mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-12 16:03:34 +08:00
(very wip) sitl-sih integration tests
This commit is contained in:
Balduin
@@ -64,3 +64,8 @@ param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC5 201
|
||||
param set-default PWM_MAIN_FUNC6 202
|
||||
|
||||
# param set-default PWM_MAIN_REV 48
|
||||
param set-default PWM_MAIN_REV 32
|
||||
# param set-default PWM_MAIN_REV 16
|
||||
|
||||
|
||||
@@ -0,0 +1,26 @@
|
||||
{
|
||||
"mode": "sitl",
|
||||
"simulator": "sih",
|
||||
"mavlink_connection": "udp://:14540",
|
||||
"tests":
|
||||
[
|
||||
{
|
||||
"model": "quadx",
|
||||
"vehicle": "quadx",
|
||||
"test_filter": "[multicopter],[offboard][offboard_attitude]",
|
||||
"timeout_min": 10
|
||||
},
|
||||
{
|
||||
"model": "standard_vtol",
|
||||
"vehicle": "standard_vtol",
|
||||
"test_filter": "[vtol], [vtol_wind], [vtol_airspeed_fail]",
|
||||
"timeout_min": 10
|
||||
},
|
||||
{
|
||||
"model": "xvert",
|
||||
"vehicle": "xvert",
|
||||
"test_filter": "[vtol]",
|
||||
"timeout_min": 10
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -161,5 +161,572 @@ def is_everything_ready(config: Dict[str, str], build_dir: str) -> bool:
|
||||
return result
|
||||
|
||||
|
||||
class Tester:
|
||||
def __init__(self,
|
||||
config: Dict[str, Any],
|
||||
iterations: int,
|
||||
abort_early: bool,
|
||||
speed_factor: float,
|
||||
model: str,
|
||||
case: str,
|
||||
debugger: str,
|
||||
log_dir: str,
|
||||
gui: bool,
|
||||
verbose: bool,
|
||||
upload: bool,
|
||||
build_dir: str):
|
||||
self.config = config
|
||||
self.build_dir = build_dir
|
||||
self.active_runners: List[ph.Runner]
|
||||
self.iterations = iterations
|
||||
self.abort_early = abort_early
|
||||
self.tests = self.determine_tests(config['tests'], model, case)
|
||||
self.speed_factor = speed_factor
|
||||
self.debugger = debugger
|
||||
self.log_dir = log_dir
|
||||
self.gui = gui
|
||||
self.verbose = verbose
|
||||
self.upload = upload
|
||||
self.start_time = datetime.datetime.now()
|
||||
self.log_fd: Any[TextIO] = None
|
||||
|
||||
@staticmethod
|
||||
def wildcard_match(pattern: str, potential_match: str) -> bool:
|
||||
return fnmatch.fnmatchcase(potential_match, pattern)
|
||||
|
||||
@staticmethod
|
||||
def plural_s(n_items: int) -> str:
|
||||
if n_items > 1:
|
||||
return "s"
|
||||
else:
|
||||
return ""
|
||||
|
||||
@staticmethod
|
||||
def query_test_cases(build_dir: str, filter: str) -> List[str]:
|
||||
cmd = os.path.join(build_dir, 'mavsdk_tests/mavsdk_tests')
|
||||
args = ["--list-test-names-only", filter]
|
||||
p = subprocess.Popen(
|
||||
[cmd] + args,
|
||||
stdin=subprocess.PIPE,
|
||||
stdout=subprocess.PIPE,
|
||||
stderr=subprocess.STDOUT)
|
||||
assert p.stdout is not None
|
||||
cases = str(p.stdout.read().decode("utf-8")).strip().split('\n')
|
||||
return cases
|
||||
|
||||
def determine_tests(self,
|
||||
tests: List[Dict[str, Any]],
|
||||
model: str,
|
||||
case: str) -> List[Dict[str, Any]]:
|
||||
for test in tests:
|
||||
test['selected'] = (model == 'all' or model == test['model'])
|
||||
test['cases'] = dict.fromkeys(
|
||||
self.query_test_cases(self.build_dir, test['test_filter']))
|
||||
for key in test['cases'].keys():
|
||||
test['cases'][key] = {
|
||||
'selected': (test['selected'] and
|
||||
(case == 'all' or
|
||||
self.wildcard_match(case, key)))}
|
||||
return tests
|
||||
|
||||
def run(self) -> bool:
|
||||
self.show_plans()
|
||||
self.prepare_for_results()
|
||||
self.run_tests()
|
||||
self.show_detailed_results()
|
||||
self.show_overall_result()
|
||||
return self.was_overall_pass()
|
||||
|
||||
def show_plans(self) -> None:
|
||||
print()
|
||||
print(colorize(
|
||||
"About to run {} test case{} for {} selected model{} "
|
||||
"({} iteration{}):".
