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mavsdk_tests: further argument cleanup, some types

This commit is contained in:
Julian Oes 2020-03-13 09:18:10 +01:00 committed by Nuno Marques
parent ff64d87ae6
commit 12252c97c5
2 changed files with 49 additions and 30 deletions
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29
test/mavsdk_tests/mavsdk_test_runner.py
View File

@ -3,7 +3,7 @@
import argparse
import json
import os
import psutil
import psutil # type: ignore
import signal
import subprocess
import sys
@ -142,7 +142,7 @@ class Tester:
for iteration in range(self.iterations):
if self.iterations > 1:
print("Test iteration: {}".
print("Test iteration: {} / {}".
format(iteration + 1, self.iterations))
was_success = self.run_test_group()
@ -203,6 +203,7 @@ class Tester:
"--- Test {} of {}: '{}' failed."
.format(i+1, len(tests), test),
color.RED))
# TODO: now print the test output
if not was_success:
overall_success = False
@ -222,25 +223,32 @@ class Tester:
if self.config['mode'] == 'sitl':
px4_runner = ph.Px4Runner(
group['model'], os.getcwd(), self.log_dir, speed_factor,
self.debugger, self.verbose)
px4_runner.start(group)
os.getcwd(),
self.log_dir,
group,
speed_factor,
self.debugger,
self.verbose)
px4_runner.start()
self.active_runners.append(px4_runner)
if self.config['simulator'] == 'gazebo':
gzserver_runner = ph.GzserverRunner(
group['model'],
os.getcwd(),
self.log_dir,
group,
self.speed_factor,
self.verbose)
gzserver_runner.start(group)
gzserver_runner.start()
self.active_runners.append(gzserver_runner)
if self.gui:
gzclient_runner = ph.GzclientRunner(
os.getcwd(), self.log_dir, self.verbose)
gzclient_runner.start(group)
os.getcwd(),
self.log_dir,
group,
self.verbose)
gzclient_runner.start()
self.active_runners.append(gzclient_runner)
test_runner = ph.TestRunner(
@ -251,7 +259,7 @@ class Tester:
self.config['mavlink_connection'],
self.verbose)
test_runner.start(group)
test_runner.start()
self.active_runners.append(test_runner)
while test_runner.time_elapsed_s() < group['timeout_min']*60:
@ -282,6 +290,7 @@ class Tester:
for runner in self.active_runners:
runner.stop()
print("Stopping all processes done.")
# TODO: print interim results
sys.exit(-sig)

50
test/mavsdk_tests/process_helper.py
View File

@ -9,40 +9,46 @@ import subprocess
import threading
import errno
from logger_helper import color, maybe_strip_color, colorize
from typing import Dict, List
class Runner:
def __init__(self, log_dir, verbose):
def __init__(self, log_dir: str, config: dict, verbose: bool):
self.name = ""
self.cmd = ""
self.cwd = None
self.args = []
self.env = {}
self.cwd = ""
self.args: List[str]
self.env: Dict[str, str]
self.log_dir = log_dir
self.config = config
self.log_filename = ""
self.log_fd = None
self.verbose = verbose
self.output_queue = queue.Queue()
self.output_queue: queue.Queue = queue.Queue()
self.start_time = time.time()
def create_log_filename(self, model, test_filter):
def create_log_filename(self, model: str, test_filter: str) -> str:
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"))
# TODO: improve logfilename, create folder, create merged log.
def start(self, config):
def start(self):
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.config['model'], self.config['test_filter'])
self.log_fd = open(self.log_filename, 'w')
print("self.cmd: {}".format(self.cmd))
print("self.args: {}".format(self.args))
print("self.cwd: {}".format(self.cwd))
self.process = subprocess.Popen(
[self.cmd] + self.args,
cwd=self.cwd,
@ -130,9 +136,10 @@ class Runner:
class Px4Runner(Runner):
def __init__(self, model, workspace_dir, log_dir, speed_factor, debugger,
verbose):
super().__init__(log_dir, verbose)
def __init__(self, workspace_dir: str, log_dir: str,
config: Dict[str, str], speed_factor: float,
debugger: str, verbose: bool):
super().__init__(log_dir, config, verbose)
self.name = "px4"
self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
@ -144,10 +151,9 @@ class Px4Runner(Runner):
workspace_dir + "/test_data",
"-d"
]
self.env = {"PATH": os.environ['PATH'],
"PX4_SIM_MODEL": model,
self.env = {"PATH": str(os.environ['PATH']),
"PX4_SIM_MODEL": str(config['model']),
"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
self.name = "px4"
self.debugger = debugger
if not self.debugger:
@ -169,9 +175,11 @@ class Px4Runner(Runner):
class GzserverRunner(Runner):
def __init__(self, model, workspace_dir, log_dir, speed_factor, verbose):
super().__init__(log_dir, verbose)
def __init__(self, workspace_dir, log_dir, config,
speed_factor, verbose):
super().__init__(log_dir, config, verbose)
self.name = "gzserver"
self.cwd = workspace_dir
self.env = {"PATH": os.environ['PATH'],
"HOME": os.environ['HOME'],
"GAZEBO_PLUGIN_PATH":
@ -183,13 +191,14 @@ class GzserverRunner(Runner):
self.cmd = "gzserver"
self.args = ["--verbose",
workspace_dir + "/Tools/sitl_gazebo/worlds/" +
model + ".world"]
config['model'] + ".world"]
class GzclientRunner(Runner):
def __init__(self, workspace_dir, log_dir, verbose):
super().__init__(log_dir, verbose)
def __init__(self, workspace_dir, log_dir, config, verbose):
super().__init__(log_dir, config, verbose)
self.name = "gzclient"
self.cwd = workspace_dir
self.env = {"PATH": os.environ['PATH'],
"HOME": os.environ['HOME'],
# "GAZEBO_PLUGIN_PATH":
@ -204,8 +213,9 @@ class GzclientRunner(Runner):
class TestRunner(Runner):
def __init__(self, workspace_dir, log_dir, config, test,
mavlink_connection, verbose):
super().__init__(log_dir, verbose)
super().__init__(log_dir, config, verbose)
self.name = "test_runner"
self.cwd = workspace_dir
self.env = {"PATH": os.environ['PATH']}
self.cmd = workspace_dir + \
"/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"