mirror of https://github.com/ArduPilot/ardupilot
115 lines
3.2 KiB
Python
115 lines
3.2 KiB
Python
# utility code for autotest
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import os, pexpect, sys, time
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from subprocess import call, check_call,Popen, PIPE
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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)=='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 reltopdir(path):
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'''return 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, dir=".", show=False, output=False, checkfail=True):
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'''run a shell command'''
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if show:
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print("Running: '%s' in '%s'" % (cmd, dir))
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if output:
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return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
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elif checkfail:
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return check_call(cmd, shell=True, cwd=dir)
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else:
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return call(cmd, shell=True, cwd=dir)
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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 build_SIL(atype):
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'''build desktop SIL'''
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run_cmd("make -f ../libraries/Desktop/Makefile.desktop clean hil",
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dir=reltopdir(atype),
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checkfail=True)
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def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
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'''launch a SIL instance'''
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cmd=""
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if valgrind:
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cmd += 'valgrind -q --log-file=%s-valgrind.log ' % atype
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cmd += reltopdir('tmp/%s.build/%s.elf' % (atype, atype))
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if wipe:
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cmd += ' -w'
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if CLI:
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cmd += ' -s'
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ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
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ret.expect('Waiting for connection')
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return ret
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def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
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options=None, logfile=sys.stdout):
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'''launch mavproxy connected to a SIL instance'''
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MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
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cmd = MAVPROXY + ' --master=%s' % master
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if setup:
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cmd += ' --setup'
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if aircraft is None:
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aircraft = 'test.%s' % atype
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cmd += ' --aircraft=%s' % aircraft
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if options is not None:
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cmd += ' ' + options
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ret = pexpect.spawn(cmd, logfile=logfile, timeout=60)
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return ret
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def kill(name):
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'''kill a process'''
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run_cmd('killall -9 -q %s' % name, checkfail=False)
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def expect_setup_callback(e, callback):
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'''setup a callback that is called once a second while waiting for
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patterns'''
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def _expect_callback(pattern, timeout=e.timeout):
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tstart = time.time()
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while time.time() < tstart + timeout:
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try:
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ret = e.expect_saved(pattern, timeout=1)
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return ret
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except pexpect.TIMEOUT:
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e.expect_user_callback(e)
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pass
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raise pexpect.TIMEOUT
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e.expect_user_callback = callback
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e.expect_saved = e.expect
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e.expect = _expect_callback
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def mkdir_p(dir):
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'''like mkdir -p'''
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if not dir:
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return
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if dir.endswith("/"):
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mkdir_p(dir[:-1])
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return
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if os.path.isdir(dir):
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return
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mkdir_p(os.path.dirname(dir))
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os.mkdir(dir)
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