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mavsdk_tests: add more config into JSON

This commit is contained in:
Julian Oes 2020-03-05 15:28:20 +01:00 committed by Nuno Marques
parent c61cd10db5
commit 41b2362dcf
3 changed files with 97 additions and 73 deletions
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52
test/mavsdk_tests/configs/sitl.json
View File

@ -1,23 +1,29 @@
[
{
"model": "iris",
"test_filter": "[multicopter]",
"timeout_min": 20
},
{
"model": "iris_opt_flow_mockup",
"test_filter": "[multicopter_offboard]",
"timeout_min": 20
},
{
"model": "iris_vision",
"test_filter": "[multicopter_offboard]",
"timeout_min": 20,
"max_speed_factor": 1
},
{
"model": "standard_vtol",
"test_filter": "[vtol]",
"timeout_min": 20
}
]
{
"mode": "sitl",
"simulator": "gazebo",
"mavlink_connection": "udp://:14540",
"tests":
[
{
"model": "iris",
"test_filter": "[multicopter]",
"timeout_min": 20
},
{
"model": "iris_opt_flow_mockup",
"test_filter": "[multicopter_offboard]",
"timeout_min": 20
},
{
"model": "iris_vision",
"test_filter": "[multicopter_offboard]",
"timeout_min": 20,
"max_speed_factor": 1
},
{
"model": "standard_vtol",
"test_filter": "[vtol]",
"timeout_min": 20
}
]
}

116
test/mavsdk_tests/mavsdk_test_runner.py
View File

@ -152,12 +152,13 @@ class GzclientRunner(Runner):
class TestRunner(Runner):
def __init__(self, workspace_dir, log_dir, config, test):
def __init__(self, workspace_dir, log_dir, config, test,
mavlink_connection):
super().__init__(log_dir)
self.env = {"PATH": os.environ['PATH']}
self.cmd = workspace_dir + \
"/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
self.args = [test]
self.args = ["--url", mavlink_connection, test]
self.log_prefix = "test_runner"
@ -181,10 +182,18 @@ def main():
parser.add_argument("config_file", help="JSON config file to use")
args = parser.parse_args()
if not is_everything_ready():
with open(args.config_file) as json_file:
config = json.load(json_file)
if config["mode"] != "sitl" and args.gui:
print("--gui is not compatible with the mode '{}'"
.format(config["mode"]))
sys.exit(1)
run(args)
if not is_everything_ready(config):
sys.exit(1)
run(args, config)
def determine_tests(workspace_dir, filter):
@ -206,41 +215,46 @@ def is_running(process_name):
return False
def is_everything_ready():
def is_everything_ready(config):
result = True
if is_running('px4'):
print("px4 process already running\n"
"run `killall px4` and try again")
result = False
if is_running('gzserver'):
print("gzserver process already running\n"
"run `killall gzserver` and try again")
result = False
if is_running('gzclient'):
print("gzclient process already running\n"
"run `killall gzclient` and try again")
result = False
if not os.path.isfile('build/px4_sitl_default/bin/px4'):
print("PX4 SITL is not built\n"
"run `DONT_RUN=1 "
"make px4_sitl gazebo mavsdk_tests`")
result = False
if config['mode'] == 'sitl':
if is_running('px4'):
print("px4 process already running\n"
"run `killall px4` and try again")
result = False
if not os.path.isfile('build/px4_sitl_default/bin/px4'):
print("PX4 SITL is not built\n"
"run `DONT_RUN=1 "
"make px4_sitl gazebo mavsdk_tests`")
result = False
if config['simulator'] == 'gazebo':
if is_running('gzserver'):
print("gzserver process already running\n"
"run `killall gzserver` and try again")
result = False
if is_running('gzclient'):
print("gzclient process already running\n"
"run `killall gzclient` and try again")
result = False
if not os.path.isfile('build/px4_sitl_default/mavsdk_tests/mavsdk_tests'):
print("Test runner is not built\n"
"run `DONT_RUN=1 "
"make px4_sitl gazebo mavsdk_tests`")
result = False
return result
def run(args):
def run(args, config):
overall_success = True
for iteration in range(args.iterations):
if args.iterations > 1:
print("Test iteration: {}".format(iteration + 1, args.iterations))
was_success = run_test_group(args)
was_success = run_test_group(args, config)
if not was_success:
overall_success = False
@ -255,11 +269,10 @@ def run(args):
sys.exit(0 if overall_success else 1)
def run_test_group(args):
def run_test_group(args, config):
overall_success = True
with open(args.config_file) as json_file:
test_matrix = json.load(json_file)
test_matrix = config["tests"]
if args.model == 'all':
models = test_matrix
@ -281,55 +294,60 @@ def run_test_group(args):
for test in tests:
print("Running test '{}'".format(test))
was_success = run_test(test, group, args)
was_success = run_test(test, group, args, config)
print("Test '{}': {}".
format(test, "Success" if was_success else "Fail"))
if not was_success:
overall_success = False
if not was_success and args.fail_early:
if not was_success and args.abort_early:
print("Aborting early")
return False
return overall_success
def run_test(test, group, args):
def run_test(test, group, args, config):
speed_factor = args.speed_factor
if "max_speed_factor" in group:
speed_factor = min(int(speed_factor), group["max_speed_factor"])
px4_runner = Px4Runner(
group['model'], os.getcwd(), args.log_dir, speed_factor,
args.debugger)
px4_runner.start(group)
if config['mode'] == 'sitl':
px4_runner = Px4Runner(
group['model'], os.getcwd(), args.log_dir, speed_factor,
args.debugger)
px4_runner.start(group)
gzserver_runner = GzserverRunner(
group['model'], os.getcwd(), args.log_dir, speed_factor)
gzserver_runner.start(group)
if config['simulator'] == 'gazebo':
gzserver_runner = GzserverRunner(
group['model'], os.getcwd(), args.log_dir, speed_factor)
gzserver_runner.start(group)
if args.gui:
gzclient_runner = GzclientRunner(
os.getcwd(), args.log_dir)
gzclient_runner.start(group)
if args.gui:
gzclient_runner = GzclientRunner(
os.getcwd(), args.log_dir)
gzclient_runner.start(group)
test_runner = TestRunner(os.getcwd(), args.log_dir, group, test)
test_runner = TestRunner(os.getcwd(), args.log_dir, group, test,
config['mavlink_connection'])
test_runner.start(group)
returncode = test_runner.wait(group['timeout_min'])
is_success = (returncode == 0)
if args.gui:
returncode = gzclient_runner.stop()
print("gzclient exited with {}".format(returncode))
if config['mode'] == 'sitl':
if config['simulator'] == 'gazebo':
if args.gui:
returncode = gzclient_runner.stop()
print("gzclient exited with {}".format(returncode))
returncode = gzserver_runner.stop()
print("gzserver exited with {}".format(returncode))
returncode = gzserver_runner.stop()
print("gzserver exited with {}".format(returncode))
px4_runner.stop()
print("px4 exited with {}".format(returncode))
px4_runner.stop()
print("px4 exited with {}".format(returncode))
return is_success

2
test/mavsdk_tests/test_main.cpp
View File

@ -63,4 +63,4 @@ void remove_argv(int& argc, char** argv, int pos)
argv[i] = argv[i+1];
}
argv[--argc] = nullptr;
}
}