|
||||
format(self.num_cases(), self.plural_s(self.num_cases()),
|
||||
self.num_models(), self.plural_s(self.num_models()),
|
||||
self.iterations, self.plural_s(self.iterations)),
|
||||
color.BOLD))
|
||||
|
||||
for test in self.tests:
|
||||
if not test['selected']:
|
||||
print(colorize(colorize(
|
||||
" - {} (not selected)".format(test['model']),
|
||||
color.BOLD), color.GRAY))
|
||||
continue
|
||||
print(colorize(" - {}:".format(test['model']), color.BOLD))
|
||||
for key, case in test['cases'].items():
|
||||
if case['selected']:
|
||||
print(" - '{}'".format(key))
|
||||
else:
|
||||
print(colorize(" - '{}' (not selected)".format(key),
|
||||
color.GRAY))
|
||||
print()
|
||||
|
||||
def num_models(self) -> int:
|
||||
return sum(map(
|
||||
lambda test: 1 if test['selected'] else 0,
|
||||
self.tests))
|
||||
|
||||
def num_cases(self) -> int:
|
||||
n_cases = 0
|
||||
for test in self.tests:
|
||||
if not test['selected']:
|
||||
continue
|
||||
n_cases += self.num_cases_for_test(test)
|
||||
|
||||
return n_cases
|
||||
|
||||
def num_cases_for_test(self, test: Dict[str, Any]) -> int:
|
||||
n_cases = 0
|
||||
for case in test['cases'].values():
|
||||
if not case['selected']:
|
||||
continue
|
||||
n_cases += 1
|
||||
return n_cases
|
||||
|
||||
def prepare_for_results(self) -> None:
|
||||
for test in self.tests:
|
||||
if not test['selected']:
|
||||
continue
|
||||
for key, value in test['cases'].items():
|
||||
if not value['selected']:
|
||||
continue
|
||||
value['results'] = []
|
||||
|
||||
def run_tests(self) -> None:
|
||||
for iteration in range(self.iterations):
|
||||
if self.iterations > 1:
|
||||
print(colorize("%%% Test iteration: {} / {}".
|
||||
format(iteration + 1, self.iterations), color.BOLD))
|
||||
|
||||
success = self.run_iteration(iteration)
|
||||
if not success:
|
||||
if self.abort_early:
|
||||
break
|
||||
|
||||
def run_iteration(self, iteration: int) -> bool:
|
||||
iteration_success = True
|
||||
for test in self.tests:
|
||||
if not test['selected']:
|
||||
continue
|
||||
|
||||
print(colorize(
|
||||
"==> Running tests for {}".format(test['model']),
|
||||
color.BOLD))
|
||||
|
||||
test_i = 0
|
||||
for key, case_value in test['cases'].items():
|
||||
if not case_value['selected']:
|
||||
continue
|
||||
|
||||
print("--> Test case {} of {}: '{}' running ...".
