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_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 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 __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_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_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 run_clang_scan_build():
"""Run Clang Scan-build utility."""
if util.run_cmd("scan-build python waf configure",
directory=util.reltopdir('.')) != 0:
print("Failed scan-build-configure")
return False
if util.run_cmd("scan-build python waf clean",
directory=util.reltopdir('.')) != 0:
print("Failed scan-build-clean")
return False
if util.run_cmd("scan-build python waf build",
directory=util.reltopdir('.')) != 0:
print("Failed scan-build-build")
return False
return True
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 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 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 convert_gpx():
"""Convert any tlog files to GPX and KML."""
mavlog = glob.glob(buildlogs_path("*.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 __init__(self):
self.date = time.asctime()
self.githash = util.run_cmd('git rev-parse HEAD',
output=True,
directory=util.reltopdir('.')).strip()
if sys.version_info.major >= 3:
self.githash = self.githash.decode('utf-8')
self.tests = []
self.files = []
self.images = []
def build_works(self):
self.progress("Building")
if self.autotest:
return self.build_works_autotest()
try:
ret = util.run_cmd(["./waf", "configure", "--board", self.board])
except subprocess.CalledProcessError:
return False
if ret != 0:
return False
try:
ret = util.run_cmd(["./waf", "build", "--target", self.target_binary])
except subprocess.CalledProcessError:
return False
if ret != 0:
return False
return True
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 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_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 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 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 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 build_binaries():
"""Run the build_binaries.py script."""
print("Running build_binaries.py")
# copy the script (and various libraries used by the script) as it
# changes git branch, which can change the script while running
for thing in "build_binaries.py", "generate_manifest.py", "gen_stable.py", "build_binaries_history.py":
orig = util.reltopdir('Tools/scripts/%s' % thing)
copy = util.reltopdir('./%s' % thing)
shutil.copy2(orig, copy)
if util.run_cmd("./build_binaries.py", directory=util.reltopdir('.')) != 0:
print("Failed build_binaries.py")
return False
return True
def check_logs(step):
"""Check for log files from a step."""
print("check step: ", step)
if step.startswith('test.'):
vehicle = step[5:]
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_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 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 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(mavtogpx_filepath() + " --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 subprocess.CalledProcessError as e:
passed = False
try:
util.run_cmd('zip %s.kmz %s.kml' % (m, m))
except subprocess.CalledProcessError as e:
passed = False
util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m))
return passed
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(mavtogpx_filepath() + " --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 subprocess.CalledProcessError:
passed = False
try:
util.run_cmd('zip %s.kmz %s.kml' % (m, m))
except subprocess.CalledProcessError:
passed = False
util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m))
return passed
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,
"extra_configure_args": opts.waf_configure_args,
}
vehicle_binary = None
if step == 'build.ArduPlane':
vehicle_binary = 'bin/arduplane'
if step == 'build.APMrover2':
vehicle_binary = 'bin/ardurover'
