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mavsdk_tests: add option for gzclient GUI

This commit is contained in:
Julian Oes 2019-11-13 18:50:17 +01:00 committed by Lorenz Meier
parent 698731e4f5
commit 6e0cb7859e
1 changed files with 37 additions and 7 deletions
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44
test/mavsdk_tests/mavsdk_test_runner.py
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@ -104,7 +104,7 @@ class Px4Runner(Runner):
self.log_prefix = "px4"
class GazeboRunner(Runner):
class GzserverRunner(Runner):
def __init__(self, workspace_dir, log_dir, speed_factor):
super().__init__(log_dir)
self.env = {"PATH": os.environ['PATH'],
@ -117,7 +117,22 @@ class GazeboRunner(Runner):
self.cmd = "gzserver"
self.args = ["--verbose",
workspace_dir + "/Tools/sitl_gazebo/worlds/iris.world"]
self.log_prefix = "gazebo"
self.log_prefix = "gzserver"
class GzclientRunner(Runner):
def __init__(self, workspace_dir, log_dir):
super().__init__(log_dir)
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": ":0"}
self.cmd = "gzclient"
self.args = ["--verbose"]
self.log_prefix = "gzclient"
class TestRunner(Runner):
@ -159,6 +174,10 @@ def is_everything_ready():
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 `PX4_MAVSDK_TESTING=y DONT_RUN=1 "
@ -179,6 +198,8 @@ def main():
help="Directory for log files, stdout if not provided")
parser.add_argument("--speed-factor", default=1,
help="How fast to run the simulation")
parser.add_argument("--gui", default=False,
help="Display gzclient with")
args = parser.parse_args()
if not is_everything_ready():
@ -200,9 +221,14 @@ def main():
os.getcwd(), args.log_dir, args.speed_factor)
px4_runner.start(group)
gazebo_runner = GazeboRunner(
gzserver_runner = GzserverRunner(
os.getcwd(), args.log_dir, args.speed_factor)
gazebo_runner.start(group)
gzserver_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.start(group)
@ -214,11 +240,15 @@ def main():
if not was_success:
overall_success = False
returncode = gazebo_runner.stop()
print("Gazebo exited with {}".format(returncode))
if args.gui:
returncode = gzclient_runner.stop()
print("gzclient exited with {}".format(returncode))
returncode = gzserver_runner.stop()
print("gzserver exited with {}".format(returncode))
px4_runner.stop()
print("PX4 exited with {}".format(returncode))
print("px4 exited with {}".format(returncode))
print("Overall result: {}".
format("SUCCESS" if overall_success else "FAIL"))