def build_all():
"""Run the build_all.sh script."""
print("Running build_all.sh")
if util.run_cmd(util.reltopdir('Tools/scripts/build_all.sh'), directory=util.reltopdir('.')) != 0:
print("Failed build_all.sh")
return False
return True
def write_webresults(results_to_write):
"""Write webpage results."""
t = mavtemplate.MAVTemplate()
for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
html = util.loadfile(h)
f = open(buildlogs_path(os.path.basename(h)), mode='w')
t.write(f, html, results_to_write)
f.close()
for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
shutil.copy(f, buildlogs_path(os.path.basename(f)))
def write_webresults(results_to_write):
"""Write webpage results."""
from pymavlink.generator import mavtemplate
t = mavtemplate.MAVTemplate()
for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
html = util.loadfile(h)
f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)), mode='w')
t.write(f, html, results_to_write)
f.close()
for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
shutil.copy(f, util.reltopdir('../buildlogs/%s' % os.path.basename(f)))
def convert_gpx():
"""Convert any tlog files to GPX and KML."""
mavlog = glob.glob(util.reltopdir("../buildlogs/*.tlog"))
for m in mavlog:
util.run_cmd(util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m)
gpx = m + '.gpx'
kml = m + '.kml'
util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False)
util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False)
util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m))
return True
def build_devrelease():
"""Run the build_devrelease.sh script."""
print("Running build_devrelease.sh")
# copy the script as it changes git branch, which can change the script while running
orig = util.reltopdir('Tools/scripts/build_devrelease.sh')
copy = util.reltopdir('./build_devrelease.sh')
shutil.copy2(orig, copy)
if util.run_cmd(copy, directory=util.reltopdir('.')) != 0:
print("Failed build_devrelease.sh")
return False
return True
def build_binaries():
"""Run the build_binaries.sh script."""
print("Running build_binaries.sh")
import shutil
# copy the script as it changes git branch, which can change the script while running
orig = util.reltopdir('Tools/scripts/build_binaries.sh')
copy = util.reltopdir('./build_binaries.sh')
shutil.copyfile(orig, copy)
shutil.copymode(orig, copy)
if util.run_cmd(copy, directory=util.reltopdir('.')) != 0:
print("Failed build_binaries.sh")
return False
return True
def disable_option_in_config(self, var):
tmpfile = util.reltopdir(self.config) + ".tmp"
shutil.move(self.config, tmpfile)
out_fd = open(self.config, 'w+')
with open(util.reltopdir(tmpfile)) as fd:
for line in fd:
things_to_toggle = self.reverse_deps_for_var(var)
things_to_toggle.append(var)
for thing in things_to_toggle:
line = re.sub(
'//(#define\s+%s\s+(ENABLED|DISABLED))' % thing,
"\\1",
line)
out_fd.write(line)
out_fd.close()
def binary_path(step, debug=False):
if step.find("ArduCopter") != -1:
binary_name = "arducopter"
elif step.find("ArduPlane") != -1:
binary_name = "arduplane"
elif step.find("APMrover2") != -1:
binary_name = "ardurover"
elif step.find("AntennaTracker") != -1:
binary_name = "antennatracker"
elif step.find("CopterAVC") != -1:
binary_name = "arducopter-heli"
elif step.find("QuadPlane") != -1:
binary_name = "arduplane"
else:
# cope with builds that don't have a specific binary
return None
if debug:
binary_basedir = "sitl-debug"
else:
binary_basedir = "sitl"
binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name))
if not os.path.exists(binary):
if os.path.exists(binary + ".exe"):
binary += ".exe"
else:
raise ValueError("Binary (%s) does not exist" % (binary,))
return binary
def get_default_params(atype, binary):
"""Get default parameters."""
# use rover simulator so SITL is not starved of input
from pymavlink import mavutil
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246)
if binary.find("plane") != -1 or binary.find("rover") != -1:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10, unhide_parameters=True)
mavproxy = util.start_MAVProxy_SITL(atype)
print("Dumping defaults")
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = util.reltopdir('../buildlogs/%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
print("Saved defaults for %s to %s" % (atype, dest))
return True
def binary_path(step, debug=False):
try:
vehicle = step.split(".")[1]
except Exception:
return None
if vehicle in __bin_names:
binary_name = __bin_names[vehicle]
else:
# cope with builds that don't have a specific binary
return None
if debug:
binary_basedir = "sitl-debug"
else:
binary_basedir = "sitl"
binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name))
if not os.path.exists(binary):
if os.path.exists(binary + ".exe"):
binary += ".exe"
else:
raise ValueError("Binary (%s) does not exist" % (binary,))
return binary
def build_parameters():
"""Run the param_parse.py script."""
print("Running param_parse.py")
if util.run_cmd(util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), directory=util.reltopdir('.')) != 0:
print("Failed param_parse.py")
return False
return True
def check_logs(step):
"""Check for log files from a step."""
print("check step: ", step)
if step.startswith('fly.'):
vehicle = step[4:]
elif step.startswith('drive.'):
vehicle = step[6:]
else:
return
logs = glob.glob("logs/*.BIN")
for log in logs:
bname = os.path.basename(log)
newname = buildlogs_path("%s-%s" % (vehicle, bname))
print("Renaming %s to %s" % (log, newname))
shutil.move(log, newname)
corefile = "core"
if os.path.exists(corefile):
newname = buildlogs_path("%s.core" % vehicle)
print("Renaming %s to %s" % (corefile, newname))
shutil.move(corefile, newname)
try:
util.run_cmd('/bin/cp build/sitl/bin/* %s' % buildlogs_dirpath(),
directory=util.reltopdir('.'))
