyro.x
|
|
q = gyro.y
|
|
r = gyro.z
|
|
|
|
(phi, theta, psi) = dcm.to_euler()
|
|
|
|
phiDot = p + tan(theta) * (q * sin(phi) + r * cos(phi))
|
|
thetaDot = q * cos(phi) - r * sin(phi)
|
|
if fabs(cos(theta)) < 1.0e-20:
|
|
theta += 1.0e-10
|
|
psiDot = (q * sin(phi) + r * cos(phi)) / cos(theta)
|
|
return Vector3(phiDot, thetaDot, psiDot)
|
|
|
|
|
|
def gps_newpos(lat, lon, bearing, distance):
|
|
"""Extrapolate latitude/longitude given a heading and distance
|
|
thanks to http://www.movable-type.co.uk/scripts/latlong.html .
|
|
"""
|
|
from math import sin, asin, cos, atan2, radians, degrees
|
|
|
|
lat1 = radians(lat)
|
|
lon1 = radians(lon)
|
|
brng = radians(bearing)
|
|
dr = distance / RADIUS_OF_EARTH
|
|
|
|
lat2 = asin(sin(lat1) * cos(dr) +
|
|
cos(lat1) * sin(dr) * cos(brng))
|
|
lon2 = lon1 + atan2(sin(brng) * sin(dr) * cos(lat1),
|
|
cos(dr) - sin(lat1) * sin(lat2))
|
|
return (degrees(lat2), degrees(lon2))
|
|
|
|
|
|
def gps_distance(lat1, lon1, lat2, lon2):
|
|
"""Return distance between two points in meters,
|
|
coordinates are in degrees
|
|
thanks to http://www.movable-type.co.uk/scripts/latlong.html ."""
|
|
lat1 = math.radians(lat1)
|
|
lat2 = math.radians(lat2)
|
|
lon1 = math.radians(lon1)
|
|
lon2 = math.radians(lon2)
|
|
dLat = lat2 - lat1
|
|
dLon = lon2 - lon1
|
|
|
|
a = math.sin(0.5 * dLat)**2 + math.sin(0.5 * dLon)**2 * math.cos(lat1) * math.cos(lat2)
|
|
c = 2.0 * math.atan2(math.sqrt(a), math.sqrt(1.0 - a))
|
|
return RADIUS_OF_EARTH * c
|
|
|
|
|
|
def gps_bearing(lat1, lon1, lat2, lon2):
|
|
"""Return bearing between two points in degrees, in range 0-360
|
|
thanks to http://www.movable-type.co.uk/scripts/latlong.html ."""
|
|
lat1 = math.radians(lat1)
|
|
lat2 = math.radians(lat2)
|
|
lon1 = math.radians(lon1)
|
|
lon2 = math.radians(lon2)
|
|
dLon = lon2 - lon1
|
|
y = math.sin(dLon) * math.cos(lat2)
|
|
x = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dLon)
|
|
bearing = math.degrees(math.atan2(y, x))
|
|
if bearing < 0:
|
|
bearing += 360.0
|
|
return bearing
|
|
|
|
|
|
class Wind(object):
|
|
"""A wind generation object."""
|
|
def __init__(self, windstring, cross_section=0.1):
|
|
a = windstring.split(',')
|
|
if len(a) != 3:
|
|
raise RuntimeError("Expected wind in speed,direction,turbulance form, not %s" % windstring)
|
|
self.speed = float(a[0]) # m/s
|
|
self.direction = float(a[1]) # direction the wind is going in
|
|
self.turbulance = float(a[2]) # turbulance factor (standard deviation)
|
|
|
|
# the cross-section of the aircraft to wind. This is multiplied by the
|
|
# difference in the wind and the velocity of the aircraft to give the acceleration
|
|
self.cross_section = cross_section
|
|
|
|
# the time constant for the turbulance - the average period of the
|
|
# changes over time
|
|
self.turbulance_time_constant = 5.0
|
|
|
|
# wind time record
|
|
self.tlast = time.time()
|
|
|
|
# initial turbulance multiplier
|
|
self.turbulance_mul = 1.0
|
|
|
|
def current(self, deltat=None):
|
|
"""Return current wind speed and direction as a tuple
|
|
speed is in m/s, direction in degrees."""
|
|
if deltat is None:
|
|
tnow = time.time()
|
|
deltat = tnow - self.tlast
|
|
self.tlast = tnow
|
|
|
|
# update turbulance random walk
|
|
w_delta = math.sqrt(deltat) * (1.0 - random.gauss(1.0, self.turbulance))
|
|
w_delta -= (self.turbulance_mul - 1.0) * (deltat / self.turbulance_time_constant)
|
|
self.turbulance_mul += w_delta
|
|
speed = self.speed * math.fabs(self.turbulance_mul)
|
|
return (speed, self.direction)
|
|
|
|
# Calculate drag.
|
|
def drag(self, velocity, deltat=None):
|
|
"""Return current wind force in Earth frame. The velocity parameter is
|
|
a Vector3 of the current velocity of the aircraft in earth frame, m/s ."""
