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autotest: simplify start_sitl

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This commit is contained in:
Pierre Kancir 2016-11-08 11:53:54 +01:00 committed by Lucas De Marchi
parent 4462dcdd4d
commit 5786d66ea1
5 changed files with 50 additions and 57 deletions
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2
Tools/autotest/apmrover2.py
View File

@ -186,7 +186,7 @@ def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fa
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
valgrind_log = util.valgrind_log_filepath(binary=binary, model='rover')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/APMrover2-valgrind.log"))

4
Tools/autotest/arducopter.py
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@ -1289,7 +1289,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
valgrind_log = util.valgrind_log_filepath(binary=binary, model='+')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
@ -1416,7 +1416,7 @@ def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
valgrind_log = util.valgrind_log_filepath(binary=binary, model='heli')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/Helicopter-valgrind.log"))

2
Tools/autotest/arduplane.py
View File

@ -563,7 +563,7 @@ def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
valgrind_log = util.valgrind_log_filepath(binary=binary, model='plane-elevrev')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))

97
Tools/autotest/pysim/util.py
View File

@ -178,61 +178,54 @@ def make_safe_filename(text):
return filename
class SITL(pexpect.spawn):
def __init__(self, binary, valgrind=False, gdb=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None, unhide_parameters=False):
self.binary = binary
self.model = model
cmd = []
if valgrind and os.path.exists('/usr/bin/valgrind'):
cmd.extend(['valgrind', '-q', '--log-file=%s' % self.valgrind_log_filepath()])
if gdb:
f = open("/tmp/x.gdb", "w")
f.write("r\n")
f.close()
cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
cmd.append(binary)
if wipe:
cmd.append('-w')
if synthetic_clock:
cmd.append('-S')
if home is not None:
cmd.extend(['--home', home])
if model is not None:
cmd.extend(['--model', model])
if speedup != 1:
cmd.extend(['--speedup', str(speedup)])
if defaults_file is not None:
cmd.extend(['--defaults', defaults_file])
if unhide_parameters:
cmd.extend(['--unhide-groups'])
print("Running: %s" % cmd_as_shell(cmd))
first = cmd[0]
rest = cmd[1:]
super(SITL, self).__init__(first, rest, logfile=sys.stdout, timeout=5)
delaybeforesend = 0
pexpect_autoclose(self)
# give time for parameters to properly setup
time.sleep(3)
if gdb:
# 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:
self.expect('Waiting for connection', timeout=300)
def valgrind_log_filepath(self):
return make_safe_filename('%s-%s-valgrind.log' % (os.path.basename(self.binary), self.model,))
def valgrind_log_filepath(binary, model):
return make_safe_filename('%s-%s-valgrind.log' % (os.path.basename(binary), model,))
def start_SITL(binary, **kwargs):
def start_SITL(binary, valgrind=False, gdb=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None, unhide_parameters=False):
"""Launch a SITL instance."""
return SITL(binary, **kwargs)
cmd = []
if valgrind and os.path.exists('/usr/bin/valgrind'):
cmd.extend(['valgrind', '-q', '--log-file=%s' % valgrind_log_filepath(binary=binary, model=model)])
if gdb:
f = open("/tmp/x.gdb", "w")
f.write("r\n")
f.close()
cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
cmd.append(binary)
if wipe:
cmd.append('-w')
if synthetic_clock:
cmd.append('-S')
if home is not None:
cmd.extend(['--home', home])
if model is not None:
cmd.extend(['--model', model])
if speedup != 1:
cmd.extend(['--speedup', str(speedup)])
if defaults_file is not None:
cmd.extend(['--defaults', defaults_file])
if unhide_parameters:
cmd.extend(['--unhide-groups'])
print("Running: %s" % cmd_as_shell(cmd))
first = cmd[0]
rest = cmd[1:]
child = pexpect.spawn(first, rest, logfile=sys.stdout, timeout=5)
delaybeforesend = 0
pexpect_autoclose(child)
# give time for parameters to properly setup
time.sleep(3)
if gdb:
# 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(u'Waiting for connection', timeout=300)
return child
def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',

2
Tools/autotest/quadplane.py
View File

@ -124,7 +124,7 @@ def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = sitl.valgrind_log_filepath()
valgrind_log = util.valgrind_log_filepath(binary=binary, model='quadplane')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/QuadPlane-valgrind.log"))