autotest: add tests for logging
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Peter Barker
Peter Barker
parent
6c20264d9c
commit
f6b121ad87
@ -3,6 +3,7 @@ from __future__ import print_function
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import abc
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import copy
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import errno
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import glob
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import math
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import os
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import re
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@ -1574,6 +1575,171 @@ class AutoTest(ABC):
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self.mavproxy.send('wp list\n')
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self.mavproxy.expect('Requesting 0 waypoints')
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def log_list(self):
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'''return a list of log files present in POSIX-style loging dir'''
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ret = glob.glob("logs/*.BIN")
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self.progress("log list: %s" % str(ret))
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return ret
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def assert_parameter_value(self, parameter, required):
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got = self.get_parameter(parameter)
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if got != required:
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raise NotAchievedException("%s has unexpected value; want=%f got=%f" %
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(parameter, required, got))
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self.progress("%s has value %f" % (parameter, required))
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def onboard_logging_not_log_disarmed(self):
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self.set_parameter("LOG_DISARMED", 0)
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self.set_parameter("LOG_FILE_DSRMROT", 0)
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self.reboot_sitl()
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self.wait_ready_to_arm() # let things setttle
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self.start_subtest("Ensure setting LOG_DISARMED yields a new file")
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original_list = self.log_list()
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self.progress("original list: %s" % str(original_list))
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self.set_parameter("LOG_DISARMED", 1)
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self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
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new_list = self.log_list()
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self.progress("new list: %s" % str(new_list))
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if len(new_list) - len(original_list) != 1:
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raise NotAchievedException("Got more than one new log")
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self.set_parameter("LOG_DISARMED", 0)
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self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
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new_list = self.log_list()
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if len(new_list) - len(original_list) != 1:
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raise NotAchievedException("Got more or less than one new log after toggling LOG_DISARMED off")
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self.start_subtest("Ensuring toggling LOG_DISARMED on and off doesn't increase the number of files")
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self.set_parameter("LOG_DISARMED", 1)
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self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
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new_new_list = self.log_list()
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if len(new_new_list) != len(new_list):
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raise NotAchievedException("Got extra files when toggling LOG_DISARMED")
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self.set_parameter("LOG_DISARMED", 0)
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self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
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new_new_list = self.log_list()
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if len(new_new_list) != len(new_list):
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raise NotAchievedException("Got extra files when toggling LOG_DISARMED to 0 again")
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self.end_subtest("Ensuring toggling LOG_DISARMED on and off doesn't increase the number of files")
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self.start_subtest("Check disarm rot when log disarmed is zero")
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self.assert_parameter_value("LOG_DISARMED", 0)
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self.set_parameter("LOG_FILE_DSRMROT", 1)
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old_speedup = self.get_parameter("SIM_SPEEDUP")
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# reduce speedup to reduce chance of race condition here
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self.set_parameter("SIM_SPEEDUP", 1)
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pre_armed_list = self.log_list()
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if self.is_copter() or self.is_heli():
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self.set_parameter("DISARM_DELAY", 0)
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self.arm_vehicle()
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post_armed_list = self.log_list()
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if len(post_armed_list) != len(pre_armed_list):
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raise NotAchievedException("Got unexpected new log")
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self.disarm_vehicle()
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old_speedup = self.set_parameter("SIM_SPEEDUP", old_speedup)
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post_disarmed_list = self.log_list()
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if len(post_disarmed_list) != len(post_armed_list):
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raise NotAchievedException("Log rotated immediately")
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self.progress("Allowing time for post-disarm-logging to occur if it will")
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self.delay_sim_time(5)
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post_disarmed_post_delay_list = self.log_list()
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if len(post_disarmed_post_delay_list) != len(post_disarmed_list):
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raise NotAchievedException("Got log rotation when we shouldn't have")
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self.progress("Checking that arming does produce a new log")
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self.arm_vehicle()
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post_armed_list = self.log_list()
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if len(post_armed_list) - len(post_disarmed_post_delay_list) != 1:
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raise NotAchievedException("Did not get new log for rotation")
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self.progress("Now checking natural rotation after HAL_LOGGER_ARM_PERSIST")
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self.disarm_vehicle()
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post_disarmed_list = self.log_list()
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if len(post_disarmed_list) != len(post_armed_list):
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raise NotAchievedException("Log rotated immediately")
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self.delay_sim_time(30)
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delayed_post_disarmed_list = self.log_list()
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# should *still* not get another log as LOG_DISARMED is false
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if len(post_disarmed_list) != len(delayed_post_disarmed_list):
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self.progress("Unexpected new log found")
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def onboard_logging_log_disarmed(self):
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start_list = self.log_list()
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self.set_parameter("LOG_FILE_DSRMROT", 0)
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self.set_parameter("LOG_DISARMED", 0)
