forked from Archive/PX4-Autopilot
mavsdk_tests: split up Python script
Otherwise, the script will get a tangled mess.
This commit is contained in:
Julian Oes
Nuno Marques
parent
b281d87b4a
commit
11a28840f3
|
|
@ -0,0 +1,52 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
import re
|
||||
import sys
|
||||
import os
|
||||
|
||||
|
||||
def supports_color():
|
||||
"""Returns True if the running system's terminal supports color.
|
||||
|
||||
From https://stackoverflow.com/a/22254892/8548472
|
||||
"""
|
||||
plat = sys.platform
|
||||
supported_platform = plat != 'Pocket PC' and (plat != 'win32' or
|
||||
'ANSICON' in os.environ)
|
||||
# isatty is not always implemented, #6223.
|
||||
is_a_tty = hasattr(sys.stdout, 'isatty') and sys.stdout.isatty()
|
||||
return supported_platform and is_a_tty
|
||||
|
||||
|
||||
if supports_color():
|
||||
class color:
|
||||
PURPLE = '\033[95m'
|
||||
CYAN = '\033[96m'
|
||||
DARKCYAN = '\033[36m'
|
||||
BLUE = '\033[94m'
|
||||
GREEN = '\033[92m'
|
||||
YELLOW = '\033[93m'
|
||||
RED = '\033[91m'
|
||||
BOLD = '\033[1m'
|
||||
UNDERLINE = '\033[4m'
|
||||
END = '\033[0m'
|
||||
else:
|
||||
class color:
|
||||
PURPLE = ''
|
||||
CYAN = ''
|
||||
DARKCYAN = ''
|
||||
BLUE = ''
|
||||
GREEN = ''
|
||||
YELLOW = ''
|
||||
RED = ''
|
||||
BOLD = ''
|
||||
UNDERLINE = ''
|
||||
END = ''
|
||||
|
||||
|
||||
def remove_color(text):
|
||||
"""Remove ANSI and xterm256 color codes.
|
||||
|
||||
From https://stackoverflow.com/a/30500866/8548472
|
||||
"""
|
||||
return re.sub(r'\x1b(\[.*?[@-~]|\].*?(\x07|\x1b\\))', '', text)
|
||||
|
|
@ -1,272 +1,18 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
import argparse
|
||||
import atexit
|
||||
import datetime
|
||||
import errno
|
||||
import json
|
||||
import os
|
||||
import psutil
|
||||
import re
|
||||
import signal
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
import queue
|
||||
|
||||
|
||||
def supports_color():
|
||||
"""Returns True if the running system's terminal supports color.
|
||||
|
||||
From https://stackoverflow.com/a/22254892/8548472
|
||||
"""
|
||||
plat = sys.platform
|
||||
supported_platform = plat != 'Pocket PC' and (plat != 'win32' or
|
||||
'ANSICON' in os.environ)
|
||||
# isatty is not always implemented, #6223.
|
||||
is_a_tty = hasattr(sys.stdout, 'isatty') and sys.stdout.isatty()
|
||||
return supported_platform and is_a_tty
|
||||
|
||||
|
||||
if supports_color():
|
||||
class color:
|
||||
PURPLE = '\033[95m'
|
||||
CYAN = '\033[96m'
|
||||
DARKCYAN = '\033[36m'
|
||||
BLUE = '\033[94m'
|
||||
GREEN = '\033[92m'
|
||||
YELLOW = '\033[93m'
|
||||
RED = '\033[91m'
|
||||
BOLD = '\033[1m'
|
||||
UNDERLINE = '\033[4m'
|
||||
END = '\033[0m'
|
||||
else:
|
||||
class color:
|
||||
PURPLE = ''
|
||||
CYAN = ''
|
||||
DARKCYAN = ''
|
||||
BLUE = ''
|
||||
GREEN = ''
|
||||
YELLOW = ''
|
||||
RED = ''
|
||||
BOLD = ''
|
||||
UNDERLINE = ''
|
||||
END = ''
|
||||
|
||||
|
||||
def remove_color(text):
|
||||
"""Remove ANSI and xterm256 color codes.
