def __init__(self, config, target, paths):
super(Q7Worker, self).__init__()
logging.info('Running %s on %s (Q7)',
config['FirmwareQ7'],
target['AioNodeQ7'],
extra=config)
# Program Q7-side test application.
application = os.path.join(paths['q7_bin'], config['FirmwareQ7'])
aio_node = aio.aio_node_helper.Value(target['AioNodeQ7'])
ip_address = aio.AioNodeToIpAddressString(aio_node)
q7_address = 'root@' + ip_address
self.jobs.append(
CommandWorker(log_extra=config,
command='scp',
args=[application, q7_address + ':~'],
timeout=30))
# Run Q7-side test application.
q7_cmdline = '~/' + os.path.basename(application)
self.jobs.append(
CommandWorker(log_extra=config,
command='ssh',
args=[q7_address, '\'' + q7_cmdline + '\''],
timeout=config['Timeout']))
def testBatt(self):
parsed_args = self.RunParse('--target batt_a batt_application.elf')
args = parsed_args['args']
self.assertEqual(parsed_args['file'], 'batt_application.elf')
self.assertEqual(args.force_hardware, None)
self.assertEqual(parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeBattA))
self.assertEqual(parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeBattA))
self.assertEqual(parsed_args['cur_node_index'], aio_labels.kBattA)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Application')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testCoreSwitchGroundStation(self):
parsed_args = self.RunParse('--target cs_gs_a cs_application.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'cs_gs_a')
self.assertEqual(parsed_args['file'], 'cs_application.elf')
self.assertEqual(args.force_hardware, None)
self.assertEqual(parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeCsGsA))
self.assertEqual(parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeCsGsA))
self.assertEqual(parsed_args['cur_node_index'],
aio_labels.kCoreSwitchGsA)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Application')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testFcCalibParamsSuccess(self):
parsed_args = self.RunParse(
'--target fc_c rev_a3_fc_calib_params.bin --calib')
args = parsed_args['args']
self.assertEqual(args.target, 'fc_c')
self.assertEqual(parsed_args['file'], 'rev_a3_fc_calib_params.bin')
self.assertEqual(parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeFcC))
self.assertEqual(parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeFcC))
self.assertEqual(parsed_args['cur_node_index'],
aio_labels.kFlightComputerC)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'CalibParams')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testFlightComputer(self):
parsed_args = self.RunParse('--target fc_b fc_application.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'fc_b')
self.assertEqual(parsed_args['file'], 'fc_application.elf')
self.assertEqual(args.force_hardware, None)
self.assertEqual(parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeFcB))
self.assertEqual(parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeFcB))
self.assertEqual(parsed_args['cur_node_index'],
aio_labels.kControllerB)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Application')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testBootloaderForceHardwareFc(self):
parsed_args = self.RunParse(
'--target cs_a --bootloader --force_hardware=fc cs_bootloader.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'cs_a')
self.assertEqual(parsed_args['file'], 'cs_bootloader.elf')
self.assertEqual(args.force_hardware, 'fc')
self.assertEqual(parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeCsA))
self.assertEqual(parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeCsA))
self.assertEqual(parsed_args['cur_node_index'],
aio_labels.kCoreSwitchA)
self.assertEqual(parsed_args['new_node_index'],
aio_labels.kCoreSwitchA)
self.assertEqual(parsed_args['update_type'], 'Bootloader')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testIgnoreMismatch(self):
parsed_args = self.RunParse(
'--target motor_sbo --ignore_mismatch motor_application.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'motor_sbo')
self.assertEqual(parsed_args['file'], 'motor_application.elf')
self.assertEqual(
parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeMotorSbo))
self.assertEqual(
parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeMotorSbo))
self.assertEqual(parsed_args['cur_node_index'], aio_labels.kMotorSbo)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Application')
self.assertFalse(args.dump_image)
self.assertTrue(args.ignore_mismatch)
def testBootloaderSuccess(self):
parsed_args = self.RunParse(
'--target motor_sbo --bootloader bootloader.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'motor_sbo')
self.assertEqual(parsed_args['file'], 'bootloader.elf')
self.assertEqual(
parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeMotorSbo))
self.assertEqual(
parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeMotorSbo))
self.assertEqual(parsed_args['cur_node_index'], aio_labels.kMotorSbo)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Bootloader')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testDump(self):
parsed_args = self.RunParse(
'--target servo_e2 --dump_image servo_application.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'servo_e2')
self.assertEqual(parsed_args['file'], 'servo_application.elf')
self.assertEqual(args.force_hardware, None)
self.assertEqual(
parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeServoE2))
self.assertEqual(
parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeServoE2))
self.assertEqual(parsed_args['cur_node_index'], aio_labels.kServoE2)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Application')
self.assertTrue(args.dump_image)
def testDrum(self):
parsed_args = self.RunParse(
'--target drum_sensors_a drum_application.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'drum_sensors_a')
self.assertEqual(parsed_args['file'], 'drum_application.elf')
self.assertEqual(args.force_hardware, None)
self.assertEqual(
parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeDrumSensorsA))
self.assertEqual(
parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeDrumSensorsA))
self.assertEqual(parsed_args['cur_node_index'], 0)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Application')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testBootloaderOverrideTarget(self):
parsed_args = self.RunParse(
'--target fc_a --bootloader --override_target gps_base_station'
' bootloader.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'fc_a')
self.assertEqual(parsed_args['file'], 'bootloader.elf')
self.assertEqual(parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeFcA))
self.assertEqual(
parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeGpsBaseStation))
self.assertEqual(parsed_args['cur_node_index'],
aio_labels.kFlightComputerA)
self.assertEqual(parsed_args['new_node_index'],
aio_labels.kGpsBaseStation)
self.assertEqual(parsed_args['update_type'], 'Bootloader')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testGps(self):
parsed_args = self.RunParse(
'--target gps_base_station gps_application.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'gps_base_station')
self.assertEqual(parsed_args['file'], 'gps_application.elf')
self.assertEqual(args.force_hardware, None)
self.assertEqual(
parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeGpsBaseStation))
self.assertEqual(
parsed_args['new_ip'],
aio.AioNodeToIpAddressString(aio_node.kAioNodeGpsBaseStation))
self.assertEqual(parsed_args['cur_node_index'], 0)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Application')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)
def testRecorderTms570(self):
parsed_args = self.RunParse(
'--target recorder_tms570_platform recorder_application.elf')
args = parsed_args['args']
self.assertEqual(args.target, 'recorder_tms570_platform')
self.assertEqual(parsed_args['file'], 'recorder_application.elf')
self.assertEqual(args.force_hardware, None)
self.assertEqual(
parsed_args['cur_ip'],
aio.AioNodeToIpAddressString(
aio_node.kAioNodeRecorderTms570Platform))
self.assertEqual(
parsed_args['new_ip'],
aio.AioNodeToIpAddressString(
aio_node.kAioNodeRecorderTms570Platform))
self.assertEqual(parsed_args['cur_node_index'],
aio_labels.kRecorderTms570Platform)
self.assertEqual(parsed_args['new_node_index'],
parsed_args['cur_node_index'])
self.assertEqual(parsed_args['update_type'], 'Application')
self.assertFalse(args.dump_image)
self.assertFalse(args.ignore_mismatch)