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AutoTest: break copter autotests into smaller "under 10 minute" chunks to speedup github actions CI

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This commit is contained in:
Buzz 2020-10-14 15:18:10 +10:00 committed by Peter Barker
parent e4056086e0
commit 586e9f80d5
6 changed files with 213 additions and 62 deletions
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9
.github/workflows/test_sitl_copter.yml vendored
View File

@ -92,8 +92,13 @@ jobs:
fail-fast: false # don't cancel if a job from the matrix fails
matrix:
config: [
sitltest-copter-tests1,
sitltest-copter-tests2
sitltest-copter-tests1a,
sitltest-copter-tests1b,
sitltest-copter-tests1c,
sitltest-copter-tests1d,
sitltest-copter-tests1e,
sitltest-copter-tests2a,
sitltest-copter-tests2b,
]
steps:

2
README.md
View File

@ -2,7 +2,7 @@
[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/ArduPilot/ardupilot?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
[![Build Travis](https://travis-ci.org/ArduPilot/ardupilot.svg?branch=master)](https://travis-ci.org/ArduPilot/ardupilot) [![Build SemaphoreCI](https://semaphoreci.com/api/v1/ardupilot/ardupilot/branches/master/badge.svg)](https://semaphoreci.com/ardupilot/ardupilot) [![Build Status](https://dev.azure.com/ardupilot-org/ardupilot/_apis/build/status/ArduPilot.ardupilot?branchName=master)](https://dev.azure.com/ardupilot-org/ardupilot/_build/latest?definitionId=1&branchName=master)
[![Build Travis](https://travis-ci.com/ArduPilot/ardupilot.svg?branch=master)](https://travis-ci.com/ArduPilot/ardupilot) [![Build SemaphoreCI](https://semaphoreci.com/api/v1/ardupilot/ardupilot/branches/master/badge.svg)](https://semaphoreci.com/ardupilot/ardupilot) [![Build Status](https://dev.azure.com/ardupilot-org/ardupilot/_apis/build/status/ArduPilot.ardupilot?branchName=master)](https://dev.azure.com/ardupilot-org/ardupilot/_build/latest?definitionId=1&branchName=master)
[![Coverity Scan Build Status](https://scan.coverity.com/projects/5331/badge.svg)](https://scan.coverity.com/projects/ardupilot-ardupilot)