except Exception:
print("Unable to save binary")
def build_works(self):
self.progress("Building")
autotest = util.reltopdir("Tools/autotest/autotest.py")
try:
ret = util.run_cmd([autotest, self.autotest_build])
except subprocess.CalledProcessError:
return False
return ret == 0
def build_binaries():
"""Run the build_binaries.py script."""
print("Running build_binaries.py")
# copy the script as it changes git branch, which can change the script while running
orig = util.reltopdir('Tools/scripts/build_binaries.py')
copy = util.reltopdir('./build_binaries.py')
shutil.copy2(orig, copy)
# also copy generate_manifest library:
orig_gm = util.reltopdir('Tools/scripts/generate_manifest.py')
copy_gm = util.reltopdir('./generate_manifest.py')
shutil.copy2(orig_gm, copy_gm)
if util.run_cmd(copy, directory=util.reltopdir('.')) != 0:
print("Failed build_binaries.py")
return False
return True
def __init__(self):
self.date = time.asctime()
self.githash = util.run_cmd('git rev-parse HEAD',
output=True,
directory=util.reltopdir('.')).strip()
self.tests = []
self.files = []
self.images = []
def build_parameters():
"""Run the param_parse.py script."""
print("Running param_parse.py")
for vehicle in 'ArduPlane', 'ArduCopter', 'ArduSub', 'APMrover2', 'AntennaTracker':
if util.run_cmd([util.reltopdir('Tools/autotest/param_metadata/param_parse.py'), '--vehicle', vehicle], directory=util.reltopdir('.')) != 0:
print("Failed param_parse.py (%s)" % vehicle)
return False
return True
def get_config_variables(self):
ret = []
with open(util.reltopdir(self.config)) as fd:
for line in fd:
match = re.match('//#define ([A-Z_]+)\s+(ENABLED|DISABLED)',
line)
if match is not None:
ret.append(match.group(1))
return ret
def build_parameters():
"""Run the param_parse.py script."""
print("Running param_parse.py")
for vehicle in all_vehicles():
if util.run_cmd([param_parse_filepath(), '--vehicle', vehicle],
directory=util.reltopdir('.')) != 0:
print("Failed param_parse.py (%s)" % vehicle)
return False
return True
def get_config_variables(self):
ret = []
r = '//#define ([A-Z_]+)\s+(ENABLED|DISABLED!HAL_MINIMIZE_FEATURES)'
with open(util.reltopdir(self.config)) as fd:
for line in fd:
print("line: %s" % line)
match = re.match(r, line)
if match is not None:
ret.append(match.group(1))
return ret
def check_logs(step):
"""Check for log files from a step."""
print("check step: ", step)
if step.startswith('fly.'):
vehicle = step[4:]
elif step.startswith('drive.'):
vehicle = step[6:]
else:
return
logs = glob.glob("logs/*.BIN")
for log in logs:
bname = os.path.basename(log)
newname = util.reltopdir("../buildlogs/%s-%s" % (vehicle, bname))
print("Renaming %s to %s" % (log, newname))
os.rename(log, newname)
corefile = "core"
if os.path.exists(corefile):
newname = util.reltopdir("../buildlogs/%s.core" % vehicle)
print("Renaming %s to %s" % (corefile, newname))
os.rename(corefile, newname)
util.run_cmd('/bin/cp A*/A*.elf ../buildlogs', directory=util.reltopdir('.'))
def get_config_variables(self):
ret = []
r = (' *# *define +([A-Z_]+)\s+'
'(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)')
with open(util.reltopdir(self.config)) as fd:
for line in fd:
match = re.match(r, line)
if match is None:
continue
if match.group(1) in ("ENABLE", "DISABLE",
"!HAL_MINIMIZE_FEATURES"):
continue
ret.append( (match.group(1), match.group(2) ))
return set(ret)
def run_unit_tests():
binary_dir = util.reltopdir(os.path.join('build',
'linux',
'tests',
))
tests = glob.glob("%s/*" % binary_dir)
success = True
for test in tests:
try:
run_unit_test(test)
except Exception as e:
print("Exception running (%s): %s" % (test, e.message))
success = False
return success
def disable_option_in_config(self, var):
tmpfile = util.reltopdir(self.config) + ".tmp"
shutil.move(self.config, tmpfile)
with open(self.config, 'w+') as out_fd:
with open(util.reltopdir(tmpfile)) as fd:
did_enable = False
for line in fd:
regex = ' *# *define +%s\s+(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)' % (var[0],)
match = re.match(regex, line)
if match is not None:
if (match.group(1) in ["ENABLED",
"!HAL_MINIMIZE_FEATURES"]):
fnoo = "DISABLED"
else:
fnoo = "ENABLED"
did_enable = True
line = "#define %s %s\n" % (var[0], fnoo)
out_fd.write(line)
# turn dependencies on or off:
tmpfile = util.reltopdir(self.config) + ".tmp-deps"
shutil.move(self.config, tmpfile)
with open(self.config, 'w+') as out_fd:
with open(util.reltopdir(tmpfile)) as fd:
for line in fd:
things_to_toggle = self.reverse_deps_for_var(var[0])
for thing in things_to_toggle:
regex = ' *# *define +%s\s+(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)' % thing
match = re.match(regex, line)
if match is not None:
if did_enable:
fnoo = "ENABLED"
else:
fnoo = "DISABLED"
line = "#define %s %s\n" % (thing, fnoo)
out_fd.write(line)
def run_examples(debug=False, valgrind=False, gdb=False):
dirpath = util.reltopdir(os.path.join('build', 'linux', 'examples'))
skip = {
"BARO_generic": "Most linux computers don't have baros...",
}
for afile in os.listdir(dirpath):
if afile in skip:
print("Skipping %s: %s" % (afile, skip[afile]))
continue
filepath = os.path.join(dirpath, afile)
if not os.path.isfile(filepath):
continue
run_example(filepath, valgrind=valgrind, gdb=gdb)
return True
def convert_gpx():
"""Convert any tlog files to GPX and KML."""
