From 09d63f55315513070fd845083696ea4cf33b6cff Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 24 Oct 2019 18:34:12 +0200
Subject: [PATCH] mavsdk_tests: added test runner

---
 test/mavsdk_tests/mavsdk_test_runner.py | 103 ++++++++++++++++++++++++
 1 file changed, 103 insertions(+)
 create mode 100755 test/mavsdk_tests/mavsdk_test_runner.py

diff --git a/test/mavsdk_tests/mavsdk_test_runner.py b/test/mavsdk_tests/mavsdk_test_runner.py
new file mode 100755
index 0000000000..49a486ec07
--- /dev/null
+++ b/test/mavsdk_tests/mavsdk_test_runner.py
@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+
+import datetime
+import os
+import subprocess
+import time
+
+test_matrix = [
+    {
+        "model": "iris",
+        "test_filter": "[multicopter]",
+        "timeout_min": 10,
+    },
+    {
+        "model": "standard_vtol",
+        "test_filter": "[vtol]",
+        "timeout_min": 10,
+    }
+]
+
+
+class Runner:
+    def __init__(self):
+        self.cmd = ""
+        self.cwd = None
+        self.args = []
+        self.env = {}
+        self.log_prefix = ""
+
+    def run(self, group):
+        with open(
+            "log-{}-{}-{}-{}.txt".format(
+                self.log_prefix,
+                group['model'],
+                group['test_filter'],
+                datetime.datetime.now().strftime("%Y-%m-%dT%H-%M-%SZ")
+                ), 'w') as f:
+
+            print("Running: {}".format(" ".join([self.cmd] + self.args)))
+            print("Raw: {}".format([self.cmd] + self.args))
+
+            self.process = subprocess.Popen(
+                [self.cmd] + self.args,
+                cwd=self.cwd,
+                env=self.env,
+                stdout=f, stderr=f
+            )
+
+            # self.process.wait(timeout=None)
+            # print("Result is {}".format(self.process.returncode))
+
+
+class Px4Runner(Runner):
+    def __init__(self, workspace_dir):
+        super().__init__()
+        self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
+        self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
+        self.args = [
+                workspace_dir + "/ROMFS/px4fmu_common",
+                "-s",
+                "etc/init.d-posix/rcS",
+                "-t",
+                workspace_dir + "/test_data",
+                "-d"
+            ]
+        self.env = {"PATH": os.environ['PATH'],
+                    "PX4_SIM_MODEL": "iris"}
+        self.log_prefix = "px4"
+
+
+class GazeboRunner(Runner):
+    def __init__(self, workspace_dir):
+        super().__init__()
+        self.env = {"PATH": os.environ['PATH'],
+                    "HOME": os.environ['HOME'],
+                    "GAZEBO_PLUGIN_PATH":
+                    workspace_dir + "/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH":
+                    workspace_dir + "/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"}
+        self.cmd = "gzserver"
+        self.args = ["--verbose",
+                     workspace_dir + "/Tools/sitl_gazebo/worlds/iris.world"]
+        self.log_prefix = "gazebo"
+
+
+def main():
+    for group in test_matrix:
+        print("Running test group for '{}' with filter '{}'"
+              .format(group['model'], group['test_filter']))
+
+        px4_runner = Px4Runner(os.getcwd())
+        px4_runner.run(group)
+
+        gazebo_runner = GazeboRunner(os.getcwd())
+        gazebo_runner.run(group)
+
+        # Run test here
+        time.sleep(30)
+
+
+if __name__ == '__main__':
+    main()