182
Tools/autotest/arducopter.py
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@ -5289,22 +5289,31 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
# a wrapper around all the 1A,1B,1C..etc tests for travis
def tests1(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
ret.extend([
ret = ([])
ret.extend(self.tests1a())
ret.extend(self.tests1b())
ret.extend(self.tests1c())
ret.extend(self.tests1d())
ret.extend(self.tests1e())
return ret
def tests1a(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests() #about 5 mins and ~20 initial tests from autotest/common.py
ret.extend([
("NavDelayTakeoffAbsTime",
"Fly Nav Delay (takeoff)",
self.fly_nav_takeoff_delay_abstime),
self.fly_nav_takeoff_delay_abstime), #19s
("NavDelayAbsTime",
"Fly Nav Delay (AbsTime)",
self.fly_nav_delay_abstime),
self.fly_nav_delay_abstime), #20s
("NavDelay",
"Fly Nav Delay",
self.fly_nav_delay),
self.fly_nav_delay), #19s
("GuidedSubModeChange",
"Test submode change",
@ -5312,19 +5321,19 @@ class AutoTestCopter(AutoTest):
("LoiterToAlt",
"Loiter-To-Alt",
self.fly_loiter_to_alt),
self.fly_loiter_to_alt), #25s
("PayLoadPlaceMission",
"Payload Place Mission",
self.fly_payload_place_mission),
self.fly_payload_place_mission), #44s
("PrecisionLoiterCompanion",
"Precision Loiter (Companion)",
self.fly_precision_companion),
self.fly_precision_companion), #29s
("PrecisionLandingSITL",
"Precision Landing (SITL)",
self.fly_precision_sitl),
self.fly_precision_sitl), #29s
("SetModesViaModeSwitch",
"Set modes via modeswitch",
@ -5338,47 +5347,67 @@ class AutoTestCopter(AutoTest):
"Test random aux mode options",
self.test_aux_switch_options),
("AutoTune", "Fly AUTOTUNE mode", self.fly_autotune),
("AutoTune",
"Fly AUTOTUNE mode",
self.fly_autotune), #73s
])
return ret
def tests1b(self):
'''return list of all tests'''
ret = ([
("ThrowMode", "Fly Throw Mode", self.fly_throw_mode),
("BrakeMode", "Fly Brake Mode", self.fly_brake_mode),
("RecordThenPlayMission",
"Use switches to toggle in mission, then fly it",
self.fly_square),
self.fly_square), #27s
("ThrottleFailsafe",
"Test Throttle Failsafe",
self.fly_throttle_failsafe),
self.fly_throttle_failsafe), #173s
("GCSFailsafe",
"Test GCS Failsafe",
self.fly_gcs_failsafe),
self.fly_gcs_failsafe), #239s
#this group has the smallest runtime right now at around 5mins,
# so add more tests here, till its around 9-10mins, then make a new group
])
return ret
def tests1c(self):
'''return list of all tests'''
ret = ([
("BatteryFailsafe",
"Fly Battery Failsafe",
self.fly_battery_failsafe),
self.fly_battery_failsafe), #164s
("StabilityPatch",
"Fly stability patch",
lambda: self.fly_stability_patch(30)),
lambda: self.fly_stability_patch(30)), #17s
("AC_Avoidance_Proximity",
"Test proximity avoidance slide behaviour",
self.fly_proximity_avoidance_test),
self.fly_proximity_avoidance_test), #41s
("AC_Avoidance_Fence",
"Test fence avoidance slide behaviour",
self.fly_fence_avoidance_test),
("AC_Avoidance_Beacon",
"Test beacon avoidance slide behaviour",
self.fly_beacon_avoidance_test),
"Test beacon avoidance slide behaviour",
self.fly_beacon_avoidance_test),#28s
])
return ret
def tests1d(self):
'''return list of all tests'''
ret = ([
("HorizontalFence",
"Test horizontal fence",
self.fly_fence_test),
self.fly_fence_test), #20s
("HorizontalAvoidFence",
"Test horizontal Avoidance fence",
@ -5386,13 +5415,15 @@ class AutoTestCopter(AutoTest):
("MaxAltFence",
"Test Max Alt Fence",
self.fly_alt_max_fence_test),
self.fly_alt_max_fence_test), #26s
("AutoTuneSwitch", "Fly AUTOTUNE on a switch", self.fly_autotune_switch),
("AutoTuneSwitch",
"Fly AUTOTUNE on a switch",
self.fly_autotune_switch), #105s
("GPSGlitchLoiter",
"GPS Glitch Loiter Test",
self.fly_gps_glitch_loiter_test),
self.fly_gps_glitch_loiter_test), #30s
("GPSGlitchAuto",
"GPS Glitch Auto Test",
@ -5412,11 +5443,11 @@ class AutoTestCopter(AutoTest):
("SuperSimpleCircle",
"Fly a circle in SUPER SIMPLE mode",
self.fly_super_simple),
self.fly_super_simple), #38s
("ModeCircle",
"Fly CIRCLE mode",
self.fly_circle),
self.fly_circle), #27s
("MagFail",
"Test magnetometer failure",
@ -5424,7 +5455,7 @@ class AutoTestCopter(AutoTest):
("OpticalFlowLimits",
"Fly Optical Flow limits",
self.fly_optical_flow_limits),
self.fly_optical_flow_limits), #27s
("MotorFail",
"Fly motor failure test",
@ -5436,7 +5467,7 @@ class AutoTestCopter(AutoTest):
("CopterMission",
"Fly copter mission",
self.fly_auto_test),