mavlog = glob.glob(buildlogs_path("*.tlog"))
passed = True
for m in mavlog:
util.run_cmd(util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m)
gpx = m + '.gpx'
kml = m + '.kml'
try:
util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml))
except CalledProcessError as e:
passed = False
try:
util.run_cmd('zip %s.kmz %s.kml' % (m, m))
except CalledProcessError as e:
passed = False
util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m))
return passed
def generate_badge(self):
"""
Gets the badge template, populates and saves the result to buildlogs
path.
"""
passed_tests = len([t for t in self.tests if "PASSED" in t.result])
total_tests = len(self.tests)
badge_color = "#4c1" if passed_tests == total_tests else "#e05d44"
badge_text = "{0}/{1}".format(passed_tests, total_tests)
# Text length so it is not stretched by svg
text_length = len(badge_text) * 70
# Load template file
template_path = 'Tools/autotest/web/autotest-badge-template.svg'
with open(util.reltopdir(template_path), "r") as f:
template = f.read()
# Add our results to the template
badge = template.format(color=badge_color,
text=badge_text,
text_length=text_length)
with open(buildlogs_path("autotest-badge.svg"), "w") as f:
f.write(badge)
def drive_APMrover2(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
frame=None,
params=None,
gdbserver=False,
speedup=10):
"""Drive APMrover2 in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the mission in real time
"""
global homeloc
if frame is None:
frame = 'rover'
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary,
wipe=True,
model=frame,
home=home,
speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
print("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["APMrover2"]["frames"][frame][
"default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
set_parameter(mavproxy, 'LOG_REPLAY', 1)
set_parameter(mavproxy, 'LOG_DISARMED', 1)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='rover',
home=home,
speedup=speedup,
valgrind=valgrind,
gdb=gdb,
gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" %
mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Setting up RC parameters")
setup_rc(mavproxy)
print("Waiting for GPS fix")
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not arm_rover(mavproxy, mav):
print("Failed to ARM")
failed = True
if not drive_mission(mavproxy, mav, os.path.join(
testdir, "rover1.txt")):
print("Failed mission")
failed = True
if not drive_brake(mavproxy, mav):
print("Failed brake")
failed = True
if not disarm_rover(mavproxy, mav):
print("Failed to DISARM")
failed = True
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/APMrover2-log.bin")):
print("Failed log download")
failed = True
# if not drive_left_circuit(mavproxy, mav):
# print("Failed left circuit")
# failed = True
# if not drive_RTL(mavproxy, mav):
# print("Failed RTL")
# failed = True
# do not move this to be the first test. MAVProxy's dedupe
# function may bite you.
print("Getting banner")
if not do_get_banner(mavproxy, mav):
print("FAILED: get banner")
failed = True
print("Getting autopilot capabilities")
if not do_get_autopilot_capabilities(mavproxy, mav):
print("FAILED: get capabilities")
failed = True
print("Setting mode via MAV_COMMAND_DO_SET_MODE")
if not do_set_mode_via_command_long(mavproxy, mav):
failed = True
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='rover')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True
def build_all_filepath():
"""Get build_all.sh path."""
return util.reltopdir('Tools/scripts/build_all.sh')
def buildlogs_dirpath():
return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
def init(self):
if self.frame is None:
self.frame = 'vectored'
if self.viewerip:
self.options += " --out=%s:14550" % self.viewerip
if self.use_map:
self.options += ' --map'
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup_default)
self.mavproxy = util.start_MAVProxy_SITL('ArduSub')
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
vinfo = vehicleinfo.VehicleInfo()
if self.params is None:
frames = vinfo.options["ArduSub"]["frames"]
self.params = frames[self.frame]["default_params_filename"]
if not isinstance(self.params, list):
self.params = [self.params]
for x in self.params:
self.mavproxy.send("param load %s\n" % os.path.join(testdir, x))
self.mavproxy.expect('Loaded [0-9]+ parameters')
self.set_parameter('LOG_REPLAY', 1)
self.set_parameter('LOG_DISARMED', 1)
self.progress("RELOADING SITL WITH NEW PARAMETERS")
# restart with new parms
util.pexpect_close(self.mavproxy)
util.pexpect_close(self.sitl)
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver)
self.mavproxy = util.start_MAVProxy_SITL('ArduSub',
options=self.options)
self.mavproxy.expect('Telemetry log: (\S+)')
logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduSub-test.tlog")
self.progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
# get a mavlink connection going
connection_string = '127.0.0.1:19550'
try:
self.mav = mavutil.mavlink_connection(connection_string,
robust_parsing=True)
except Exception as msg:
self.progress("Failed to start mavlink connection on %s: %s" %
(connection_string, msg,))
raise
self.mav.message_hooks.append(self.message_hook)
self.mav.idle_hooks.append(self.idle_hook)
self.hasInit = True
self.progress("Ready to start testing!")
