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mavsdk_tests: actually use chosen model 

This does not work for plane yet, and VTOL only acts as multicopter for
now, so doesn't make much sense just yet.
This commit is contained in:
Julian Oes 2020-01-08 16:07:07 +01:00 committed by Lorenz Meier
parent 5589812104
commit 0f77e3ba44
1 changed files with 17 additions and 16 deletions
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33
test/mavsdk_tests/mavsdk_test_runner.py
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@ -16,16 +16,16 @@ test_matrix = [
"test_filter": "[multicopter]",
"timeout_min": 20,
},
{
"model": "standard_vtol",
"test_filter": "[vtol]",
"timeout_min": 20,
},
{
"model": "standard_plane",
"test_filter": "[plane]",
"timeout_min": 25,
}
#{
# "model": "standard_vtol",
# "test_filter": "[vtol]",
# "timeout_min": 20,
#},
# {
# "model": "standard_plane",
# "test_filter": "[plane]",
# "timeout_min": 25,
# }
]
@ -93,7 +93,7 @@ class Runner:
class Px4Runner(Runner):
def __init__(self, workspace_dir, log_dir, speed_factor):
def __init__(self, model, workspace_dir, log_dir, speed_factor):
super().__init__(log_dir)
self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
@ -106,13 +106,13 @@ class Px4Runner(Runner):
"-d"
]
self.env = {"PATH": os.environ['PATH'],
"PX4_SIM_MODEL": "iris",
"PX4_SIM_MODEL": model,
"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
self.log_prefix = "px4"
class GzserverRunner(Runner):
def __init__(self, workspace_dir, log_dir, speed_factor):
def __init__(self, model, workspace_dir, log_dir, speed_factor):
super().__init__(log_dir)
self.env = {"PATH": os.environ['PATH'],
"HOME": os.environ['HOME'],
@ -122,7 +122,8 @@ class GzserverRunner(Runner):
workspace_dir + "/Tools/sitl_gazebo/models",
"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
self.cmd = "gzserver"
self.args = [workspace_dir + "/Tools/sitl_gazebo/worlds/iris.world"]
self.args = [workspace_dir + "/Tools/sitl_gazebo/worlds/" +
model + ".world"]
self.log_prefix = "gzserver"
@ -265,11 +266,11 @@ def run_test_group(args):
def run_test(test, group, args):
px4_runner = Px4Runner(
os.getcwd(), args.log_dir, args.speed_factor)
group['model'], os.getcwd(), args.log_dir, args.speed_factor)
px4_runner.start(group)
gzserver_runner = GzserverRunner(
os.getcwd(), args.log_dir, args.speed_factor)
group['model'], os.getcwd(), args.log_dir, args.speed_factor)
gzserver_runner.start(group)
if args.gui: