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sim_vehicle.py: interface improvements based on feedback; waf support

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sim_vehicle.py: improve output of executed commands

Emit something that could be copy-and-pasted into a shell

sim_vehicle.py: allow specification of multiple gdb breakpoints

sim_vehicle.py: understand some specific mavproxy options

sim_vehicle.py: validate vehicle, throw warning if it looks suspect

sim_vehicle.py: avoid use of psutil (cygwin not supported)

sim_vehicle.py: rename build_target to make_target

sim_vehicle.py: pass vehicle binary to start_vehicle

sim_vehicle.py: waf build system support

sim_vehicle.py: use waf by default
This commit is contained in:
Peter Barker 2016-04-29 12:16:53 +10:00
parent 826cb0887a
commit 75c965f512
1 changed files with 194 additions and 47 deletions
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241
Tools/autotest/sim_vehicle.py
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@ -6,13 +6,13 @@
import optparse
import sys
import psutil
import atexit
import os
import subprocess
import tempfile
import getpass
import time
import signal
class CompatError(Exception):
'''a custom exception class to hold state if we encounter the parse error we are looking for'''
@ -42,7 +42,7 @@ class CompatOptionParser(optparse.OptionParser):
except CompatError as e:
if not e.opts.sim_vehicle_sh_compatible:
print(e)
print("Perhaps you want --sim_vehicle_sh_compatible?")
print("Perhaps you want --sim_vehicle_sh_compatible (-C)?")
sys.exit(1)
if e.opts.mavproxy_args:
print("--mavproxy-args not permitted in compat mode")
@ -57,6 +57,42 @@ class CompatOptionParser(optparse.OptionParser):
return opts, args
def cygwin_pidof(procName):
''' Thanks to kata198 for this:
https://github.com/kata198/cygwin-ps-misc/blob/master/pidof
'''
pipe = subprocess.Popen("ps -ea | grep " + procName, shell=True, stdout=subprocess.PIPE)
outputLines = pipe.stdout.read().replace("\r", "").split("\n")
ret = pipe.wait()
pids = []
if ret != 0:
# No results
return []
for line in outputLines:
if not line:
continue
lineSplit = [item for item in line.split(' ') if item]
cmd = lineSplit[-1].split('/')[-1]
if cmd == procName:
try:
pid = int(lineSplit[0].strip())
except:
pid = int(lineSplit[1].strip())
pid = str(pid)
if pid not in pids:
pids.append(pid)
return pids
def under_cygwin():
return os.path.exists("/usr/bin/cygstart")
def kill_tasks_cygwin(victims):
for victim in list(victims):
pids = cygwin_pidof(victim)
# progress("pids for (%s): %s" % (victim,",".join([ str(p) for p in pids])))
for apid in pids:
os.kill(apid, signal.SIGKILL)
def kill_tasks():
'''clean up stray processes by name. This is a somewhat shotgun approach'''
victim_names = set([
@ -71,6 +107,11 @@ def kill_tasks():
'runsim.py',
'AntennaTracker.elf',
])
if under_cygwin():
return kill_tasks_cygwin(list(victim_names))
import psutil
for proc in psutil.process_iter():
if proc.name() in victim_names:
proc.kill()
@ -80,7 +121,9 @@ atexit.register(kill_tasks)
def check_jsbsim_version():
'''assert that the JSBSim we will run is the one we expect to run'''
jsbsim_version = subprocess.Popen(["JSBSim", "--version"], stdout=subprocess.PIPE).communicate()[0]
jsbsim_cmd = ["JSBSim", "--version"]
progress_cmd("Get JSBSim version", jsbsim_cmd)
jsbsim_version = subprocess.Popen(jsbsim_cmd, stdout=subprocess.PIPE).communicate()[0]
try:
jsbsim_version.index("ArduPilot")
except ValueError:
@ -129,7 +172,7 @@ parser.add_option("-G", "--gdb", action='store_true', default=False, help="use g
parser.add_option("-g", "--gdb-stopped", action='store_true', default=False, help="use gdb for debugging ardupilot (no auto-start)")
parser.add_option("-D", "--debug", action='store_true', default=False, help="build with debugging")
parser.add_option("-d", "--delay-start", default=0, type='float', help='delays the start of mavproxy by the number of seconds')
parser.add_option("-B", "--breakpoint", type='string', default=None, help='add a breakpoint at given location in debugger')
parser.add_option("-B", "--breakpoint", type='string', action="append", default=[], help='add a breakpoint at given location in debugger')