def drive_APMrover2(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False):
"""Drive APMrover2 in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the mission in real time
"""
global homeloc
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary,
wipe=True,
model='rover',
home=home,
speedup=10)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
print("WAITING FOR PARAMETERS")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/rover.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='rover',
home=home,
speedup=10,
valgrind=valgrind,
gdb=gdb)
mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" %
mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Setting up RC parameters")
setup_rc(mavproxy)
print("Waiting for GPS fix")
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not arm_rover(mavproxy, mav):
print("Failed to ARM")
failed = True
if not drive_mission(mavproxy, mav, os.path.join(
testdir, "rover1.txt")):
print("Failed mission")
failed = True
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/APMrover2-log.bin")):
print("Failed log download")
failed = True
# if not drive_left_circuit(mavproxy, mav):
# print("Failed left circuit")
# failed = True
# if not drive_RTL(mavproxy, mav):
# print("Failed RTL")
# failed = True
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='rover')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True
def __init__(self):
self.date = time.asctime()
self.githash = util.run_cmd('git rev-parse HEAD', output=True, directory=util.reltopdir('.')).strip()
self.tests = []
self.files = []
self.images = []
def build_all_filepath():
return util.reltopdir('Tools/scripts/build_all.sh')
def dive_ArduSub(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
gdbserver=False,
speedup=10):
"""Dive ArduSub in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the mission in real time
"""
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary,
model='vectored',
wipe=True,
home=home,
speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/default_params/sub.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send('param set FS_GCS_ENABLE 0\n')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='vectored',
home=home,
speedup=speedup,
valgrind=valgrind,
gdb=gdb,
gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduSub-test.tlog")
progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
progress("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
progress("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
progress("Waiting for a heartbeat with mavlink protocol %s" %
mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
progress("Waiting for GPS fix")
mav.wait_gps_fix()
# wait for EKF and GPS checks to pass
mavproxy.expect('IMU0 is using GPS')
homeloc = mav.location()
progress("Home location: %s" % homeloc)
if not arm_sub(mavproxy, mav):
progress("Failed to ARM")
failed = True
if not dive_manual(mavproxy, mav):
progress("Failed manual dive")
failed = True
if not dive_mission(mavproxy, mav,
os.path.join(testdir, "sub_mission.txt")):
progress("Failed auto mission")
failed = True
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/ArduSub-log.bin")):
progress("Failed log download")
failed = True
except pexpect.TIMEOUT as e:
progress("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='sub')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
if failed:
progress("FAILED: %s" % e)
return False
return True
def mavtogpx_filepath():
"""Get mavtogpx script path."""
return util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py")
def buildlogs_dirpath():
"""Return BUILDLOGS directory path."""
return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
import os
import shutil
import signal
import sys
import time
import traceback
import apmrover2
import arducopter
import arduplane
import quadplane
from pysim import util
os.environ['PYTHONUNBUFFERED'] = '1'
os.putenv('TMPDIR', util.reltopdir('tmp'))
def get_default_params(atype, binary):
"""Get default parameters."""
# use rover simulator so SITL is not starved of input
from pymavlink import mavutil
HOME = mavutil.location(40.071374969556928, -105.22978898137808,
1583.702759, 246)
if binary.find("plane") != -1 or binary.find("rover") != -1:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
def fly_CopterAVC(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
frame=None,
params=None):
"""Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc
if frame is None:
frame = 'heli'
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt,
AVCHOME.heading)
sitl = util.start_SITL(binary,
wipe=True,
model=frame,
home=home,
speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL(
'ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["ArduCopter"]["frames"][frame][
"default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model='heli',
home=home,
speedup=speedup_default,
valgrind=valgrind,
gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
if use_map:
mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
wait_ready_to_arm(mavproxy)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("Raising rotor speed")
mavproxy.send('rc 8 2000\n')
print("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew AVC mission OK")
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed"
print(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='heli')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/Helicopter-valgrind.log"))
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True
def fly_ArduCopter(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
frame=None,
params=None):
"""Fly ArduCopter in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
if frame is None:
frame = '+'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary,
wipe=True,
model=frame,
home=home,
speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL(
'ArduCopter',
options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["ArduCopter"]["frames"][frame][
"default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary,
model=frame,
home=home,
speedup=speedup_default,
valgrind=valgrind,
gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
print("buildlog=%s" % buildlog)
copy_tlog = False
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
print("WARN: Failed to create symlink: " + logfile + " => " +
buildlog + ", Will copy tlog manually to target location")
copy_tlog = True
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
wait_ready_to_arm(mavproxy)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a square in Stabilize mode
print("#")
print(
"########## Fly a square and save WPs with CH7 switch ##########")
print("#")
if not fly_square(mavproxy, mav):
failed_test_msg = "fly_square failed"
print(failed_test_msg)
failed = True
# save the stored mission to file
print("# Save out the CH7 mission to file")
if not save_mission_to_file(mavproxy, mav,
os.path.join(testdir, "ch7_mission.txt")):
failed_test_msg = "save_mission_to_file failed"
print(failed_test_msg)
failed = True
# fly the stored mission
print("# Fly CH7 saved mission")
if not fly_mission(
mavproxy, mav, height_accuracy=0.5, target_altitude=10):
failed_test_msg = "fly ch7_mission failed"
print(failed_test_msg)
failed = True
# Throttle Failsafe
print("#")
print("########## Test Failsafe ##########")
print("#")
if not fly_throttle_failsafe(mavproxy, mav):
failed_test_msg = "fly_throttle_failsafe failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Battery failsafe
if not fly_battery_failsafe(mavproxy, mav):