self.fly_auto_test), #37s
("SplineLastWaypoint",
"Test Spline as last waypoint",
@ -5444,7 +5475,7 @@ class AutoTestCopter(AutoTest):
("Gripper",
"Test gripper",
self.test_gripper),
self.test_gripper), #28s
("TestGripperMission",
"Test Gripper mission items",
@ -5452,11 +5483,16 @@ class AutoTestCopter(AutoTest):
("VisionPosition",
"Fly Vision Position",
self.fly_vision_position),
self.fly_vision_position), #24s
])
return ret
def tests1e(self):
'''return list of all tests'''
ret = ([
("BeaconPosition",
"Fly Beacon Position",
self.fly_beacon_position),
self.fly_beacon_position), #56s
("RTLSpeed",
"Fly RTL Speed",
@ -5464,7 +5500,7 @@ class AutoTestCopter(AutoTest):
("Mount",
"Test Camera/Antenna Mount",
self.test_mount),
self.test_mount), #74s
("Button",
"Test Buttons",
@ -5476,11 +5512,11 @@ class AutoTestCopter(AutoTest):
("RangeFinder",
"Test RangeFinder Basic Functionality",
self.test_rangefinder),
self.test_rangefinder), #23s
("SurfaceTracking",
"Test Surface Tracking",
self.test_surface_tracking),
self.test_surface_tracking), #45s
("Parachute",
"Test Parachute Functionality",
@ -5498,8 +5534,9 @@ class AutoTestCopter(AutoTest):
"Test mavlink MANUAL_CONTROL",
self.test_manual_control),
# Zigzag mode test
("ZigZag", "Fly ZigZag Mode", self.fly_zigzag_mode),
("ZigZag",
"Fly ZigZag Mode",
self.fly_zigzag_mode), #58s
("PosHoldTakeOff",
"Fly POSHOLD takeoff",
@ -5507,11 +5544,11 @@ class AutoTestCopter(AutoTest):
("FOLLOW",
"Fly follow mode",
self.fly_follow_mode),
self.fly_follow_mode), #80s
("RangeFinderDrivers",
"Test rangefinder drivers",
self.fly_rangefinder_drivers),
self.fly_rangefinder_drivers), #62s
("ParameterValidation",
"Test parameters are checked for validity",
@ -5531,48 +5568,62 @@ class AutoTestCopter(AutoTest):
])
return ret
# a wrapper around all the 2A,2B,2C..etc tests for travis
def tests2(self):
ret = ([])
ret.extend(self.tests2a())
ret.extend(self.tests2b())
return ret
def tests2a(self):
'''return list of all tests'''
ret = ([
("FixedYawCalibration",
"Test Fixed Yaw Calibration", #about 20 secs
self.test_fixed_yaw_calibration), # something about SITLCompassCalibration appears to fail this one, so we put it first
# we run this single 8min-and-40s test on its own, apart from
# requiring FixedYawCalibration right before it because without it, it fails to calibrate
("SITLCompassCalibration", # this autotest appears to interfere with FixedYawCalibration, no idea why.
"Test SITL onboard compass calibration",
self.test_mag_calibration),
])
return ret
def tests2b(self): #this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
("MotorVibration",
"Fly motor vibration test",
self.fly_motor_vibration),
self.fly_motor_vibration),
("DynamicNotches",
"Fly Dynamic Notches",
self.fly_dynamic_notches),
self.fly_dynamic_notches),
("GyroFFT",
"Fly Gyro FFT",
self.fly_gyro_fft),
("FixedYawCalibration",
"Test Fixed Yaw Calibration",
self.test_fixed_yaw_calibration),
("GyroFFTHarmonic",
"Fly Gyro FFT Harmonic Matching",
self.fly_gyro_fft_harmonic),
("SITLCompassCalibration",
"Test SITL onboard compass calibration",
self.test_mag_calibration),
("CompassReordering",
"Test Compass reordering when priorities are changed",
self.test_mag_reordering),
self.test_mag_reordering), # 40sec?
("CRSF",
"Test RC CRSF",
self.test_crsf),
self.test_crsf), #20secs ish
("MotorTest",
"Run Motor Tests",
self.test_motortest),
self.test_motortest), #20secs ish
("AltEstimation",
"Test that Alt Estimation is mandatory for ALT_HOLD",
self.test_alt_estimate_prearm),
self.test_alt_estimate_prearm), #20secs ish
("DataFlash",
"Test DataFlash Block backend",
@ -5904,12 +5955,33 @@ class AutoTestHeli(AutoTestCopter):
}
class AutoTestCopterTests1(AutoTestCopter):
def tests(self):
return self.tests1()
class AutoTestCopterTests1a(AutoTestCopter):
def tests(self):
return self.tests1a()
class AutoTestCopterTests1b(AutoTestCopter):
def tests(self):
return self.tests1b()
class AutoTestCopterTests1c(AutoTestCopter):
def tests(self):
return self.tests1c()
class AutoTestCopterTests1d(AutoTestCopter):
def tests(self):
return self.tests1d()
class AutoTestCopterTests1e(AutoTestCopter):
def tests(self):
return self.tests1e()
class AutoTestCopterTests2(AutoTestCopter):
def tests(self):
return self.tests2()
class AutoTestCopterTests2a(AutoTestCopter):
def tests(self):
return self.tests2a()
class AutoTestCopterTests2b(AutoTestCopter):
def tests(self):
return self.tests2b()