if step == 'build.ArduCopter':
vehicle_binary = 'bin/arducopter'
if step == 'build.AntennaTracker':
vehicle_binary = 'bin/antennatracker'
if step == 'build.Helicopter':
vehicle_binary = 'bin/arducopter-heli'
if step == 'build.ArduSub':
vehicle_binary = 'bin/ardusub'
if vehicle_binary is not None:
return util.build_SITL(vehicle_binary, **build_opts)
binary = binary_path(step, debug=opts.debug)
if step.startswith("defaults"):
vehicle = step[9:]
return get_default_params(vehicle, binary)
fly_opts = {
"viewerip": opts.viewerip,
"use_map": opts.map,
"valgrind": opts.valgrind,
"gdb": opts.gdb,
"gdbserver": opts.gdbserver,
"breakpoints": opts.breakpoint,
"frame": opts.frame,
}
if opts.speedup is not None:
fly_opts["speedup"] = opts.speedup
if step == 'fly.ArduCopter':
tester = arducopter.AutoTestCopter(binary, **fly_opts)
return tester.autotest()
if step == 'fly.CopterAVC':
tester = arducopter.AutoTestHeli(binary, **fly_opts)
return tester.autotest()
if step == 'fly.ArduPlane':
tester = arduplane.AutoTestPlane(binary, **fly_opts)
return tester.autotest()
if step == 'fly.QuadPlane':
tester = quadplane.AutoTestQuadPlane(binary, **fly_opts)
return tester.autotest()
if step == 'drive.APMrover2':
tester = apmrover2.AutoTestRover(binary, **fly_opts)
return tester.autotest()
if step == 'drive.balancebot':
tester = balancebot.AutoTestBalanceBot(binary, **fly_opts)
return tester.autotest()
if step == 'dive.ArduSub':
tester = ardusub.AutoTestSub(binary, **fly_opts)
return tester.autotest()
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()
raise RuntimeError("Unknown step %s" % step)
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,
}
if step == 'build.ArduPlane':
return util.build_SITL('bin/arduplane', **build_opts)
if step == 'build.APMrover2':
return util.build_SITL('bin/ardurover', **build_opts)
if step == 'build.ArduCopter':
return util.build_SITL('bin/arducopter', **build_opts)
if step == 'build.AntennaTracker':
return util.build_SITL('bin/antennatracker', **build_opts)
if step == 'build.Helicopter':
return util.build_SITL('bin/arducopter-heli', **build_opts)
if step == 'build.ArduSub':
return util.build_SITL('bin/ardusub', **build_opts)
binary = binary_path(step, debug=opts.debug)
if step.startswith("default"):
vehicle = step[8:]
return get_default_params(vehicle, binary)
fly_opts = {
"viewerip": opts.viewerip,
"use_map": opts.map,
"valgrind": opts.valgrind,
"gdb": opts.gdb,
"gdbserver": opts.gdbserver,
}
if opts.speedup is not None:
fly_opts["speedup"] = opts.speedup
if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter(binary, frame=opts.frame, **fly_opts)
if step == 'fly.CopterAVC':
return arducopter.fly_CopterAVC(binary, **fly_opts)
if step == 'fly.ArduPlane':
return arduplane.fly_ArduPlane(binary, **fly_opts)
if step == 'fly.QuadPlane':
return quadplane.fly_QuadPlane(binary, **fly_opts)
if step == 'drive.APMrover2':
return apmrover2.drive_APMrover2(binary, frame=opts.frame, **fly_opts)
if step == 'dive.ArduSub':
return ardusub.dive_ArduSub(binary, **fly_opts)
if step == 'build.All':
return build_all()
if step == 'build.Binaries':
return build_binaries()
if step == 'build.DevRelease':
return build_devrelease()
if step == 'build.Examples':
return build_examples()
if step == 'build.Parameters':
return build_parameters()
if step == 'convertgpx':
return convert_gpx()
raise RuntimeError("Unknown step %s" % step)
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()
if step == 'build.ArduPlane':
return util.build_SITL('bin/arduplane', j=opts.j, debug=opts.debug)
if step == 'build.APMrover2':
return util.build_SITL('bin/ardurover', j=opts.j, debug=opts.debug)
if step == 'build.ArduCopter':
return util.build_SITL('bin/arducopter', j=opts.j, debug=opts.debug)
if step == 'build.AntennaTracker':
return util.build_SITL('bin/antennatracker',
j=opts.j,
debug=opts.debug)
if step == 'build.Helicopter':
return util.build_SITL('bin/arducopter-heli',
j=opts.j,
debug=opts.debug)
if step == 'build.ArduSub':