parser.add_option("-M", "--mavlink-gimbal", action='store_true', default=False, help='enable MAVLink gimbal')
parser.add_option("-L", "--location", type='string', default='CMAC', help='select start location from Tools/autotest/locations.txt')
parser.add_option("-l", "--custom-location", type='string', default=None, help='set custom start location')
@ -140,16 +183,26 @@ parser.add_option("-S", "--speedup", default=1, type='int', help='set simulation
parser.add_option("-t", "--tracker-location", default='CMAC_PILOTSBOX', type='string', help='set antenna tracker start location')
parser.add_option("-c", "--clean", action='store_true', default=False, help='do a make clean before building')
parser.add_option("-j", "--jobs", default=1, type='int', help='number of processors to use during build (default 1)')
parser.add_option("-w", "--wipe-eeprom", action='store_true', default=False, help='wipe EEPROM and reload parameters')
parser.add_option("-b", "--build-target", default=None, type='string', help='override SITL build target (will be set to sitl if not specified)')
parser.add_option("-m", "--mavproxy-args", default=None, type='string', help='additional arguments to pass to mavproxy.py')
parser.add_option("-C", "--sim_vehicle_sh_compatible", action='store_true', default=False, help='be compatible with the way sim_vehicle.sh works; make this the first option')
parser.add_option("-s", "--build-system", default="waf", type='choice', choices=["make", "waf"], help='build system to use')
# special-cased parameters for mavproxy, because some people's fingers
# have long memories, and they don't want to use -C :-)
group = optparse.OptionGroup(parser, "Compatibility MAVProxy options (consider using --mavproxy-args instead)")
group.add_option("", "--out", default=[], type='string', action="append", help='create an additional mavlink output')
group.add_option("", "--map", default=False, action='store_true', help='load map module on startup')
group.add_option("", "--console", default=False, action='store_true', help='load console module on startup')
parser.add_option_group(group)
opts, args = parser.parse_args()
# validate parameters
if opts.hil:
opts.no_rebuild = True
if opts.valgrind:
print("May not use valgrind with hil")
sys.exit(1)
@ -174,6 +227,10 @@ default_frame_for_vehicle = {
"AntennaTracker": "tracker"
}
# try to validate vehicle
if not default_frame_for_vehicle.has_key(opts.vehicle):
progress("** Is (%s) really your vehicle type? Try -v VEHICLETYPE if not, or be in the e.g. ArduCopter subdirectory" % (opts.vehicle,))
# determine frame options (e.g. build type might be "sitl")
if opts.frame is None:
opts.frame = default_frame_for_vehicle[opts.vehicle]
@ -182,55 +239,67 @@ if opts.frame is None:
mavlink_port = "tcp:127.0.0.1:" + str(5760 + 10*opts.instance)
simout_port = "127.0.0.1:" + str(5501 + 10*opts.instance)
''' understood entries:
build_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py
'''
make_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py
default_params_filename: filename of default parameters file. Taken to be relative to autotest dir.
extra_mavlink_cmds: extra parameters that will be passed to mavproxy
'''
_options_for_frame = {
"+": {
"waf_target": "bin/arducopter-quad",
"default_params_filename": "copter_params.parm"
},
"quad": {
"model": "+",
"waf_target": "bin/arducopter-quad",
"default_params_filename": "copter_params.parm"
},
"X": {
"waf_target": "bin/arducopter-quad",
# this param set FRAME doesn't actually work because mavproxy
# won't set a parameter unless it knows of it, and the param fetch happens asynchronously
"extra_mavlink_cmds": "param fetch frame; param set FRAME 1;",
"default_params_filename": "copter_params.parm"
},
"heli-dual": {
"build_target": "sitl-heli-dual",
"make_target": "sitl-heli-dual",
"waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
},
"heli-compound": {
"build_target": "sitl-heli-compound",
"make_target": "sitl-heli-compound",
"waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
},
"IrisRos": {
"default_params_filename": "copter_params.parm"