|
||||
|
||||
From https://stackoverflow.com/a/30500866/8548472
|
||||
"""
|
||||
return re.sub(r'\x1b(\[.*?[@-~]|\].*?(\x07|\x1b\\))', '', text)
|
||||
|
||||
|
||||
class Runner:
|
||||
def __init__(self, log_dir, verbose):
|
||||
self.name = ""
|
||||
self.cmd = ""
|
||||
self.cwd = None
|
||||
self.args = []
|
||||
self.env = {}
|
||||
self.log_dir = log_dir
|
||||
self.log_filename = ""
|
||||
self.log_fd = None
|
||||
self.verbose = verbose
|
||||
self.output_queue = queue.Queue()
|
||||
self.start_time = time.time()
|
||||
|
||||
def create_log_filename(self, model, test_filter):
|
||||
return self.log_dir + os.path.sep + \
|
||||
"log-{}-{}-{}-{}.log".format(
|
||||
self.name,
|
||||
model,
|
||||
test_filter,
|
||||
datetime.datetime.now().strftime("%Y-%m-%dT%H-%M-%SZ"))
|
||||
|
||||
def start(self, config):
|
||||
if self.verbose:
|
||||
print("Running: {}".format(" ".join([self.cmd] + self.args)))
|
||||
|
||||
atexit.register(self.stop)
|
||||
|
||||
self.log_filename = self.create_log_filename(
|
||||
config['model'], config['test_filter'])
|
||||
self.log_fd = open(self.log_filename, 'w')
|
||||
|
||||
self.process = subprocess.Popen(
|
||||
[self.cmd] + self.args,
|
||||
cwd=self.cwd,
|
||||
env=self.env,
|
||||
stdout=subprocess.PIPE,
|
||||
stderr=subprocess.STDOUT,
|
||||
universal_newlines=True
|
||||
)
|
||||
|
||||
self.stop_thread = threading.Event()
|
||||
self.thread = threading.Thread(target=self.process_output)
|
||||
self.thread.start()
|
||||
|
||||
def process_output(self):
|
||||
while not self.stop_thread.is_set():
|
||||
line = self.process.stdout.readline()
|
||||
if line == "\n":
|
||||
continue
|
||||
self.output_queue.put(line)
|
||||
self.log_fd.write(line)
|
||||
self.log_fd.flush()
|
||||
|
||||
def poll(self):
|
||||
return self.process.poll()
|
||||
|
||||
def wait(self, timeout_min):
|
||||
try:
|
||||
return self.process.wait(timeout=timeout_min*60)
|
||||
except subprocess.TimeoutExpired:
|
||||
print("Timeout of {} min{} reached, stopping...".
|
||||
format(timeout_min, "s" if timeout_min > 1 else ""))
|
||||
self.stop()
|
||||
print("stopped.")
|
||||
return errno.ETIMEDOUT
|
||||
|
||||
def get_output(self):
|
||||
try:
|
||||
output = self.output_queue.get(block=True, timeout=0.1)
|
||||
if supports_color():
|
||||
return output
|
||||
else:
|
||||
return remove_color(output)
|
||||
except queue.Empty:
|
||||
return None
|
||||
|
||||
def print_output(self):
|
||||
output = self.get_output()
|
||||
if not output:
|
||||
return
|
||||
print(color.END +
|
||||
"[" + self.name.ljust(11) + "] " +
|
||||
output +
|
||||
color.END, end="")
|
||||
|
||||
def stop(self):
|
||||
atexit.unregister(self.stop)
|
||||
|
||||
self.stop_thread.set()
|
||||
|
||||
returncode = self.process.poll()
|
||||
if returncode is None:
|
||||
|
||||
if self.verbose:
|
||||
print("Terminating {}".format(self.cmd))
|
||||
self.process.terminate()
|
||||
|
||||
try:
|
||||
returncode = self.process.wait(timeout=1)
|
||||
except subprocess.TimeoutExpired:
|
||||
pass
|
||||
|
||||
if returncode is None:
|
||||
if self.verbose:
|
||||
print("Killing {}".format(self.cmd))
|
||||
self.process.kill()
|
||||
returncode = self.process.poll()
|
||||
|
||||
if self.verbose:
|
||||
print("{} exited with {}".format(
|
||||
self.cmd, self.process.returncode))
|
||||
|
||||
self.thread.join()
|
||||
|
||||
self.log_fd.close()
|
||||
|
||||
return self.process.returncode
|
||||
|
||||
def time_elapsed_s(self):
|
||||
return time.time() - self.start_time
|
||||
|
||||
|
||||
class Px4Runner(Runner):
|
||||
def __init__(self, model, workspace_dir, log_dir, speed_factor, debugger,
|
||||
verbose):
|
||||
super().__init__(log_dir, verbose)
|
||||
self.name = "px4"
|
||||
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": model,
|
||||
"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
|
||||
self.name = "px4"
|
||||
self.debugger = debugger
|
||||
|
||||
if not self.debugger:
|
||||
pass
|
||||
elif self.debugger == "valgrind":
|
||||
self.args = ["--track-origins=yes", "--leak-check=full", "-v",
