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Revert "Improvements to SITL to make paths more flexible. (#5181)"

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This reverts commit 699b6a2cb3.
This commit is contained in:
Lorenz Meier
2016-08-05 21:29:49 +02:00
parent bbe3525377
commit 102f5b54d7
72 changed files with 672 additions and 643 deletions
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integrationtests/run_tests.bash
+31 -62
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@@ -5,27 +5,26 @@
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
set -e
# handle cleaning command
do_clean=true
if [ "$1" = "-o" ]
if [ "$#" -lt 1 ]
then
echo not cleaning
do_clean=false
echo usage: run_tests.bash firmware_src_dir
echo ""
exit 1
fi
# determine the directory of the source given the directory of this script
pushd `dirname $0` > /dev/null
SCRIPTPATH=`pwd`
popd > /dev/null
ORIG_SRC=$(dirname $SCRIPTPATH)
SRC_DIR=$1
JOB_DIR=$SRC_DIR/..
BUILD=posix_sitl_default
# TODO
ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
ROS_LOG_DIR=/root/.ros/log
PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
# BAGS=/root/.ros
# CHARTS=/root/.ros/charts
# EXPORT_CHARTS=/sitl/testing/export_charts.py
# set paths
JOB_DIR=$(dirname $ORIG_SRC)
CATKIN_DIR=$JOB_DIR/catkin
BUILD_DIR=$CATKIN_DIR/build/px4
SRC_DIR=${CATKIN_DIR}/src/px4
echo setting up ROS paths
# source ROS env
if [ -f /opt/ros/indigo/setup.bash ]
then
source /opt/ros/indigo/setup.bash
@@ -36,57 +35,26 @@ else
echo "could not find /opt/ros/{ros-distro}/setup.bash"
exit 1
fi
export ROS_HOME=$JOB_DIR/.ros
export ROS_LOG_DIR=$ROS_HOME/log
export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
# TODO
# BAGS=$ROS_HOME
# CHARTS=$ROS_HOME/charts
# EXPORT_CHARTS=/sitl/testing/export_charts.py
echo setting up gazebo paths
source /usr/share/gazebo/setup.sh
source $SCRIPTPATH/setup_gazebo_ros.bash ${SRC_DIR} ${BUILD_DIR}
if $do_clean
then
echo cleaning
rm -rf $CATKIN_DIR
rm -rf $ROS_HOME
rm -rf $TEST_RESULT_TARGET_DIR
else
echo skipping clean step
echo "deleting previous test results ($TEST_RESULT_TARGET_DIR)"
if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
rm -r ${TEST_RESULT_TARGET_DIR}
fi
# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
# when run from "run_container.bash". Why?
if [ -d /root/Firmware ]; then
rm /root/Firmware
fi
ln -s ${SRC_DIR} /root/Firmware
echo "=====> compile ($SRC_DIR)"
mkdir -p $ROS_HOME
mkdir -p $CATKIN_DIR/src
mkdir -p $TEST_RESULT_TARGET_DIR
if ! [ -d $SRC_DIR ]
then
ln -s $ORIG_SRC $SRC_DIR
ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
fi
cd $CATKIN_DIR
catkin_make
. ./devel/setup.bash
cd $SRC_DIR
make ${BUILD}
make --no-print-directory gazebo_build
echo "<====="
# print paths to user
echo -e "JOB_DIR\t\t: $JOB_DIR"
echo -e "ROS_HOME\t: $ROS_HOME"
echo -e "CATKIN_DIR\t: $CATKIN_DIR"
echo -e "BUILD_DIR\t: $BUILD_DIR"
echo -e "SRC_DIR\t\t: $SRC_DIR"
echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
# don't exit on error anymore from here on (because single tests or exports might fail)
set +e
echo "=====> run tests"
@@ -105,6 +73,7 @@ echo "=====> process test results"
# done
echo "copy build test results to job directory"
mkdir -p ${TEST_RESULT_TARGET_DIR}
cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}