38
Tools/autotest/autotest.py
View File

@ -262,7 +262,16 @@ def should_run_step(step):
__bin_names = {
"Copter": "arducopter",
"CopterTests1": "arducopter",
"CopterTests1a": "arducopter",
"CopterTests1b": "arducopter",
"CopterTests1c": "arducopter",
"CopterTests1d": "arducopter",
"CopterTests1e": "arducopter",
"CopterTests2": "arducopter",
"CopterTests2a": "arducopter",
"CopterTests2b": "arducopter",
"Plane": "arduplane",
"Rover": "ardurover",
"Tracker": "antennatracker",
@ -313,8 +322,15 @@ def find_specific_test_to_run(step):
tester_class_map = {
"test.Copter": arducopter.AutoTestCopter,
"test.CopterTests1": arducopter.AutoTestCopterTests1,
"test.CopterTests2": arducopter.AutoTestCopterTests2,
"test.CopterTests1": arducopter.AutoTestCopterTests1, #travis-ci
"test.CopterTests1a": arducopter.AutoTestCopterTests1a, # 8m43s
"test.CopterTests1b": arducopter.AutoTestCopterTests1b, # 8m5s
"test.CopterTests1c": arducopter.AutoTestCopterTests1c, # 5m17s
"test.CopterTests1d": arducopter.AutoTestCopterTests1d, # 8m20s
"test.CopterTests1e": arducopter.AutoTestCopterTests1e, # 8m32s
"test.CopterTests2": arducopter.AutoTestCopterTests2, #travis-ci
"test.CopterTests2a": arducopter.AutoTestCopterTests2a, # 8m23s
"test.CopterTests2b": arducopter.AutoTestCopterTests2b, # 8m18s
"test.Plane": arduplane.AutoTestPlane,
"test.QuadPlane": quadplane.AutoTestQuadPlane,
"test.Rover": rover.AutoTestRover,
@ -850,7 +866,16 @@ if __name__ == "__main__":
moresteps = [
'test.CopterTests1',
'test.CopterTests1a',
'test.CopterTests1b',
'test.CopterTests1c',
'test.CopterTests1d',
'test.CopterTests1e',
'test.CopterTests2',
'test.CopterTests2a',
'test.CopterTests2b',
'clang-scan-build',
]
@ -879,7 +904,16 @@ if __name__ == "__main__":
"defaults.APMrover2": "defaults.Rover",
"defaults.AntennaTracker": "defaults.Tracker",
"fly.ArduCopterTests1": "test.CopterTests1",
"fly.ArduCopterTests1a": "test.CopterTests1a",
"fly.ArduCopterTests1b": "test.CopterTests1b",
"fly.ArduCopterTests1c": "test.CopterTests1c",
"fly.ArduCopterTests1d": "test.CopterTests1d",
"fly.ArduCopterTests1e": "test.CopterTests1e",
"fly.ArduCopterTests2": "test.CopterTests2",
"fly.ArduCopterTests2a": "test.CopterTests2a",
"fly.ArduCopterTests2b": "test.CopterTests2b",
}
# form up a list of bits NOT to run, mapping from old step names

7
Tools/autotest/common.py
View File

@ -1581,9 +1581,9 @@ class AutoTest(ABC):
self.log_name()))
def start_test(self, description):
self.progress("#")
self.progress("##################################################################################")
self.progress("########## %s ##########" % description)
self.progress("#")
self.progress("##################################################################################")
def try_symlink_tlog(self):
self.buildlog = self.buildlogs_path(self.log_name() + "-test.tlog")
@ -4130,10 +4130,13 @@ Also, ignores heartbeats not from our target system'''
for desc in self.test_timings.keys():
if len(desc) > longest:
longest = len(desc)
tests_total_time = 0
for desc, test_time in sorted(self.test_timings.items(),
key=self.show_test_timings_key_sorter):
fmt = "%" + str(longest) + "s: %.2fs"
tests_total_time += test_time;
self.progress(fmt % (desc, test_time))
self.progress(fmt % ("**--tests_total_time--**", tests_total_time))
def send_statustext(self, text):
if sys.version_info.major >= 3 and not isinstance(text, bytes):

37
Tools/scripts/build_ci.sh
View File

@ -37,6 +37,9 @@ function run_autotest() {
BVEHICLE="$2"
RVEHICLE="$3"
# report on what cpu's we have for later log review if needed
cat /proc/cpuinfo
if [ $mavproxy_installed -eq 0 ]; then
echo "Installing MAVProxy"
pushd /tmp
@ -78,14 +81,48 @@ for t in $CI_BUILD_TARGET; do
run_autotest "Heli" "build.Helicopter" "test.Helicopter"
continue
fi
# travis-ci
if [ "$t" == "sitltest-copter-tests1" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1"
continue
fi
#github actions ci
if [ "$t" == "sitltest-copter-tests1a" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1a"
continue
fi
if [ "$t" == "sitltest-copter-tests1b" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1b"
continue
fi
if [ "$t" == "sitltest-copter-tests1c" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1c"
continue
fi
if [ "$t" == "sitltest-copter-tests1d" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1d"
continue
fi
if [ "$t" == "sitltest-copter-tests1e" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1e"
continue
fi
# travis-ci
if [ "$t" == "sitltest-copter-tests2" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests2"
continue
fi
#github actions ci
if [ "$t" == "sitltest-copter-tests2a" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests2a"
continue
fi
if [ "$t" == "sitltest-copter-tests2b" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests2b"
continue
fi
if [ "$t" == "sitltest-plane" ]; then
run_autotest "Plane" "build.Plane" "test.Plane"
continue