px4-firmware/Tools/px4_snapflight_sanitytest.sh

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#!/bin/bash
#################################################################################################
#
# This script loads PX4 binaries to the Snapdragon Flight target and does a quick on-target sanity test.
#
# Pre-requisites:
# - Snapdragon Flight board connected to the host computer via USB cable
# - Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
# - mini-dm installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)
# - PX4 software was built and binaries are in their usual locations in the Firmware tree.
#
# This script supports two modes:
# - Default mode (supported by PX4 community)
# - Legacy mode (uses proprietary drivers for ESC and RC Receiver, supported by Qualcomm)
#
# For help and cmd line options, run the script with the -h option
#
#################################################################################################
# Halt on error
set -e
# Verbose mode
## set -x
# Mode of operation
readonly MODE_DEFAULT=0
readonly MODE_LEGACY=1
readonly MODE_8x96=2
readonly MODE_MAX=$MODE_8x96
readonly RESULT_PASS=0
readonly RESULT_FAIL=3
readonly EXIT_ERROR=3
# List of expected strings from the apps proc
declare -a appsproc_strings_present=(
"on udp port 14556 remote port 14550"
)
# List of unexpected strings from the apps proc
declare -a appsproc_strings_absent=(
"ERROR"
"Getting Bulk data from fastRPC link"
"Segmentation fault"
)
# List of expected strings from the DSP
declare -a dsp_strings_present=(
"EKF aligned"
)
# List of unexpected strings from the DSP
declare -a dsp_strings_absent=(
"Segmentation fault"
)
install=0
test=0
mode=0
result=$RESULT_PASS
# Default mini-dm path (needs to be installed in this location or overriden through cmd line
minidmPath=~/Qualcomm/Hexagon_SDK/3.0/tools/debug/mini-dm/Linux_Debug
# Default workspace path (parent directory of the script location)
workspace=`pwd`/..
verifypx4test() {
#TODO: This needs to be fixed. For now, skip string checks for 8x96 platform.
if [ $mode == 2 ]; then
echo -e "[WARNING] Skipping string checks for 8x96 platform"
return
fi
echo -e "Verifying test results..."
# verify the presence of expected stings in the apps proc console log
for lineString in "${appsproc_strings_present[@]}"
do
if ! grep -Fq "$lineString" px4.log
then
# code if not found
echo -e "[ERROR] Missing expected string in apps proc log: $lineString"
result=$RESULT_FAIL
fi
done
# verify the absence of unexpected stings in the apps proc console log
for lineString in "${appsproc_strings_absent[@]}"
do
if grep -Fq "$lineString" px4.log
then
# code if not found
echo -e "[ERROR] Found unexpected string in apps proc log: $lineString"
result=$RESULT_FAIL
fi
done
echo -e "Displaying the content of the minidm.log"
cat minidm.log
echo -e "Analyzing the log for success and failure indications."
# verify the presence of expected stings in the DSP console log
for lineString in "${dsp_strings_present[@]}"
do
if ! grep -Fq "$lineString" minidm.log
then
# code if not found
echo -e "[ERROR] Missing expected string in DSP log: $lineString"
result=$RESULT_FAIL
fi
done
# verify the absence of unexpected stings in the DSP console log
for lineString in "${dsp_strings_absent[@]}"
do
if grep -Fq "$lineString" minidm.log
then
# code if not found
echo -e "[ERROR] Found unexpected string in DSP log: $lineString"
result=$RESULT_FAIL
fi
done
echo -e "Verification complete."
if [ $result -eq $RESULT_FAIL ]; then
echo -e "PX4 test result: FAIL"
else
echo -e "PX4 test result: PASS"
fi
}
installpx4() {
if [ $install -eq 0 ]; then
echo -e "SKIPPING install"
return 0;
fi
# Reboot the target before beginning the installation
echo -e "Rebooting the target..."
adb reboot
adb wait-for-devices
# Wait a bit longer after bootup, before copying binaries to the target.
sleep 30
adb devices
echo -e "Now installing PX4 binaries..."