return util.build_SITL('bin/ardusub', j=opts.j, debug=opts.debug)
binary = binary_path(step, debug=opts.debug)
if step.startswith("default"):
vehicle = step[8:]
return get_default_params(vehicle, binary)
if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter(binary,
viewerip=opts.viewerip,
use_map=opts.map,
valgrind=opts.valgrind,
gdb=opts.gdb,
frame=opts.frame,
gdbserver=opts.gdbserver)
if step == 'fly.CopterAVC':
return arducopter.fly_CopterAVC(binary,
viewerip=opts.viewerip,
use_map=opts.map,
valgrind=opts.valgrind,
gdb=opts.gdb,
frame=opts.frame,
gdbserver=opts.gdbserver)
if step == 'fly.ArduPlane':
return arduplane.fly_ArduPlane(binary,
viewerip=opts.viewerip,
use_map=opts.map,
valgrind=opts.valgrind,
gdb=opts.gdb,
gdbserver=opts.gdbserver)
if step == 'fly.QuadPlane':
return quadplane.fly_QuadPlane(binary,
viewerip=opts.viewerip,
use_map=opts.map,
valgrind=opts.valgrind,
gdb=opts.gdb,
gdbserver=opts.gdbserver)
if step == 'drive.APMrover2':
return apmrover2.drive_APMrover2(binary,
viewerip=opts.viewerip,
use_map=opts.map,
valgrind=opts.valgrind,
gdb=opts.gdb,
frame=opts.frame,
gdbserver=opts.gdbserver)
if step == 'dive.ArduSub':
return ardusub.dive_ArduSub(binary,
viewerip=opts.viewerip,
use_map=opts.map,
valgrind=opts.valgrind,
gdb=opts.gdb,
gdbserver=opts.gdbserver)
if step == 'build.All':
return build_all()
if step == 'build.Binaries':
return build_binaries()
if step == 'build.DevRelease':
return build_devrelease()
if step == 'build.Examples':
return build_examples()
if step == 'build.Parameters':
return build_parameters()
if step == 'convertgpx':
return convert_gpx()
raise RuntimeError("Unknown step %s" % step)
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,
"extra_configure_args": opts.waf_configure_args,
}
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 vehicle_binary is not None:
return util.build_SITL(vehicle_binary, **build_opts)
binary = binary_path(step, debug=opts.debug)
if step.startswith("defaults"):
vehicle = step[9:]
return get_default_params(vehicle, binary)
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,
}
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()
raise RuntimeError("Unknown step %s" % step)
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,
"extra_configure_args": opts.waf_configure_args,
}
vehicle_binary = None
if step == 'build.ArduPlane':
vehicle_binary = 'bin/arduplane'
if step == 'build.APMrover2':
vehicle_binary = 'bin/ardurover'
if step == 'build.ArduCopter':
vehicle_binary = 'bin/arducopter'
if step == 'build.AntennaTracker':
vehicle_binary = 'bin/antennatracker'
if step == 'build.Helicopter':
vehicle_binary = 'bin/arducopter-heli'
if step == 'build.ArduSub':
vehicle_binary = 'bin/ardusub'
if vehicle_binary is not None:
return util.build_SITL(vehicle_binary, **build_opts)
binary = binary_path(step, debug=opts.debug)
if step.startswith("defaults"):
vehicle = step[9:]
return get_default_params(vehicle, binary)
fly_opts = {
"viewerip": opts.viewerip,
"use_map": opts.map,
"valgrind": opts.valgrind,
"gdb": opts.gdb,
"gdbserver": opts.gdbserver,
"breakpoints": opts.breakpoint,
"frame": opts.frame,
"_show_test_timings": opts.show_test_timings,
}
if opts.speedup is not None:
fly_opts["speedup"] = opts.speedup
if step == 'fly.ArduCopter':
tester = arducopter.AutoTestCopter(binary, **fly_opts)
return tester.autotest()
if step == 'fly.CopterAVC':
tester = arducopter.AutoTestHeli(binary, **fly_opts)
return tester.autotest()
if step == 'fly.ArduPlane':
tester = arduplane.AutoTestPlane(binary, **fly_opts)
return tester.autotest()
if step == 'fly.QuadPlane':
tester = quadplane.AutoTestQuadPlane(binary, **fly_opts)
return tester.autotest()
if step == 'drive.APMrover2':
tester = apmrover2.AutoTestRover(binary, **fly_opts)
return tester.autotest()
if step == 'drive.balancebot':
tester = balancebot.AutoTestBalanceBot(binary, **fly_opts)
return tester.autotest()
if step == 'dive.ArduSub':
tester = ardusub.AutoTestSub(binary, **fly_opts)