failed_test_msg = "fly_battery_failsafe failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Stability patch
print("#")
print("########## Test Stability Patch ##########")
print("#")
if not fly_stability_patch(mavproxy, mav, 30):
failed_test_msg = "fly_stability_patch failed"
print(failed_test_msg)
failed = True
# RTL
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after stab patch failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fence test
print("#")
print("########## Test Horizontal Fence ##########")
print("#")
if not fly_fence_test(mavproxy, mav, 180):
failed_test_msg = "fly_fence_test failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly GPS Glitch Loiter test
print("# GPS Glitch Loiter Test")
if not fly_gps_glitch_loiter_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_loiter_test failed"
print(failed_test_msg)
failed = True
# RTL after GPS Glitch Loiter test
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL failed"
print(failed_test_msg)
failed = True
# Fly GPS Glitch test in auto mode
print("# GPS Glitch Auto Test")
if not fly_gps_glitch_auto_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_auto_test failed"
print(failed_test_msg)
failed = True
# take-off ahead of next test
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Loiter for 10 seconds
print("#")
print("########## Test Loiter for 10 seconds ##########")
print("#")
if not loiter(mavproxy, mav):
failed_test_msg = "loiter failed"
print(failed_test_msg)
failed = True
# Loiter Climb
print("#")
print("# Loiter - climb to 30m")
print("#")
if not change_alt(mavproxy, mav, 30):
failed_test_msg = "change_alt climb failed"
print(failed_test_msg)
failed = True
# Loiter Descend
print("#")
print("# Loiter - descend to 20m")
print("#")
if not change_alt(mavproxy, mav, 20):
failed_test_msg = "change_alt descend failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after Loiter climb/descend failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Simple mode
print("# Fly in SIMPLE mode")
if not fly_simple(mavproxy, mav):
failed_test_msg = "fly_simple failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after simple mode failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a circle in super simple mode
print("# Fly a circle in SUPER SIMPLE mode")
if not fly_super_simple(mavproxy, mav):
failed_test_msg = "fly_super_simple failed"
print(failed_test_msg)
failed = True
# RTL
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after super simple mode failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Circle mode
print("# Fly CIRCLE mode")
if not fly_circle(mavproxy, mav):
failed_test_msg = "fly_circle failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after circle failed"
print(failed_test_msg)
failed = True
print("# Fly copter mission")
if not fly_auto_test(mavproxy, mav):
failed_test_msg = "fly_auto_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew copter mission OK")
# wait for disarm
mav.motors_disarmed_wait()
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/ArduCopter-log.bin")):
failed_test_msg = "log_download failed"
print(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='+')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
# [2014/05/07] FC Because I'm doing a cross machine build (source is on host, build is on guest VM) I cannot hard link
# This flag tells me that I need to copy the data out
if copy_tlog:
shutil.copy(logfile, buildlog)
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True
(desc, exception, debug_filename))
print("FAILED %u tests: %s" % (len(failed), failed))
util.pexpect_close_all()
write_fullresults()
return passed
if __name__ == "__main__":
''' main program '''
os.environ['PYTHONUNBUFFERED'] = '1'
os.putenv('TMPDIR', util.reltopdir('tmp'))
parser = optparse.OptionParser("autotest")
parser.add_option("--skip",
type='string',
default='',
help='list of steps to skip (comma separated)')
parser.add_option("--list",
action='store_true',
default=False,
help='list the available steps')
parser.add_option("--viewerip",
default=None,
help='IP address to send MAVLink and fg packets to')
parser.add_option("--map",
action='store_true',
def backup_config_filepath(self):
return util.reltopdir(self.config) + ".backup"
def param_parse_filepath():
return util.reltopdir('Tools/autotest/param_metadata/param_parse.py')
def fly_QuadPlane(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
gdbserver=False,
speedup=10):
"""Fly QuadPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time.
"""
global homeloc
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
sitl = util.start_SITL(binary,
model='quadplane',
wipe=True,
home=HOME_LOCATION,
speedup=speedup,
defaults_file=os.path.join(
testdir, 'default_params/quadplane.parm'),
valgrind=valgrind,
gdb=gdb,
gdbserver=gdbserver)
mavproxy = util.start_MAVProxy_SITL('QuadPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
progress("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/QuadPlane-test.tlog")
progress("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
expect_list_clear()
expect_list_extend([sitl, mavproxy])
progress("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
progress("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
progress("Waiting for a heartbeat with mavlink protocol %s" %
mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
progress("Waiting for GPS fix")
mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
progress("Home location: %s" % homeloc)
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
mavproxy.send('arm throttle\n')
mavproxy.expect('ARMED')
if not fly_mission(
mavproxy, mav,
os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt"),
os.path.join(testdir,
"ArduPlane-Missions/Dalby-OBC2016-fence.txt")):
progress("Failed mission")
failed = True
except pexpect.TIMEOUT as e:
progress("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='quadplane')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/QuadPlane-valgrind.log"))
if failed:
progress("FAILED: %s" % e)
return False
return True
def mavtogpx_filepath():
return util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py")
results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
check_logs(step)
if not passed:
print("FAILED %u tests: %s" % (len(failed), failed))
util.pexpect_close_all()
write_fullresults()
return passed
if __name__ == "__main__":
############## main program #############
os.environ['PYTHONUNBUFFERED'] = '1'
os.putenv('TMPDIR', util.reltopdir('tmp'))
parser = optparse.OptionParser("autotest")
parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)')
parser.add_option("--list", action='store_true', default=False, help='list the available steps')
parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to')
parser.add_option("--map", action='store_true', default=False, help='show map')
parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
parser.add_option("--timeout", default=3000, type='int', help='maximum runtime in seconds')
parser.add_option("--frame", type='string', default=None, help='specify frame type')
group_build = optparse.OptionGroup(parser, "Build options")
group_build.add_option("--no-configure", default=False, action='store_true', help='do not configure before building', dest="no_configure")
group_build.add_option("-j", default=None, type='int', help='build CPUs')
group_build.add_option("--no-clean",
default=False,
def buildlogs_dirpath():
return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
def param_parse_filepath():
"""Get param_parse.py script path."""
