forked from Archive/PX4-Autopilot
mavsdk_tests: initialize Tester class in ctor
This commit is contained in:
Julian Oes
Nuno Marques
parent
e2c80e546d
commit
b281d87b4a
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@ -205,23 +205,24 @@ class Px4Runner(Runner):
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"PX4_SIM_MODEL": model,
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"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
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self.name = "px4"
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self.debugger = debugger
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if not debugger:
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if not self.debugger:
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pass
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elif debugger == "valgrind":
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elif self.debugger == "valgrind":
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self.args = ["--track-origins=yes", "--leak-check=full", "-v",
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self.cmd] + self.args
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self.cmd = "valgrind"
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elif debugger == "callgrind":
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elif self.debugger == "callgrind":
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self.args = ["--tool=callgrind", "-v", self.cmd] + self.args
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self.cmd = "valgrind"
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elif debugger == "gdb":
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elif self.debugger == "gdb":
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self.args = ["--args", self.cmd] + self.args
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self.cmd = "gdb"
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else:
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print("Using custom debugger ", debugger)
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print("Using custom debugger " + self.debugger)
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self.args = [self.cmd] + self.args
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self.cmd = debugger
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self.cmd = self.debugger
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class GzserverRunner(Runner):
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@ -305,10 +306,20 @@ def main():
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print("Creating directory: {}".format(args.log_dir))
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os.makedirs(args.log_dir, exist_ok=True)
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tester = Tester()
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tester = Tester(
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config,
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args.iterations,
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args.abort_early,
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args.speed_factor,
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args.model,
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args.debugger,
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args.log_dir,
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args.gui,
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args.verbose
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)
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signal.signal(signal.SIGINT, tester.sigint_handler)
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sys.exit(tester.run(args, config))
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sys.exit(tester.run())
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def determine_tests(filter):
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@ -363,25 +374,43 @@ def is_everything_ready(config):
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class Tester:
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def __init__(self):
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def __init__(self,
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config,
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iterations,
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abort_early,
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speed_factor,
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model,
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debugger,
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log_dir,
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gui,
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verbose):
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self.active_runners = []
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self.iterations = iterations
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self.abort_early = abort_early
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self.config = config
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self.speed_factor = speed_factor
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self.model = model
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self.debugger = debugger
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self.log_dir = log_dir
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self.gui = gui
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self.verbose = verbose
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def run(self, args, config):
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def run(self):
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overall_success = True
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for iteration in range(args.iterations):
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if args.iterations > 1:
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for iteration in range(self.iterations):
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if self.iterations > 1:
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print("Test iteration: {}".
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format(iteration + 1, args.iterations))
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format(iteration + 1, self.iterations))
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was_success = self.run_test_group(args, config)
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was_success = self.run_test_group()
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if not was_success:
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overall_success = False
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if args.iterations > 1 and not was_success and args.abort_early:
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if self.iterations > 1 and not was_success and self.abort_early:
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print("Aborting with a failure in test run {}/{}".
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format(iteration + 1, args.iterations))
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format(iteration + 1, self.iterations))
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break
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if overall_success:
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@ -391,17 +420,17 @@ class Tester:
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print(color.RED + "Overall result: failure!" + color.END)
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return 1
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def run_test_group(self, args, config):
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def run_test_group(self):
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overall_success = True
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tests = config["tests"]
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tests = self.config["tests"]
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if args.model == 'all':
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if self.model == 'all':
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models = tests
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else:
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found = False
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for elem in tests:
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if elem['model'] == args.model:
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if elem['model'] == self.model:
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models = [elem]
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found = True
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if not found:
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@ -417,7 +446,7 @@ class Tester:
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for i, test in enumerate(tests):
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print("--> Test {} of {}: '{}' running ...".
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format(i+1, len(tests), test))
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was_success = self.run_test(test, group, args, config)
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was_success = self.run_test(test, group)
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if was_success:
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print(color.GREEN + "--- Test {} of {}: '{}' succeeded.".
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format(i+1, len(tests), test) + color.END)
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@ -428,41 +457,50 @@ class Tester:
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if not was_success:
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overall_success = False
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if not was_success and args.abort_early:
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if not was_success and self.abort_early:
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print("Aborting early")
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return False
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return overall_success
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def run_test(self, test, group, args, config):
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def run_test(self, test, group):
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self.active_runners = []
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speed_factor = args.speed_factor
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speed_factor = self.speed_factor
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if "max_speed_factor" in group:
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speed_factor = min(int(speed_factor), group["max_speed_factor"])
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if config['mode'] == 'sitl':
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if self.config['mode'] == 'sitl':
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px4_runner = Px4Runner(
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group['model'], os.getcwd(), args.log_dir, speed_factor,
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args.debugger, args.verbose)
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group['model'], os.getcwd(), self.log_dir, speed_factor,
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self.debugger, self.verbose)
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px4_runner.start(group)
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self.active_runners.append(px4_runner)
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if config['simulator'] == 'gazebo':
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if self.config['simulator'] == 'gazebo':
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gzserver_runner = GzserverRunner(
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group['model'], os.getcwd(), args.log_dir, speed_factor,
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args.verbose)
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group['model'],
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os.getcwd(),
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self.log_dir,
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self.speed_factor,
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self.verbose)
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gzserver_runner.start(group)
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self.active_runners.append(gzserver_runner)
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if args.gui:
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if self.gui:
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gzclient_runner = GzclientRunner(
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os.getcwd(), args.log_dir, args.verbose)
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os.getcwd(), self.log_dir, self.verbose)
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gzclient_runner.start(group)
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self.active_runners.append(gzclient_runner)
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test_runner = TestRunner(os.getcwd(), args.log_dir, group, test,
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config['mavlink_connection'], args.verbose)
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test_runner = TestRunner(
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os.getcwd(),
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self.log_dir,
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group,
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test,
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self.config['mavlink_connection'],
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self.verbose)
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test_runner.start(group)
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self.active_runners.append(test_runner)
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@ -472,7 +510,7 @@ class Tester:
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is_success = (returncode == 0)
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break
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if args.verbose:
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if self.verbose:
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for runner in self.active_runners:
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runner.print_output()
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