return tester.autotest()
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()
raise RuntimeError("Unknown step %s" % step)
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_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,
"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_binaries": supplementary_binaries,
}
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()
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 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,
}
vehicle_binary = None
if step == 'build.ArduPlane':
vehicle_binary = 'bin/arduplane'
if step == 'build.APMrover2':
vehicle_binary = 'bin/ardurover'
if step == 'build.ArduCopter':
vehicle_binary = 'bin/arducopter'
if step == 'build.AntennaTracker':
vehicle_binary = 'bin/antennatracker'
if step == 'build.Helicopter':
vehicle_binary = 'bin/arducopter-heli'
if step == 'build.ArduSub':
vehicle_binary = 'bin/ardusub'
if vehicle_binary is not None:
return util.build_SITL(vehicle_binary, **build_opts)
binary = binary_path(step, debug=opts.debug)
if step.startswith("defaults"):
vehicle = step[9:]
return get_default_params(vehicle, binary)
fly_opts = {
"viewerip": opts.viewerip,
"use_map": opts.map,
"valgrind": opts.valgrind,
"gdb": opts.gdb,
"gdbserver": opts.gdbserver,
}
if opts.speedup is not None:
fly_opts["speedup"] = opts.speedup
if step == 'fly.ArduCopter':
arducopter = AutoTestCopter(binary, frame=opts.frame, **fly_opts)
return arducopter.autotest()
if step == 'fly.CopterAVC':
arducopter = AutoTestCopter(binary, **fly_opts)
return arducopter.autotest_heli()
if step == 'fly.ArduPlane':
arduplane = AutoTestPlane(binary, **fly_opts)
return arduplane.autotest()
if step == 'fly.QuadPlane':
quadplane = AutoTestQuadPlane(binary, **fly_opts)
return quadplane.autotest()
if step == 'drive.APMrover2':
apmrover2 = AutoTestRover(binary, frame=opts.frame, **fly_opts)
return apmrover2.autotest()
if step == 'dive.ArduSub':
ardusub = AutoTestSub(binary, **fly_opts)
return ardusub.autotest()
if step == 'build.All':
return build_all()
if step == 'build.Binaries':
return build_binaries()
if step == 'build.DevRelease':
return build_devrelease()
if step == 'build.Examples':
return build_examples()
if step == 'build.Parameters':
return build_parameters()
if step == 'convertgpx':
return convert_gpx()
raise RuntimeError("Unknown step %s" % step)
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()
if step == 'build.ArduPlane':
return util.build_SITL('bin/arduplane', j=opts.j, debug=opts.debug)
if step == 'build.APMrover2':
return util.build_SITL('bin/ardurover', j=opts.j, debug=opts.debug)
if step == 'build.ArduCopter':
return util.build_SITL('bin/arducopter', j=opts.j, debug=opts.debug)
if step == 'build.AntennaTracker':
return util.build_SITL('bin/antennatracker', j=opts.j, debug=opts.debug)
if step == 'build.Helicopter':
return util.build_SITL('bin/arducopter-heli', j=opts.j, debug=opts.debug)
binary = binary_path(step, debug=opts.debug)
if step == 'defaults.ArduPlane':
return get_default_params('ArduPlane', binary)
if step == 'defaults.ArduCopter':
return get_default_params('ArduCopter', binary)
if step == 'defaults.APMrover2':
return get_default_params('APMrover2', binary)
if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'fly.CopterAVC':
return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'fly.ArduPlane':
return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'fly.QuadPlane':
return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'drive.APMrover2':
return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'build.All':
return build_all()
if step == 'build.Binaries':
return build_binaries()
if step == 'build.DevRelease':
return build_devrelease()
if step == 'build.Examples':
return build_examples()
if step == 'build.Parameters':
return build_parameters()
if step == 'convertgpx':
return convert_gpx()
raise RuntimeError("Unknown step %s" % step)
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 = []