"default_params_filename": "copter_params.parm",
"waf_target": "bin/arducopter-quad",
},
"Gazebo": {
"default_params_filename": "copter_params.parm"
"default_params_filename": "copter_params.parm",
"waf_target": "bin/arducopter-quad",
},
"octa": {
"build_target": "sitl-octa",
"make_target": "sitl-octa",
"waf_target": "bin/arducopter-octa",
"default_params_filename": "copter_params.parm",
},
"tri": {
"build_target": "sitl-tri",
"make_target": "sitl-tri",
"waf_target": "bin/arducopter-tri",
"default_params_filename": "tri_params.parm",
},
"y6": {
"build_target": "sitl-y6",
"make_target": "sitl-y6",
"waf_target": "bin/arducopter-y6",
"default_params_filename": "y6_params.parm",
},
"firefly": {
"default_params_filename": "firefly.parm",
"waf_target": "bin/arducopter-firefly",
},
"heli": {
"build_target": "sitl-heli",
"make_target": "sitl-heli",
"waf_target": "bin/arducopter-heli",
"default_params_filename": "Helicopter.parm",
},
"last_letter": {
@ -238,18 +307,23 @@ _options_for_frame = {
"CRRCSim": {
},
"jsbsim": {
"waf_target": "bin/arduplane",
"default_params_filename": "ArduPlane.parm",
},
"quadplane": {
"waf_target": "bin/arduplane",
"default_params_filename": "quadplane.parm",
},
"plane-elevon": {
"waf_target": "bin/arduplane",
"default_params_filename": "plane-elevons.parm",
},
"plane-vtail": {
"waf_target": "bin/arduplane",
"default_params_filename": "plane-vtail.parm",
},
"plane": {
"waf_target": "bin/arduplane",
"default_params_filename": "plane.parm",
},
}
@ -271,28 +345,79 @@ def options_for_frame(frame, opts):
if not ret.has_key("model"):
ret["model"] = frame
if not ret.has_key("build_target"):
ret["build_target"] = "sitl"
if not ret.has_key("make_target"):
ret["make_target"] = "sitl"
# if not ret.has_key("waf_target"):
# ret["waf_target"] = default_waf_target(frame)
if opts.build_target is not None:
ret["build_target"] = opts.build_target
elif opts.debug:
ret["build_target"] += "-debug"
ret["make_target"] = opts.build_target
ret["waf_target"] = opts.build_target
return ret
def do_build(vehicledir, opts, build_target):
'''build build_target (e.g. sitl) in directory vehicledir'''
def do_build_waf(vehicledir, opts, frame_options):
'''build build_target (e.g. sitl) in directory vehicledir - using waf'''
progress("WAF build")
old_dir = os.getcwd()
root_dir = os.path.join(vehicledir, "..")
os.chdir(root_dir)
waf_light = "./modules/waf/waf-light"
cmd_configure = [waf_light, "configure", "--board", "sitl" ]
run_cmd_blocking("Configure waf", cmd_configure)
p = subprocess.Popen(cmd_configure)
pid, sts = os.waitpid(p.pid,0)
if opts.clean:
run_cmd_blocking("Building clean", [waf_light, "clean"])
cmd_build = [waf_light, "-j", str(opts.jobs), "build", "--target", frame_options["waf_target"] ]
progress_cmd("Building", cmd_build)
p = subprocess.Popen(cmd_build)
pid, sts = os.waitpid(p.pid,0)
if sts != 0:
progress("Build failed; cleaning and rebuilding")
run_cmd_blocking("Building clean", [waf_light, "clean"])
progress_cmd("Building", cmd_build)
p = subprocess.Popen(cmd_build)
pid, sts = os.waitpid(p.pid,0)
if sts != 0:
progress("Build failed")
sys.exit(1)
os.chdir(old_dir)
def do_build(vehicledir, opts, frame_options):
'''build build target (e.g. sitl) in directory vehicledir'''
if opts.build_system == 'waf':
return do_build_waf(vehicledir, opts, frame_options)
old_dir = os.getcwd()
os.chdir(vehicledir)
if opts.clean:
progress("Building clean")
subprocess.Popen(["make", "clean"])
run_cmd_blocking("Building clean", ["make", "clean"])
progress("Building %s" % (build_target))
p = subprocess.Popen(["make", "-j"+str(opts.jobs), build_target])
build_target = frame_options["make_target"]
if opts.debug:
build_target += "-debug"
build_cmd = ["make", "-j"+str(opts.jobs), build_target]
progress_cmd("Building %s" % (build_target), build_cmd)
p = subprocess.Popen(build_cmd)
pid, sts = os.waitpid(p.pid,0)
if sts != 0:
progress("Build failed; cleaning and rebuilding")
@ -316,11 +441,22 @@ def find_location_by_name(autotest, locname):
print("Failed to find location (%s)" % (opts.location))
sys.exit(1)
def progress_cmd(what, cmd):