return util.reltopdir('Tools/autotest/param_metadata/param_parse.py')
def fly_ArduPlane(binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False):
"""Fly ArduPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
sitl = util.start_SITL(binary,
model='plane-elevrev',
home=HOME_LOCATION,
speedup=10,
valgrind=valgrind,
gdb=gdb,
defaults_file=os.path.join(
testdir, 'default_params/plane-jsbsim.parm'))
mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
expect_list_clear()
expect_list_extend([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550',
robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
fail_list = []
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" %
mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Setting up RC parameters")
setup_rc(mavproxy)
print("Waiting for GPS fix")
mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Failed takeoff")
failed = True
fail_list.append("takeoff")
if not fly_left_circuit(mavproxy, mav):
print("Failed left circuit")
failed = True
fail_list.append("left_circuit")
if not axial_left_roll(mavproxy, mav, 1):
print("Failed left roll")
failed = True
fail_list.append("left_roll")
if not inside_loop(mavproxy, mav):
print("Failed inside loop")
failed = True
fail_list.append("inside_loop")
if not test_stabilize(mavproxy, mav):
print("Failed stabilize test")
failed = True
fail_list.append("stabilize")
if not test_acro(mavproxy, mav):
print("Failed ACRO test")
failed = True
fail_list.append("acro")
if not test_FBWB(mavproxy, mav):
print("Failed FBWB test")
failed = True
fail_list.append("fbwb")
if not test_FBWB(mavproxy, mav, mode='CRUISE'):
print("Failed CRUISE test")
failed = True
fail_list.append("cruise")
if not fly_RTL(mavproxy, mav):
print("Failed RTL")
failed = True
fail_list.append("RTL")
if not fly_LOITER(mavproxy, mav):
print("Failed LOITER")
failed = True
fail_list.append("LOITER")
if not fly_CIRCLE(mavproxy, mav):
print("Failed CIRCLE")
failed = True
fail_list.append("LOITER")
if not fly_mission(mavproxy,
mav,
os.path.join(testdir, "ap1.txt"),
height_accuracy=10,
target_altitude=homeloc.alt + 100):
print("Failed mission")
failed = True
fail_list.append("mission")
if not log_download(mavproxy, mav,
util.reltopdir("../buildlogs/ArduPlane-log.bin")):
print("Failed log download")
failed = True
fail_list.append("log_download")
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
fail_list.append("timeout")
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary,
model='plane-elevrev')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log,
util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
if failed:
print("FAILED: %s" % e, fail_list)
return False
return True
def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
"""Fly QuadPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time.
"""
global homeloc
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
sitl = util.start_SITL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
defaults_file=os.path.join(testdir, 'default_params/quadplane.parm'), valgrind=valgrind, gdb=gdb)
mavproxy = util.start_MAVProxy_SITL('QuadPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/QuadPlane-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
expect_list_clear()
expect_list_extend([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Waiting for GPS fix")
mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
mavproxy.send('arm throttle\n')
mavproxy.expect('ARMED')
if not fly_mission(mavproxy, mav,
os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt"),
os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016-fence.txt")):
print("Failed mission")
failed = True
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='quadplane')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/QuadPlane-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True
def run_step(step):
"""Run one step."""
