forked from Archive/PX4-Autopilot
mavsdk_tests: check gzserver and gz model calls
This adds two checks to make sure gzserver has actually started before continuing, and also whether the gz model call was successful.
This commit is contained in:
Julian Oes
parent
51c0e5553e
commit
94884594bb
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@ -340,11 +340,11 @@ class Tester:
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def run_test_case(self, test: Dict[str, Any],
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case: str, log_dir: str) -> bool:
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self.start_runners(log_dir, test, case)
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logfile_path = self.determine_logfile_path(log_dir, 'combined')
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self.start_combined_log(logfile_path)
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self.start_runners(log_dir, test, case)
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test_timeout_s = test['timeout_min']*60
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while self.active_runners[-1].time_elapsed_s() < test_timeout_s:
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returncode = self.active_runners[-1].poll()
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@ -445,29 +445,24 @@ class Tester:
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runner.set_log_filename(
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self.determine_logfile_path(log_dir, runner.name))
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# Some runners need to be started a couple of times
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# until they succeed.
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for _ in range(10):
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try:
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runner.start()
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except TimeoutError:
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abort = True
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print("A timeout happened for runner: {}"
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.format(runner.name))
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break
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runner.start()
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if runner.has_started_ok():
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break
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if runner.has_started_ok():
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continue
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else:
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abort = True
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print("A timeout happened for runner: {}"
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.format(runner.name))
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break
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runner.stop
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time.sleep(1)
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else:
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abort = True
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print("Could not start runner: {}".format(runner.name))
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break
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if abort:
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print("Could not start runner: {}".format(runner.name))
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self.collect_runner_output()
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self.stop_combined_log()
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self.stop_runners()
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sys.exit(1)
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@ -115,7 +115,7 @@ class Runner:
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if returncode is None:
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if self.verbose:
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print("Terminating {}".format(self.cmd))
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print("Terminating {}".format(self.name))
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self.process.terminate()
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try:
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@ -125,13 +125,13 @@ class Runner:
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if returncode is None:
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if self.verbose:
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print("Killing {}".format(self.cmd))
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print("Killing {}".format(self.name))
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self.process.kill()
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returncode = self.process.poll()
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if self.verbose:
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print("{} exited with {}".format(
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self.cmd, self.process.returncode))
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self.name, self.process.returncode))
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self.stop_thread.set()
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self.thread.join()
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@ -223,11 +223,26 @@ class GzserverRunner(Runner):
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self.env["GAZEBO_MODEL_PATH"] = \
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workspace_dir + "/Tools/sitl_gazebo/models"
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self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
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self.cmd = "nice"
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self.args = ["-n 1",
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"gzserver", "--verbose",
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workspace_dir + "/Tools/sitl_gazebo/worlds/" +
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"empty.world"]
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self.cmd = "stdbuf"
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self.args = ["-o0", "-e0", "gzserver", "--verbose",
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os.path.join(workspace_dir,
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"Tools/sitl_gazebo/worlds",
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"empty.world")]
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def has_started_ok(self) -> bool:
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# Wait until gzerver has started and connected to gazebo master.
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timeout_s = 20
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steps = 10
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for step in range(steps):
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with open(self.log_filename, 'r') as f:
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for line in f.readlines():
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if 'Connected to gazebo master' in line:
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return True
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time.sleep(float(timeout_s)/float(steps))
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print("gzserver did not connect within {}s"
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.format(timeout_s))
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return False
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class GzmodelspawnRunner(Runner):
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@ -261,7 +276,11 @@ class GzmodelspawnRunner(Runner):
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else:
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raise Exception("Model not found")
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self.args = ["model", "--spawn-file", model_path,
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self.cmd = "stdbuf"
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self.args = ["-o0", "-e0",
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"gz", "model",
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"--verbose",
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"--spawn-file", model_path,
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"--model-name", self.model,
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"-x", "1.01", "-y", "0.98", "-z", "0.83"]
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@ -271,21 +290,15 @@ class GzmodelspawnRunner(Runner):
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# "An instance of Gazebo is not running." but still returns 0
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# as a result.
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# We work around this by trying to start and then check whether
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# using has_started_ok() whether it was succesful or not.
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timeout_s = 3
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# using has_started_ok() whether it was successful or not.
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timeout_s = 20
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steps = 10
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for _ in range(steps*timeout_s):
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if self.verbose:
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print("Checking if gz model spawn is done...")
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for _ in range(steps):
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returncode = self.process.poll()
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if returncode is None:
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if self.verbose:
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print("not done yet")
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time.sleep(float(timeout_s)/float(steps))
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continue
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if self.verbose:
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print("gz model spawn is done")
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with open(self.log_filename, 'r') as f:
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for line in f.readlines():
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if 'An instance of Gazebo is not running' in line:
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@ -293,9 +306,8 @@ class GzmodelspawnRunner(Runner):
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else:
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return True
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if self.verbose:
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print("gzmodelspawn did not return within {}s".
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format(timeout_s))
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print("gzmodelspawn did not return within {}s"
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.format(timeout_s))
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return False
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