px4-firmware/Tools/HIL/run_tests.py

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#! /usr/bin/env python3
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import serial, time
import subprocess
from subprocess import call, Popen
from argparse import ArgumentParser
import re
import unittest
import os
import sys
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import datetime
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COLOR_RED = "\x1b[31m"
COLOR_GREEN = "\x1b[32m"
COLOR_YELLOW = "\x1b[33m"
COLOR_WHITE = "\x1b[37m"
COLOR_RESET = "\x1b[0m"
def print_line(line):
if "WARNING" in line:
line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
elif "WARN" in line:
line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
elif "ERROR" in line:
line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
elif "INFO" in line:
line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
if "PASSED" in line:
line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
if "FAILED" in line:
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
if "\n" in line:
current_time = datetime.datetime.now()
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
else:
print('{0}'.format(line), end='')
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def do_test(port, baudrate, test_name):
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ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
timeout_start = time.time()
timeout = 30 # 30 seconds
# wait for nsh prompt
while True:
ser.write("\n".encode("ascii"))
ser.flush()
serial_line = ser.readline().decode("ascii", errors='ignore')
if "nsh>" in serial_line:
break
else:
if len(serial_line) > 0:
print(serial_line, end='')
if time.time() > timeout_start + timeout:
print("Error, timeout waiting for prompt")
return False
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# clear
ser.readlines()
success = False
# run test cmd
print('\n|======================================================================')
cmd = 'tests ' + test_name
print("| Running:", cmd)
print('|======================================================================')
timeout_start = time.time()
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timeout = 2 # 2 seconds
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# wait for command echo
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serial_cmd = '{0}\n'.format(cmd)
ser.write(serial_cmd.encode("ascii"))
ser.flush()
while True:
serial_line = ser.readline().decode("ascii", errors='ignore')
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if cmd in serial_line:
break
else:
if len(serial_line) > 0:
print_line(serial_line)
if time.time() > timeout_start + timeout:
print("Error, timeout waiting for command echo")
break
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# print results, wait for final result (PASSED or FAILED)
timeout = 300 # 5 minutes
timeout_start = time.time()
timeout_newline = timeout_start
while True:
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serial_line = ser.readline().decode("ascii", errors='ignore')
if len(serial_line) > 0:
print_line(serial_line)
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if test_name + " PASSED" in serial_line:
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success = True
break
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elif test_name + " FAILED" in serial_line:
success = False
break
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if time.time() > timeout_start + timeout:
print("Error, timeout")
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
success = False
break
# newline every 10 seconds if still running
if time.time() - timeout_newline > 10:
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ser.write("\n".encode("ascii"))
timeout_newline = time.time()
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ser.close()
return success
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class TestHardwareMethods(unittest.TestCase):
TEST_DEVICE = 0
TEST_BAUDRATE = 0
def test_atomic_bitset(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
def test_bezier(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
def test_bitset(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
def test_bson(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
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def test_dataman(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
# def test_file(self):
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
def test_file2(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file2"))
def test_float(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
def test_hrt(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))
def test_int(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "int"))
def test_i2c_spi_cli(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "i2c_spi_cli"))
def test_IntrusiveQueue(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
def test_IntrusiveSortedList(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveSortedList"))
def test_List(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "List"))
def test_mathlib(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mathlib"))
def test_matrix(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))
# def test_mixer(self):
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
def test_param(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "param"))
def test_parameters(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "parameters"))
def test_perf(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "perf"))
# def test_rc(self):
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "rc"))
def test_search_min(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "search_min"))
def test_sleep(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "sleep"))
def test_time(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
def test_versioning(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
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def main():
parser = ArgumentParser(description=__doc__)
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
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parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
args = parser.parse_args()
TestHardwareMethods.TEST_DEVICE = args.device
TestHardwareMethods.TEST_BAUDRATE = args.baudrate
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unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
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if __name__ == "__main__":
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main()