|
||||
self.cmd] + self.args
|
||||
self.cmd = "valgrind"
|
||||
elif self.debugger == "callgrind":
|
||||
self.args = ["--tool=callgrind", "-v", self.cmd] + self.args
|
||||
self.cmd = "valgrind"
|
||||
elif self.debugger == "gdb":
|
||||
self.args = ["--args", self.cmd] + self.args
|
||||
self.cmd = "gdb"
|
||||
else:
|
||||
print("Using custom debugger " + self.debugger)
|
||||
self.args = [self.cmd] + self.args
|
||||
self.cmd = self.debugger
|
||||
|
||||
|
||||
class GzserverRunner(Runner):
|
||||
def __init__(self, model, workspace_dir, log_dir, speed_factor, verbose):
|
||||
super().__init__(log_dir, verbose)
|
||||
self.name = "gzserver"
|
||||
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": str(speed_factor),
|
||||
"DISPLAY": os.environ['DISPLAY']}
|
||||
self.cmd = "gzserver"
|
||||
self.args = ["--verbose",
|
||||
workspace_dir + "/Tools/sitl_gazebo/worlds/" +
|
||||
model + ".world"]
|
||||
|
||||
|
||||
class GzclientRunner(Runner):
|
||||
def __init__(self, workspace_dir, log_dir, verbose):
|
||||
super().__init__(log_dir, verbose)
|
||||
self.name = "gzclient"
|
||||
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",
|
||||
"DISPLAY": os.environ['DISPLAY']}
|
||||
self.cmd = "gzclient"
|
||||
self.args = ["--verbose"]
|
||||
|
||||
|
||||
class TestRunner(Runner):
|
||||
def __init__(self, workspace_dir, log_dir, config, test,
|
||||
mavlink_connection, verbose):
|
||||
super().__init__(log_dir, verbose)
|
||||
self.name = "test_runner"
|
||||
self.env = {"PATH": os.environ['PATH']}
|
||||
self.cmd = workspace_dir + \
|
||||
"/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
|
||||
self.args = ["--url", mavlink_connection, test]
|
||||
from logger_helper import color
|
||||
from process_helper import \
|
||||
Px4Runner, \
|
||||
GzserverRunner, \
|
||||
GzclientRunner, \
|
||||
TestRunner
|
||||
|
||||
|
||||
def main():
|
||||
|
|
|
|||
|
|
@ -0,0 +1,217 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
import queue
|
||||
import time
|
||||
import os
|
||||
import datetime
|
||||
import atexit
|
||||
import subprocess
|
||||
import threading
|
||||
import errno
|
||||
from logger_helper import color
|
||||
|
||||
|
||||
class Runner:
|
||||
def __init__(self, log_dir, verbose):
|
||||
self.name = ""
|
||||
self.cmd = ""
|
||||
self.cwd = None
|
||||
self.args = []
|
||||
self.env = {}
|
||||
self.log_dir = log_dir
|
||||
self.log_filename = ""
|
||||
self.log_fd = None
|
||||
self.verbose = verbose
|
||||
self.output_queue = queue.Queue()
|
||||
self.start_time = time.time()
|
||||
|
||||
def create_log_filename(self, model, test_filter):
|
||||
return self.log_dir + os.path.sep + \
|
||||
"log-{}-{}-{}-{}.log".format(
|
||||
self.name,
|
||||
model,
|
||||
test_filter,
|
||||
datetime.datetime.now().strftime("%Y-%m-%dT%H-%M-%SZ"))
|
||||
|
||||
def start(self, config):
|
||||
if self.verbose:
|
||||
print("Running: {}".format(" ".join([self.cmd] + self.args)))
|
||||
|
||||
atexit.register(self.stop)
|
||||
|
||||
self.log_filename = self.create_log_filename(
|
||||
config['model'], config['test_filter'])
|
||||
self.log_fd = open(self.log_filename, 'w')
|
||||
|
||||
self.process = subprocess.Popen(
|
||||
[self.cmd] + self.args,
|
||||
cwd=self.cwd,
|
||||
env=self.env,
|
||||
stdout=subprocess.PIPE,
|
||||
stderr=subprocess.STDOUT,
|
||||
universal_newlines=True
|
||||
)
|
||||
|
||||
self.stop_thread = threading.Event()
|
||||
self.thread = threading.Thread(target=self.process_output)
|
||||
self.thread.start()
|
||||
|
||||
def process_output(self):
|
||||
while not self.stop_thread.is_set():
|
||||
line = self.process.stdout.readline()
|
||||
if line == "\n":
|
||||
continue
|
||||
self.output_queue.put(line)
|
||||
self.log_fd.write(line)
|
||||
self.log_fd.flush()
|
||||
|
||||
def poll(self):
|
||||
return self.process.poll()
|
||||
|
||||
def wait(self, timeout_min):
|
||||
try:
|
||||
return self.process.wait(timeout=timeout_min*60)
|
||||
except subprocess.TimeoutExpired:
|
||||
print("Timeout of {} min{} reached, stopping...".
