forked from Archive/PX4-Autopilot
251 lines
8.4 KiB
Python
Executable File
251 lines
8.4 KiB
Python
Executable File
#! /usr/bin/env python3
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import serial, time
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import subprocess
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from subprocess import call, Popen
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from argparse import ArgumentParser
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import re
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import unittest
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import os
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import sys
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import datetime
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import serial.tools.list_ports as list_ports
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import tempfile
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import warnings
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COLOR_RED = "\x1b[31m"
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COLOR_GREEN = "\x1b[32m"
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COLOR_YELLOW = "\x1b[33m"
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COLOR_WHITE = "\x1b[37m"
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COLOR_RESET = "\x1b[0m"
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def print_line(line):
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if "WARNING" in line:
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line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
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elif "WARN" in line:
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line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
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elif "ERROR" in line:
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line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
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elif "INFO" in line:
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line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
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if "PASSED" in line:
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line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
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if "FAILED" in line:
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line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
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if "\n" in line:
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current_time = datetime.datetime.now()
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print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
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else:
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print('{0}'.format(line), end='')
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def do_test(port_url, baudrate, test_name):
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# ignore pyserial spy:// resource warnings
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warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
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ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
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timeout_start = time.monotonic()
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timeout = 30 # 30 seconds
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ser.write("\n\n\n".encode("ascii"))
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# wait for nsh prompt
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while True:
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serial_line = ser.readline().decode("ascii", errors='ignore')
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if len(serial_line) > 0:
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if "nsh>" in serial_line:
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break
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else:
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if time.monotonic() > timeout_start + timeout:
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print("Error, timeout waiting for prompt")
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return False
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ser.write("\n".encode("ascii"))
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# clear
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ser.reset_input_buffer()
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# run test cmd
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print('\n|======================================================================')
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cmd = 'tests ' + test_name
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print("| Running:", cmd)
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print('|======================================================================')
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timeout_start = time.monotonic()
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timeout = 2 # 2 seconds
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# wait for command echo
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print("Running command: \'{0}\'".format(cmd))
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serial_cmd = '{0}\n'.format(cmd)
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ser.write(serial_cmd.encode("ascii"))
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while True:
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serial_line = ser.readline().decode("ascii", errors='ignore')
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if len(serial_line) > 0:
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if cmd in serial_line:
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break
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else:
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if time.monotonic() > timeout_start + timeout:
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print("Error, timeout waiting for command echo")
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break
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# print results, wait for final result (PASSED or FAILED)
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timeout = 300 # 5 minutes
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timeout_start = time.monotonic()
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timeout_newline = timeout_start
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while True:
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serial_line = ser.readline().decode("ascii", errors='ignore')
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if len(serial_line) > 0:
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print_line(serial_line)
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if test_name + " PASSED" in serial_line:
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ser.close()
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return True
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elif test_name + " FAILED" in serial_line:
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ser.close()
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return False
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else:
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if time.monotonic() > timeout_start + timeout:
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print("Error, timeout")
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print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
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ser.close()
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return False
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# newline every 30 seconds if still running
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if time.monotonic() - timeout_newline > 30:
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ser.write("\n".encode("ascii"))
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timeout_newline = time.monotonic()
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ser.close()
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return False
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class TestHardwareMethods(unittest.TestCase):
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TEST_DEVICE = 0
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TEST_BAUDRATE = 0
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def test_atomic_bitset(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
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def test_bezier(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
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def test_bitset(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
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def test_bson(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
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def test_dataman(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
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# def test_file(self):
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# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
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def test_file2(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file2"))
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def test_float(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
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def test_hrt(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))
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def test_int(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "int"))
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def test_i2c_spi_cli(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "i2c_spi_cli"))
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def test_IntrusiveQueue(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
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def test_IntrusiveSortedList(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveSortedList"))
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def test_List(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "List"))
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def test_mathlib(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mathlib"))
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def test_matrix(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))
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# def test_mixer(self):
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# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
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def test_param(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "param"))
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def test_parameters(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "parameters"))
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def test_perf(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "perf"))
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# def test_rc(self):
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# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "rc"))
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def test_search_min(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "search_min"))
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def test_sleep(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "sleep"))
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def test_time(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
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def test_versioning(self):
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self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
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def main():
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default_device = None
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device_required = True
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# select USB UART as default if there's only 1
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ports = list(serial.tools.list_ports.grep('USB UART'))
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if (len(ports) == 1):
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default_device = ports[0].device
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device_required = False
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print("Default USB UART port: {0}".format(ports[0].name))
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print(" device: {0}".format(ports[0].device))
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print(" description: \"{0}\" ".format(ports[0].description))
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print(" hwid: {0}".format(ports[0].hwid))
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#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
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#print(" serial_number: {0}".format(ports[0].serial_number))
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#print(" location: {0}".format(ports[0].location))
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print(" manufacturer: {0}".format(ports[0].manufacturer))
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#print(" product: {0}".format(ports[0].product))
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#print(" interface: {0}".format(ports[0].interface))
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parser = ArgumentParser(description=__doc__)
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parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
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parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
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args = parser.parse_args()
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tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
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port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
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print("pyserial url: {0}".format(port_url))
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TestHardwareMethods.TEST_DEVICE = port_url
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TestHardwareMethods.TEST_BAUDRATE = args.baudrate
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unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
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if __name__ == "__main__":
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main()
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