From 690af580c9639b772a2a013b4bc4322f885123c7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 9 Nov 2020 08:58:40 +1100
Subject: [PATCH] autotest: abstract out load_local_module()

this will be useful for other tests
---
 Tools/autotest/arducopter.py | 19 +++++++------------
 Tools/autotest/pysim/util.py | 13 +++++++++++++
 2 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 4f527f4e9e..201dffc48a 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -5339,22 +5339,17 @@ class AutoTestCopter(AutoTest):
 
         self.progress("Running replay")
 
-        shutil.rmtree("logs/replay", ignore_errors=True)
-        util.run_cmd(['build/linux/tools/Replay', '--log-directory=logs/replay', '--', current_log_filepath],
+        util.run_cmd(['build/sitl/tools/Replay', current_log_filepath],
                      directory=util.topdir(), checkfail=True, show=True)
 
         self.context_pop()
 
-        check_replay_py = os.path.join(util.topdir(), "Tools/Replay/check_replay.py")
-        if sys.version_info.major >= 3:
-            import importlib.util
-            spec = importlib.util.spec_from_file_location("check_replay", check_replay_py)
-            check_replay = importlib.util.module_from_spec(spec)
-            spec.loader.exec_module(check_replay)
-        else:
-            import imp
-            check_replay = imp.load_source("check_replay", os.path.join(util.topdir(), "Tools/Replay/check_replay.py"))
-        ok = check_replay.check_log("logs/replay/00000001.BIN", self.progress)
+        replay_log_filepath = self.current_onboard_log_filepath()
+        self.progress("Replay log path: %s" % str(replay_log_filepath))
+
+        check_replay = util.load_local_module("Tools/Replay/check_replay.py")
+
+        ok = check_replay.check_log(replay_log_filepath, self.progress)
         if not ok:
             raise NotAchievedException("check_replay failed")
 
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index 5b96537f5b..684fcb4478 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -758,6 +758,19 @@ def constrain(value, minv, maxv):
         value = maxv
     return value
 
+def load_local_module(filename):
+    '''load a python module from within the ardupilot tree'''
+    filename = os.path.join(topdir(), filename)
+    if sys.version_info.major >= 3:
+        import importlib.util
+        spec = importlib.util.spec_from_file_location("local_module", filename)
+        ret = importlib.util.module_from_spec(spec)
+        spec.loader.exec_module(ret)
+    else:
+        import imp
+        ret = imp.load_source("local_module", filename)
+    return ret
+
 
 if __name__ == "__main__":
     import doctest