|
||||
format(timeout_min, "s" if timeout_min > 1 else ""))
|
||||
self.stop()
|
||||
print("stopped.")
|
||||
return errno.ETIMEDOUT
|
||||
|
||||
def get_output(self):
|
||||
try:
|
||||
output = self.output_queue.get(block=True, timeout=0.1)
|
||||
if supports_color():
|
||||
return output
|
||||
else:
|
||||
return remove_color(output)
|
||||
except queue.Empty:
|
||||
return None
|
||||
|
||||
def print_output(self):
|
||||
output = self.get_output()
|
||||
if not output:
|
||||
return
|
||||
print(color.END +
|
||||
"[" + self.name.ljust(11) + "] " +
|
||||
output +
|
||||
color.END, end="")
|
||||
|
||||
def stop(self):
|
||||
atexit.unregister(self.stop)
|
||||
|
||||
self.stop_thread.set()
|
||||
|
||||
returncode = self.process.poll()
|
||||
if returncode is None:
|
||||
|
||||
if self.verbose:
|
||||
print("Terminating {}".format(self.cmd))
|
||||
self.process.terminate()
|
||||
|
||||
try:
|
||||
returncode = self.process.wait(timeout=1)
|
||||
except subprocess.TimeoutExpired:
|
||||
pass
|
||||
|
||||
if returncode is None:
|
||||
if self.verbose:
|
||||
print("Killing {}".format(self.cmd))
|
||||
self.process.kill()
|
||||
returncode = self.process.poll()
|
||||
|
||||
if self.verbose:
|
||||
print("{} exited with {}".format(
|
||||
self.cmd, self.process.returncode))
|
||||
|
||||
self.thread.join()
|
||||
|
||||
self.log_fd.close()
|
||||
|
||||
return self.process.returncode
|
||||
|
||||
def time_elapsed_s(self):
|
||||
return time.time() - self.start_time
|
||||
|
||||
|
||||
class Px4Runner(Runner):
|
||||
def __init__(self, model, workspace_dir, log_dir, speed_factor, debugger,
|
||||
verbose):
|
||||
super().__init__(log_dir, verbose)
|
||||
self.name = "px4"
|
||||
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": model,
|
||||
"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
|
||||
self.name = "px4"
|
||||
self.debugger = debugger
|
||||
|
||||
if not self.debugger:
|
||||
pass
|
||||
elif self.debugger == "valgrind":
|
||||
self.args = ["--track-origins=yes", "--leak-check=full", "-v",
|
||||
self.cmd] + self.args
|
||||
self.cmd = "valgrind"
|
||||
elif self.debugger == "callgrind":
|
||||
self.args = ["--tool=callgrind", "-v", self.cmd] + self.args
|
||||
self.cmd = "valgrind"
|
||||
elif self.debugger == "gdb":
|
||||
self.args = ["--args", self.cmd] + self.args
|
||||
self.cmd = "gdb"
|
||||
else:
|
||||
print("Using custom debugger " + self.debugger)
|
||||
self.args = [self.cmd] + self.args
|
||||
self.cmd = self.debugger
|
||||
|
||||
|
||||
class GzserverRunner(Runner):
|
||||
def __init__(self, model, workspace_dir, log_dir, speed_factor, verbose):
|
||||
super().__init__(log_dir, verbose)
|
||||
self.name = "gzserver"
|
||||
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": str(speed_factor),
|
||||
"DISPLAY": os.environ['DISPLAY']}
|
||||
self.cmd = "gzserver"
|
||||
self.args = ["--verbose",
|
||||
workspace_dir + "/Tools/sitl_gazebo/worlds/" +
|
||||
model + ".world"]
|
||||
|
||||
|
||||
class GzclientRunner(Runner):
|
||||
def __init__(self, workspace_dir, log_dir, verbose):
|
||||
super().__init__(log_dir, verbose)
|
||||
self.name = "gzclient"
|
||||
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",
|
||||
"DISPLAY": os.environ['DISPLAY']}
|
||||
self.cmd = "gzclient"
|
||||
self.args = ["--verbose"]
|
||||
|
||||
|
||||
class TestRunner(Runner):
|
||||
def __init__(self, workspace_dir, log_dir, config, test,
|
||||
mavlink_connection, verbose):
|
||||
super().__init__(log_dir, verbose)
|
||||
self.name = "test_runner"
|
||||
self.env = {"PATH": os.environ['PATH']}
|
||||
self.cmd = workspace_dir + \
|
||||
"/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
|
||||
self.args = ["--url", mavlink_connection, test]
|
||||
Loading…
Reference in New Issue