# remove old logs
util.run_cmd('/bin/rm -f logs/*.BIN logs/LASTLOG.TXT')
if step == "prerequisites":
return test_prerequisites()
build_opts = {
"j": opts.j,
"debug": opts.debug,
"clean": not opts.no_clean,
"configure": not opts.no_configure,
"math_check_indexes": opts.math_check_indexes,
"ekf_single": opts.ekf_single,
"postype_single": opts.postype_single,
"extra_configure_args": opts.waf_configure_args,
"coverage": opts.coverage,
"sitl_32bit" : opts.sitl_32bit,
}
if opts.Werror:
build_opts['extra_configure_args'].append("--Werror")
vehicle_binary = None
if step == 'build.Plane':
vehicle_binary = 'bin/arduplane'
if step == 'build.Rover':
vehicle_binary = 'bin/ardurover'
if step == 'build.Copter':
vehicle_binary = 'bin/arducopter'
if step == 'build.Blimp':
vehicle_binary = 'bin/blimp'
if step == 'build.Tracker':
vehicle_binary = 'bin/antennatracker'
if step == 'build.Helicopter':
vehicle_binary = 'bin/arducopter-heli'
if step == 'build.Sub':
vehicle_binary = 'bin/ardusub'
if step == 'build.SITLPeriphGPS':
vehicle_binary = 'sitl_periph_gps.bin/AP_Periph'
if step == 'build.Replay':
return util.build_replay(board='SITL')
if vehicle_binary is not None:
if len(vehicle_binary.split(".")) == 1:
return util.build_SITL(vehicle_binary, **build_opts)
else:
return util.build_SITL(
vehicle_binary.split(".")[1],
board=vehicle_binary.split(".")[0],
**build_opts
)
binary = binary_path(step, debug=opts.debug)
if step.startswith("defaults"):
vehicle = step[9:]
return get_default_params(vehicle, binary)
supplementary_binaries = []
if step in suplementary_test_binary_map:
for supplementary_test_binary in suplementary_test_binary_map[step]:
config_name = supplementary_test_binary.split('.')[0]
binary_name = supplementary_test_binary.split('.')[1]
instance_num = 0
if len(supplementary_test_binary.split('.')) >= 3:
instance_num = int(supplementary_test_binary.split('.')[2])
supplementary_binaries.append([util.reltopdir(os.path.join('build',
config_name,
'bin',
binary_name)),
'-I {}'.format(instance_num)])
# we are running in conjunction with a supplementary app
# can't have speedup
opts.speedup = 1.0
else:
supplementary_binaries = []
fly_opts = {
"viewerip": opts.viewerip,
"use_map": opts.map,
"valgrind": opts.valgrind,
"callgrind": opts.callgrind,
"gdb": opts.gdb,
"gdb_no_tui": opts.gdb_no_tui,
"lldb": opts.lldb,
"gdbserver": opts.gdbserver,
"breakpoints": opts.breakpoint,
"disable_breakpoints": opts.disable_breakpoints,
"frame": opts.frame,
"_show_test_timings": opts.show_test_timings,
"force_ahrs_type": opts.force_ahrs_type,
"replay": opts.replay,
"logs_dir": buildlogs_dirpath(),
"sup_binaries": supplementary_binaries,
"reset_after_every_test": opts.reset_after_every_test,
}
if opts.speedup is not None:
fly_opts["speedup"] = opts.speedup
# handle "test.Copter" etc:
if step in tester_class_map:
# create an instance of the tester class:
global tester
tester = tester_class_map[step](binary, **fly_opts)
# run the test and return its result and the tester itself
return (tester.autotest(), tester)
# handle "test.Copter.CPUFailsafe" etc:
specific_test_to_run = find_specific_test_to_run(step)
if specific_test_to_run is not None:
return run_specific_test(specific_test_to_run, binary, **fly_opts)
if step == 'build.All':
return build_all()
if step == 'build.Binaries':
return build_binaries()
if step == 'build.examples':
return build_examples(**build_opts)
if step == 'run.examples':
return examples.run_examples(debug=opts.debug, valgrind=False, gdb=False)
if step == 'build.Parameters':
return build_parameters()
if step == 'convertgpx':
return convert_gpx()
if step == 'build.unit_tests':
return build_unit_tests(**build_opts)
if step == 'run.unit_tests':
return run_unit_tests()
if step == 'clang-scan-build':
return run_clang_scan_build()
raise RuntimeError("Unknown step %s" % step)
def test_prerequisites():
"""Check we have the right directories and tools to run tests."""
print("Testing prerequisites")
util.mkdir_p(util.reltopdir('../buildlogs'))
return True
def addglob(self, name, pattern):
"""Add a set of files."""
for f in glob.glob(util.reltopdir('../buildlogs/%s' % pattern)):
self.addfile(name, os.path.basename(f))
def addglobimage(self, name, pattern):
"""Add a set of images."""
import glob
for f in glob.glob(util.reltopdir('../buildlogs/%s' % pattern)):
self.addimage(name, os.path.basename(f))
def run_step(step):
"""Run one step."""
# remove old logs
util.run_cmd('/bin/rm -f logs/*.BIN logs/LASTLOG.TXT')
if step == "prerequisites":
return test_prerequisites()
build_opts = {
"j": opts.j,
"debug": opts.debug,
"clean": not opts.no_clean,
"configure": not opts.no_configure,
"math_check_indexes": opts.math_check_indexes,
"extra_configure_args": opts.waf_configure_args,
}
if opts.Werror:
build_opts['extra_configure_args'].append("--Werror")
vehicle_binary = None
if step == 'build.Plane':
vehicle_binary = 'bin/arduplane'
if step == 'build.Rover':
vehicle_binary = 'bin/ardurover'
if step == 'build.Copter':
vehicle_binary = 'bin/arducopter'
if step == 'build.Tracker':
vehicle_binary = 'bin/antennatracker'
if step == 'build.Helicopter':
vehicle_binary = 'bin/arducopter-heli'
if step == 'build.Sub':
vehicle_binary = 'bin/ardusub'
if step == 'build.SITLPeriphGPS':
vehicle_binary = 'sitl_periph_gps.bin/AP_Periph'
if step == 'build.Replay':
return util.build_SITL('tools/Replay', clean=False, configure=False)
if vehicle_binary is not None:
if len(vehicle_binary.split(".")) == 1:
return util.build_SITL(vehicle_binary, **build_opts)
else:
return util.build_SITL(vehicle_binary.split(".")[1],
board=vehicle_binary.split(".")[0],
**build_opts)
binary = binary_path(step, debug=opts.debug)
if step.startswith("defaults"):
vehicle = step[9:]
return get_default_params(vehicle, binary)
if step in suplementary_test_binary_map:
