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mavsdk_tests: run test runner, speed up sim

This commit is contained in:
Julian Oes 2019-10-28 16:26:37 +01:00 committed by Lorenz Meier
parent 728a0b033e
commit 2bbe4dac25
1 changed files with 31 additions and 13 deletions
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44
test/mavsdk_tests/mavsdk_test_runner.py
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@ -5,7 +5,6 @@ import datetime
import os
import subprocess
import sys
import time
test_matrix = [
@ -14,11 +13,11 @@ test_matrix = [
"test_filter": "[multicopter]",
"timeout_min": 10,
},
{
"model": "standard_vtol",
"test_filter": "[vtol]",
"timeout_min": 10,
}
# {
# "model": "standard_vtol",
# "test_filter": "[vtol]",
# "timeout_min": 10,
# }
]
@ -52,6 +51,12 @@ class Runner:
stdout=f, stderr=f
)
def wait(self, timeout_s):
try:
return self.process.wait(timeout=timeout_s)
except subprocess.TimeoutExpired:
self.stop()
def stop(self):
returncode = self.process.poll()
if returncode is not None:
@ -95,13 +100,23 @@ class GazeboRunner(Runner):
workspace_dir + "/build/px4_sitl_default/build_gazebo",
"GAZEBO_MODEL_PATH":
workspace_dir + "/Tools/sitl_gazebo/models",
"PX4_SIM_SPEED_FACTOR": "1"}
"PX4_SIM_SPEED_FACTOR": "5"}
self.cmd = "gzserver"
self.args = ["--verbose",
workspace_dir + "/Tools/sitl_gazebo/worlds/iris.world"]
self.log_prefix = "gazebo"
class TestRunner(Runner):
def __init__(self, workspace_dir, log_dir, config):
super().__init__(log_dir)
self.env = {"PATH": os.environ['PATH']}
self.cmd = workspace_dir + \
"/build/px4_sitl_default/test_mission_multicopter"
self.args = [config['test_filter']]
self.log_prefix = "test_runner"
def main():
parser = argparse.ArgumentParser()
@ -113,20 +128,23 @@ def main():
print("Running test group for '{}' with filter '{}'"
.format(group['model'], group['test_filter']))
px4_runner = Px4Runner(os.getcwd(), log_dir=args.log_dir)
px4_runner = Px4Runner(os.getcwd(), args.log_dir)
px4_runner.start(group)
gazebo_runner = GazeboRunner(os.getcwd(), log_dir=args.log_dir)
gazebo_runner = GazeboRunner(os.getcwd(), args.log_dir)
gazebo_runner.start(group)
# Run test here
time.sleep(group['timeout_min']*60)
test_runner = TestRunner(os.getcwd(), args.log_dir, group)
test_runner.start(group)
returncode = test_runner.wait(group['timeout_min']*60)
print("Test exited with {}".format(returncode))
returncode = gazebo_runner.stop()
print("Gazebo stopped with {}".format(returncode))
print("Gazebo exited with {}".format(returncode))
px4_runner.stop()
print("PX4 stopped with {}".format(returncode))
print("PX4 exited with {}".format(returncode))
if __name__ == '__main__':