# Copy binaries to the target
if [ $mode == 0 ]; then
# copy default binaries
echo -e "Copying the PX4 binaries from the eagle_default build tree..."
adb push $workspace/build/qurt_eagle_default/src/firmware/qurt/libpx4.so /usr/share/data/adsp
adb push $workspace/build/qurt_eagle_default/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
adb push $workspace/build/posix_eagle_default/src/firmware/posix/px4 /home/linaro
adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
elif [ $mode == 1 ]; then
# copy legacy binaries
echo -e "Copying the PX4 binaries from the eagle_legacy build tree..."
adb push $workspace/build/qurt_eagle_legacy/src/firmware/qurt/libpx4.so /usr/share/data/adsp
adb push $workspace/build/qurt_eagle_legacy/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
adb push $workspace/build/posix_eagle_legacy/src/firmware/posix/px4 /home/linaro
adb push $workspace/posix-configs/eagle/200qx/px4.config /usr/share/data/adsp
adb push $workspace/posix-configs/eagle/200qx/mainapp.config /home/linaro
else
echo -e "Copying the PX4 binaries from the excelsior_legacy build tree..."
adb push $workspace/build/qurt_excelsior_legacy/src/firmware/qurt/libpx4.so /usr/lib/rfsa/adsp
adb push $workspace/build/qurt_excelsior_legacy/src/firmware/qurt/libpx4muorb_skel.so /usr/lib/rfsa/adsp
adb push $workspace/build/posix_excelsior_legacy/src/firmware/posix/px4 /home/root
adb push $workspace/posix-configs/excelsior/px4.config /usr/lib/rfsa/adsp
adb push $workspace/posix-configs/excelsior/mainapp.config /home/root
fi
echo -e "Installation complete."
}
testpx4() {
if [ $test -eq 0 ]; then
echo -e "SKIPPING test"
return 0;
fi
echo -e "Starting PX4 test..."
# Remove previous instances of the file
rm px4.log | true
rm minidm.log | true
# Start mini-dm
echo -e "Starting mini-dm..."
${minidmPath}/mini-dm > minidm.log &
sleep 5
# Verify that mini-dm is running
checkProc=$(ps -aef | grep mini-dm | grep -v grep)
if [ -z "${checkProc}" ]; then
echo "[ERROR] Unable to start mini-dm from path: ${minidmPath}"
exit $EXIT_ERROR
fi
# Start PX4
echo -e "Starting PX4..."
if [ $mode == 2 ]; then
# 8x96 platform
adb shell "/home/root/px4 /home/root/mainapp.config" > px4.log 2>&1 &
else
# 8x74 platform
adb shell "/home/linaro/px4 /home/linaro/mainapp.config" > px4.log 2>&1 &
fi
sleep 20
# Verify that PX4 is still running
checkProc=$(adb shell "ps -aef | grep px4 | grep -v grep")
if [ -z "${checkProc}" ]; then
echo "[ERROR] PX4 is not running on target!"
exit $EXIT_ERROR
fi
# Stop the PX4 process on target
adb shell "ps -eaf | grep px4 | grep -v grep | awk '{print $2}' | tr -s ' ' | cut -d' ' -f2 | xargs kill"
sleep 5
# Stop the mini-dm
killall mini-dm
echo -e "PX4 test complete."
# Verify the results
verifypx4test
echo -e "For more information, see px4.log and minidm.log."
}
usage() {
echo -e "\nThis script can copy PX4 binaries to the Snapdragon Flight target and do a quick on-target sanity test.\n"
echo -e "Pre-requisites:"
echo -e "- Snapdragon Flight board must be connected to host computer via USB"
echo -e "- Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
echo -e "- mini-dm must be installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)"
echo -e "- PX4 software was built and binaries are in their usual locations in the tree\n"
echo -e "USAGE:\n ${0} [-m mode] [-i] [-t] [-l <minidm-path>]"
echo -e " -m --> Build mode (0 = default mode, 1 = legacy mode)"
echo -e " -i --> Install the PX4 binaries"
echo -e " -t --> Test PX4 on target"
echo -e " -l --> location of the mini-dm executable (Default: ${minidmPath})"
echo -e " -h --> Display this help information"
}
# Parse the command line options
while getopts "m:l:ith" opt;
do
case $opt in
m)
if [ $OPTARG -gt $MODE_MAX ]; then
echo "Invalid mode: $OPTARG (max allowed is $MODE_MAX)"
exit $EXIT_ERROR
fi
mode=$OPTARG
echo "Will run the script in mode $mode."
;;
i)
install=1
;;
t)
test=1
;;
l)
minidmPath=$OPTARG
;;
h)
usage
exit 0
;;
:)
echo "Option -$OPTARG requires an argument" >&2
exit 1;;
?)
echo "Unknown arg $opt"
usage
exit 1
;;
esac
done
# Install the PX4 binaries
installpx4
# Run the sanity test
testpx4
exit $result