'''print cmd in a way a user could cut-and-paste to get the same effect'''
progress(what)
shell_text = "%s" % (" ".join([ '"%s"' % x for x in cmd ]))
progress(shell_text)
def run_cmd_blocking(what, cmd):
progress_cmd(what, cmd)
p = subprocess.Popen(cmd)
pid, sts = os.waitpid(p.pid,0)
def run_in_terminal_window(autotest, name, cmd):
'''execute the run_in_terminal_window.sh command for cmd'''
runme = [os.path.join(autotest, "run_in_terminal_window.sh"), name]
runme.extend(cmd)
progress("%s" % (str(runme),))
progress_cmd("Run " + name, runme)
p = subprocess.Popen(runme) # bg this explicitly?!
tracker_uarta = None # blemish
@ -338,30 +474,28 @@ def start_antenna_tracker(autotest, opts):
exe = os.path.join(vehicledir, "AntennaTracker.elf")
run_in_terminal_window(autotest, "AntennaTracker", ["nice", exe, "-I" + str(tracker_instance), "--model=tracker", "--home="+tracker_home])
def start_vehicle(vehicledir, autotest, opts, stuff, loc):
'''run the ArduPilot binary found in vehicledir'''
progress("Starting %s" % (opts.vehicle,))
def start_vehicle(vehicle_binary, autotest, opts, stuff, loc):
'''run the ArduPilot binary'''
cmd_name = opts.vehicle
cmd = []
if opts.valgrind:
progress("Using valgrind")
cmd_name += " (valgrind)"
cmd.append("valgrind")
if opts.gdb:
progress("Using gdb")
cmd_name += " (gdb)"
cmd.append("gdb")
gdb_commands_file = tempfile.NamedTemporaryFile(delete=False)
atexit.register(os.unlink, gdb_commands_file.name)
if opts.breakpoint:
gdb_commands_file.write("b %s\n" % (opts.breakpoint,))
for breakpoint in opts.breakpoint:
gdb_commands_file.write("b %s\n" % (breakpoint,))
gdb_commands_file.write("r\n")
gdb_commands_file.close()
cmd.extend(["-x", gdb_commands_file.name])
cmd.append("--args")
cmd.append(os.path.join(vehicledir, opts.vehicle+".elf"))
cmd.append(vehicle_binary)
cmd.append("-S")
cmd.append("-I"+str(opts.instance))
cmd.extend(["--home", loc])
@ -383,13 +517,11 @@ def start_vehicle(vehicledir, autotest, opts, stuff, loc):
def start_mavproxy(opts, stuff):
'''run mavproxy'''
# FIXME: would be nice to e.g. "mavproxy.mavproxy(....).run" rather than shelling out
progress("Starting MAVProxy")
extra_cmd = ""
cmd = []
cygstart = "/usr/bin/cygstart"
if os.path.exists(cygstart):
cmd.append(cygstart)
if under_cygwin():
cmd.append("/usr/bin/cygstart")
cmd.append("-w")
cmd.append("/cygdrive/c/Program Files (x86)/MAVProxy/mavproxy.exe")
else:
@ -420,12 +552,19 @@ def start_mavproxy(opts, stuff):
if opts.mavproxy_args:
cmd.extend(opts.mavproxy_args.split(" ")) # this could be a lot better..
# compatability pass-through parameters (for those that don't want
# to use -C :-)
for out in opts.out:
cmd.extend(['--out', out])
if opts.map:
cmd.append('--map')
if opts.console:
cmd.append('--console')
if len(extra_cmd):
cmd.extend(['--cmd', extra_cmd])
progress("%s" % (cmd,))
p = subprocess.Popen(cmd)
pid, sts = os.waitpid(p.pid,0)
run_cmd_blocking("Run MavProxy", cmd)
progress("MAVProxy exitted")
frame_options = options_for_frame(opts.frame, opts)
@ -447,10 +586,6 @@ if not opts.hil:
if opts.tracker:
start_antenna_tracker(find_autotest_dir(), opts)
# rebuild time:
if not opts.no_rebuild: # i.e. we should rebuild
do_build(vehicledir, opts, frame_options["build_target"])
if opts.custom_location:
loc = opts.custom_location
progress("Starting up at %s" % (loc,))
@ -462,7 +597,19 @@ if opts.hil:
# (unlikely)
run_in_terminal_window(find_autotest_dir(), "JSBSim", [ os.path.join(find_autotest_dir(), "jsb_sim/runsim.py"), "--home", loc, "--speedup=" + str(opts.speedup)])
else:
start_vehicle(vehicledir, find_autotest_dir(), opts, frame_options, loc)
if not opts.no_rebuild: # i.e. we should rebuild
do_build(vehicledir, opts, frame_options)
if opts.build_system == "waf":
vehicle_binary = os.path.join(vehicledir, "../build/sitl", frame_options["waf_target"])
else:
vehicle_binary = os.path.join(vehicledir, opts.vehicle+".elf")
if not os.path.exists(vehicle_binary):
print("Vehicle binary (%s) does not exist" % (vehicle_binary,))
sys.exit(1)
start_vehicle(vehicle_binary, find_autotest_dir(), opts, frame_options, loc)
if opts.delay_start:
progress("Sleeping for %f seconds" % (opts.delay_start,))