|
|
from math import radians
|
|
|
|
# (m/s, degrees) : wind vector as a magnitude and angle.
|
|
(speed, direction) = self.current(deltat=deltat)
|
|
# speed = self.speed
|
|
# direction = self.direction
|
|
|
|
# Get the wind vector.
|
|
w = toVec(speed, radians(direction))
|
|
|
|
obj_speed = velocity.length()
|
|
|
|
# Compute the angle between the object vector and wind vector by taking
|
|
# the dot product and dividing by the magnitudes.
|
|
d = w.length() * obj_speed
|
|
if d == 0:
|
|
alpha = 0
|
|
else:
|
|
alpha = acos((w * velocity) / d)
|
|
|
|
# Get the relative wind speed and angle from the object. Note that the
|
|
# relative wind speed includes the velocity of the object; i.e., there
|
|
# is a headwind equivalent to the object's speed even if there is no
|
|
# absolute wind.
|
|
(rel_speed, beta) = apparent_wind(speed, obj_speed, alpha)
|
|
|
|
# Return the vector of the relative wind, relative to the coordinate
|
|
# system.
|
|
relWindVec = toVec(rel_speed, beta + atan2(velocity.y, velocity.x))
|
|
|
|
# Combine them to get the acceleration vector.
|
|
return Vector3(acc(relWindVec.x, drag_force(self, relWindVec.x)), acc(relWindVec.y, drag_force(self, relWindVec.y)), 0)
|
|
|
|
|
|
def apparent_wind(wind_sp, obj_speed, alpha):
|
|
"""http://en.wikipedia.org/wiki/Apparent_wind
|
|
|
|
Returns apparent wind speed and angle of apparent wind. Alpha is the angle
|
|
between the object and the true wind. alpha of 0 rads is a headwind; pi a
|
|
tailwind. Speeds should always be positive."""
|
|
delta = wind_sp * cos(alpha)
|
|
x = wind_sp**2 + obj_speed**2 + 2 * obj_speed * delta
|
|
rel_speed = sqrt(x)
|
|
if rel_speed == 0:
|
|
beta = pi
|
|
else:
|
|
beta = acos((delta + obj_speed) / rel_speed)
|
|
|
|
return (rel_speed, beta)
|
|
|
|
|
|
def drag_force(wind, sp):
|
|
"""See http://en.wikipedia.org/wiki/Drag_equation
|
|
|
|
Drag equation is F(a) = cl * p/2 * v^2 * a, where cl : drag coefficient
|
|
(let's assume it's low, .e.g., 0.2), p : density of air (assume about 1
|
|
kg/m^3, the density just over 1500m elevation), v : relative speed of wind
|
|
(to the body), a : area acted on (this is captured by the cross_section
|
|
parameter).
|
|
|
|
So then we have
|
|
F(a) = 0.2 * 1/2 * v^2 * cross_section = 0.1 * v^2 * cross_section."""
|
|
return (sp**2.0) * 0.1 * wind.cross_section
|
|
|
|
|
|
def acc(val, mag):
|
|
""" Function to make the force vector. relWindVec is the direction the apparent
|
|
wind comes *from*. We want to compute the accleration vector in the direction
|
|
the wind blows to."""
|
|
if val == 0:
|
|
return mag
|
|
else:
|
|
return (val / abs(val)) * (0 - mag)
|
|
|
|
|
|
def toVec(magnitude, angle):
|
|
"""Converts a magnitude and angle (radians) to a vector in the xy plane."""
|
|
v = Vector3(magnitude, 0, 0)
|
|
m = Matrix3()
|
|
m.from_euler(0, 0, angle)
|
|
return m.transposed() * v
|
|
|
|
|
|
def constrain(value, minv, maxv):
|
|
"""Constrain a value to a range."""
|
|
if value < minv:
|
|
value = minv
|
|
if value > maxv:
|
|
value = maxv
|
|
return value
|
|
|
|
|
|
def load_local_module(fname):
|
|
'''load a python module from within the ardupilot tree'''
|
|
fname = os.path.join(topdir(), fname)
|
|
if sys.version_info.major >= 3:
|
|
import importlib.util
|
|
spec = importlib.util.spec_from_file_location("local_module", fname)
|
|
ret = importlib.util.module_from_spec(spec)
|
|
spec.loader.exec_module(ret)
|
|
else:
|
|
import imp
|
|
ret = imp.load_source("local_module", fname)
|
|
return ret
|
|
|
|
|
|
if __name__ == "__main__":
|
|
import doctest
|
|
doctest.testmod()
|