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autotest: added --replay option to autotest

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make for easy creation of EKF replay logs
This commit is contained in:
Andrew Tridgell 2021-07-16 20:31:13 +10:00
parent 2bd04c14fd
commit 618fa156c7
2 changed files with 8 additions and 0 deletions
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4
Tools/autotest/autotest.py
View File

@ -510,6 +510,7 @@ def run_step(step):
"frame": opts.frame, "frame": opts.frame,
"_show_test_timings": opts.show_test_timings, "_show_test_timings": opts.show_test_timings,
"force_ahrs_type": opts.force_ahrs_type, "force_ahrs_type": opts.force_ahrs_type,
"replay": opts.replay,
"logs_dir": buildlogs_dirpath(), "logs_dir": buildlogs_dirpath(),
"sup_binaries": supplementary_binaries, "sup_binaries": supplementary_binaries,
} }
@ -975,6 +976,9 @@ if __name__ == "__main__":
dest="force_ahrs_type", dest="force_ahrs_type",
default=None, default=None,
help="force a specific AHRS type (e.g. 10 for SITL-ekf") help="force a specific AHRS type (e.g. 10 for SITL-ekf")
group_sim.add_option("", "--replay",
action='store_true',
help="enable replay logging for tests")
parser.add_option_group(group_sim) parser.add_option_group(group_sim)
group_completion = optparse.OptionGroup(parser, "Completion helpers") group_completion = optparse.OptionGroup(parser, "Completion helpers")

4
Tools/autotest/common.py
View File

@ -1209,6 +1209,7 @@ class AutoTest(ABC):
_show_test_timings=False, _show_test_timings=False,
logs_dir=None, logs_dir=None,
force_ahrs_type=None, force_ahrs_type=None,
replay=False,
sup_binaries=[]): sup_binaries=[]):
self.start_time = time.time() self.start_time = time.time()
@ -1253,6 +1254,7 @@ class AutoTest(ABC):
self.total_waiting_to_arm_time = 0 self.total_waiting_to_arm_time = 0
self.waiting_to_arm_count = 0 self.waiting_to_arm_count = 0
self.force_ahrs_type = force_ahrs_type self.force_ahrs_type = force_ahrs_type
self.replay = replay
if self.force_ahrs_type is not None: if self.force_ahrs_type is not None:
self.force_ahrs_type = int(self.force_ahrs_type) self.force_ahrs_type = int(self.force_ahrs_type)
self.logs_dir = logs_dir self.logs_dir = logs_dir
@ -2170,6 +2172,8 @@ class AutoTest(ABC):
if self.force_ahrs_type == 3: if self.force_ahrs_type == 3:
ret["EK3_ENABLE"] = 1 ret["EK3_ENABLE"] = 1
ret["AHRS_EKF_TYPE"] = self.force_ahrs_type ret["AHRS_EKF_TYPE"] = self.force_ahrs_type
if self.replay:
ret["LOG_REPLAY"] = 1
return ret return ret
def apply_default_parameter_list(self): def apply_default_parameter_list(self):