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self.reboot_sitl()
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restart_list = self.log_list()
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if len(start_list) != len(restart_list):
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raise NotAchievedException("Unexpected log detected (pre-delay) initial=(%s) restart=(%s)" % (str(sorted(start_list)), str(sorted(restart_list))))
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self.delay_sim_time(20)
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restart_list = self.log_list()
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if len(start_list) != len(restart_list):
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raise NotAchievedException("Unexpected log detected (post-delay)")
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self.set_parameter("LOG_DISARMED", 1)
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self.delay_sim_time(5) # LOG_DISARMED is polled
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post_log_disarmed_set_list = self.log_list()
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if len(post_log_disarmed_set_list) == len(restart_list):
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raise NotAchievedException("Did not get new log when LOG_DISARMED set")
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self.progress("Ensuring we get a new log after a reboot")
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self.reboot_sitl()
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self.delay_sim_time(5)
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post_reboot_log_list = self.log_list()
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if len(post_reboot_log_list) == len(post_log_disarmed_set_list):
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raise NotAchievedException("Did not get fresh log-disarmed log after a reboot")
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self.progress("Ensuring no log rotation when we toggle LOG_DISARMED off then on again")
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self.set_parameter("LOG_DISARMED", 0)
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current_log_filepath = self.current_onboard_log_filepath()
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self.delay_sim_time(10) # LOG_DISARMED is polled
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post_toggleoff_list = self.log_list()
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if len(post_toggleoff_list) != len(post_reboot_log_list):
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raise NotAchievedException("Shouldn't get new file yet")
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self.progress("Ensuring log does not grow when LOG_DISARMED unset...")
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current_log_filepath_size = os.path.getsize(current_log_filepath)
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self.delay_sim_time(5)
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current_log_filepath_new_size = os.path.getsize(current_log_filepath)
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if current_log_filepath_new_size != current_log_filepath_size:
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raise NotAchievedException(
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"File growing after LOG_DISARMED unset (new=%u old=%u" %
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(current_log_filepath_new_size, current_log_filepath_size))
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self.progress("Turning LOG_DISARMED back on again")
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self.set_parameter("LOG_DISARMED", 1)
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self.delay_sim_time(5) # LOG_DISARMED is polled
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post_toggleon_list = self.log_list()
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if len(post_toggleon_list) != len(post_toggleoff_list):
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raise NotAchievedException("Log rotated when it shouldn't")
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self.progress("Checking log is now growing again")
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if os.path.getsize(current_log_filepath) == current_log_filepath_size:
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raise NotAchievedException("Log is not growing")
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# self.progress("Checking LOG_FILE_DSRMROT behaviour when log_DISARMED set")
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# self.set_parameter("LOG_FILE_DSRMROT", 1)
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# self.wait_ready_to_arm()
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# pre = self.log_list()
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# self.arm_vehicle()
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# post = self.log_list()
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# if len(pre) != len(post):
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# raise NotAchievedException("Rotation happened on arming?!")
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# size_a = os.path.getsize(current_log_filepath)
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# self.delay_sim_time(5)
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# size_b = os.path.getsize(current_log_filepath)
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# if size_b <= size_a:
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# raise NotAchievedException("Log not growing")
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# self.disarm_vehicle()
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# instant_post_disarm_list = self.log_list()
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# self.progress("Should not rotate straight away")
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# if len(instant_post_disarm_list) != len(post):
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# raise NotAchievedException("Should not rotate straight away")
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# self.delay_sim_time(20)
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# post_disarm_list = self.log_list()
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# if len(post_disarm_list) - len(instant_post_disarm_list) != 1:
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# raise NotAchievedException("Did not get exactly one more log")
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# self.progress("If we re-arm during the HAL_LOGGER_ARM_PERSIST period it should rotate")
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def test_onboard_logging(self):
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if self.is_tracker():
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return
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self.onboard_logging_log_disarmed()
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self.onboard_logging_not_log_disarmed()
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def log_download(self, filename, timeout=360, upload_logs=False):
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"""Download latest log."""
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self.wait_heartbeat()
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@ -5464,6 +5630,10 @@ switch value'''
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"Test Onboard Logging Generation",
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self.test_onboard_logging_generation),
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("Logging",
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"Test Onboard Logging",
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self.test_onboard_logging),
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("GetCapabilities",
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"Get Capabilities",
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self.test_get_autopilot_capabilities),
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@ -1596,12 +1596,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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raise NotAchievedException("Count mismatch (want=%u got=%u)" %
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(count, m.count))
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def assert_parameter_value(self, parameter, required):
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got = self.get_parameter(parameter)
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if got != required:
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raise NotAchievedException("%s has unexpected value; want=%f got=%f" %
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(parameter, required, got))
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def send_fencepoint_expect_statustext(self, offset, count, lat, lng, statustext_fragment, target_system=1, target_component=1, timeout=10):
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self.mav.mav.fence_point_send(target_system,
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target_component,
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