config_name = suplementary_test_binary_map[step].split('.')[0]
binary_name = suplementary_test_binary_map[step].split('.')[1]
supplementary_binary = util.reltopdir(
os.path.join('build', config_name, 'bin', binary_name))
# we are running in conjunction with a supplementary app
# can't have speedup
opts.speedup = 1.0
else:
supplementary_binary = None
fly_opts = {
"viewerip": opts.viewerip,
"use_map": opts.map,
"valgrind": opts.valgrind,
"gdb": opts.gdb,
"lldb": opts.lldb,
"gdbserver": opts.gdbserver,
"breakpoints": opts.breakpoint,
"disable_breakpoints": opts.disable_breakpoints,
"frame": opts.frame,
"_show_test_timings": opts.show_test_timings,
"force_ahrs_type": opts.force_ahrs_type,
"logs_dir": buildlogs_dirpath(),
"sup_binary": supplementary_binary,
}
if opts.speedup is not None:
fly_opts["speedup"] = opts.speedup
# handle "test.Copter" etc:
if step in tester_class_map:
t = tester_class_map[step](binary, **fly_opts)
return (t.autotest(), t)
specific_test_to_run = find_specific_test_to_run(step)
if specific_test_to_run is not None:
return run_specific_test(specific_test_to_run, binary, **fly_opts)
if step == 'build.All':
return build_all()
if step == 'build.Binaries':
return build_binaries()
if step == 'build.examples':
return build_examples()
if step == 'run.examples':
return examples.run_examples(debug=opts.debug,
valgrind=False,
gdb=False)
if step == 'build.Parameters':
return build_parameters()
if step == 'convertgpx':
return convert_gpx()
if step == 'build.unit_tests':
return build_unit_tests()
if step == 'run.unit_tests':
return run_unit_tests()
if step == 'clang-scan-build':
return run_clang_scan_build()
raise RuntimeError("Unknown step %s" % step)
def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False):
"""Fly ArduPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if use_map:
options += ' --map'
sitl = util.start_SITL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
valgrind=valgrind, gdb=gdb, gdbserver=gdbserver,
defaults_file=os.path.join(testdir, 'default_params/plane-jsbsim.parm'))
mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
expect_list_clear()
expect_list_extend([sitl, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
fail_list = []
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Setting up RC parameters")
setup_rc(mavproxy)
print("Waiting for GPS fix")
mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Failed takeoff")
failed = True
fail_list.append("takeoff")
if not fly_left_circuit(mavproxy, mav):
print("Failed left circuit")
failed = True
fail_list.append("left_circuit")
if not axial_left_roll(mavproxy, mav, 1):
print("Failed left roll")
failed = True
fail_list.append("left_roll")
if not inside_loop(mavproxy, mav):
print("Failed inside loop")
failed = True
fail_list.append("inside_loop")
if not test_stabilize(mavproxy, mav):
print("Failed stabilize test")
failed = True
fail_list.append("stabilize")
if not test_acro(mavproxy, mav):
print("Failed ACRO test")
failed = True
fail_list.append("acro")
if not test_FBWB(mavproxy, mav):
print("Failed FBWB test")
failed = True
fail_list.append("fbwb")
if not test_FBWB(mavproxy, mav, mode='CRUISE'):
print("Failed CRUISE test")
failed = True
fail_list.append("cruise")
if not fly_RTL(mavproxy, mav):
print("Failed RTL")
failed = True
fail_list.append("RTL")
if not fly_LOITER(mavproxy, mav):
print("Failed LOITER")
failed = True
fail_list.append("LOITER")
if not fly_CIRCLE(mavproxy, mav):
print("Failed CIRCLE")
failed = True
fail_list.append("LOITER")
if not fly_mission(mavproxy, mav, os.path.join(testdir, "ap1.txt"), height_accuracy = 10,
target_altitude=homeloc.alt+100):
print("Failed mission")
failed = True
fail_list.append("mission")
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduPlane-log.bin")):
print("Failed log download")
failed = True
fail_list.append("log_download")
except pexpect.TIMEOUT as e:
print("Failed with timeout")
failed = True
fail_list.append("timeout")
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='plane-elevrev')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
if failed:
print("FAILED: %s" % e, fail_list)
return False
return True
def fly_Falcon(binary, filepath, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
"""Fly ArduCopter in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
if frame is None:
frame = '+'
print("# ########################### enter fly_falcon..")
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
ardulogfile = mavproxy.match.group(1)
logfile_path,logfile_name = os.path.split(ardulogfile)
logfile = os.path.join(logfile_path, "falconlog.tlog")
print("LOGFILE PATH %s" % logfile)
buildlog = util.reltopdir("../buildlogs/FalconCopter-test.tlog")
print("buildlog=%s" % buildlog)
copy_tlog = False
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
print("WARN: Failed to create symlink: " + logfile + " => " + buildlog + ", Will copy tlog manually to target location")
copy_tlog = True
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
failed_test_msg = "None"
# Enable MAVProxy debugging
mavproxy.send("set moddebug 3\n")
try:
# Falcon test
print("######## Fly falcon mission now")
# time.sleep(3)
if not fly_falcon_test(mavproxy, mav, filepath):
failed_test_msg = "fly_falcon_test failed"
print(failed_test_msg)
failed = True
else:
print("fly_falcon_test OK")
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
# valgrind_log = util.valgrind_log_filepath(binary=binary, model='+')
# if os.path.exists(valgrind_log):
# os.chmod(valgrind_log, 0o644)
# shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
# [2014/05/07] FC Because I'm doing a cross machine build (source is on host, build is on guest VM) I cannot hard link
# This flag tells me that I need to copy the data out
if copy_tlog:
shutil.copy(logfile, buildlog)
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True