|
||||
format(test_i+1,
|
||||
self.num_cases_for_test(test),
|
||||
key))
|
||||
|
||||
log_dir = self.get_log_dir(iteration, test['model'], key)
|
||||
if self.verbose:
|
||||
print("Creating log directory: {}"
|
||||
.format(log_dir))
|
||||
os.makedirs(log_dir, exist_ok=True)
|
||||
|
||||
was_success = self.run_test_case(test, key, log_dir)
|
||||
|
||||
print("--- Test case {} of {}: '{}' {}."
|
||||
.format(test_i+1,
|
||||
self.num_cases_for_test(test),
|
||||
key,
|
||||
colorize("succeeded", color.GREEN)
|
||||
if was_success
|
||||
else colorize("failed", color.RED)))
|
||||
|
||||
if not was_success:
|
||||
iteration_success = False
|
||||
|
||||
if not was_success and self.abort_early:
|
||||
print("Aborting early")
|
||||
return False
|
||||
|
||||
test_i += 1
|
||||
|
||||
return iteration_success
|
||||
|
||||
def get_log_dir(self, iteration: int, model: str, case: str) -> str:
|
||||
date_and_time = self.start_time.strftime("%Y-%m-%dT%H-%M-%SZ")
|
||||
foldername = os.path.join(self.log_dir, date_and_time)
|
||||
|
||||
if self.iterations > 1:
|
||||
# Use as many zeros in foldername as required.
|
||||
digits = math.floor(math.log10(self.iterations)) + 1
|
||||
foldername = os.path.join(foldername,
|
||||
str(iteration + 1).zfill(digits))
|
||||
|
||||
foldername = os.path.join(foldername, model)
|
||||
foldername = os.path.join(foldername, case.replace(" ", "_"))
|
||||
|
||||
return foldername
|
||||
|
||||
def get_max_speed_factor(self, test: Dict[str, Any]) -> float:
|
||||
speed_factor = self.speed_factor
|
||||
if "max_speed_factor" in test:
|
||||
speed_factor = min(float(speed_factor), test["max_speed_factor"])
|
||||
return speed_factor
|
||||
|
||||
def run_test_case(self, test: Dict[str, Any],
|
||||
case: str, log_dir: str) -> bool:
|
||||
|
||||
logfile_path = self.determine_logfile_path(log_dir, 'combined')
|
||||
self.start_combined_log(logfile_path)
|
||||
|
||||
self.start_runners(log_dir, test, case)
|
||||
|
||||
test_timeout_s = test['timeout_min']*60
|
||||
while self.active_runners[-1].time_elapsed_s() < test_timeout_s:
|
||||
returncode = self.active_runners[-1].poll()
|
||||
|
||||
self.collect_runner_output()
|
||||
|
||||
if returncode is not None:
|
||||
is_success = (returncode == 0)
|
||||
break
|
||||
|
||||
else:
|
||||
print(colorize(
|
||||
"Test timeout of {} mins triggered!".
|
||||
format(test['timeout_min']),
|
||||
color.BOLD))
|
||||
is_success = False
|
||||
|
||||
self.stop_runners()
|
||||
# Collect what was left in output buffers.
|
||||
self.collect_runner_output()
|
||||
self.stop_combined_log()
|
||||
|
||||
result = {'success': is_success,
|
||||
'logfiles': [runner.get_log_filename()
|
||||
for runner in self.active_runners]}
|
||||
test['cases'][case]['results'].append(result)
|
||||
|
||||
if not is_success:
|
||||
if not self.verbose:
|
||||
print(self.get_combined_log(logfile_path))
|
||||
print("Logfiles: ")
|
||||
print(" - {}".format(logfile_path))
|
||||
for runner in self.active_runners:
|
||||
print(" - {}".format(runner.get_log_filename()))
|
||||
|
||||
if self.upload:
|
||||
ulog_file = self.parse_for_ulog_file(
|
||||
self.get_combined_log(logfile_path))
|
||||
self.upload_log(ulog_file, test['model'], case, is_success)
|
||||
|
||||
return is_success
|
||||
|
||||
def start_runners(self,
|
||||
log_dir: str,
|
||||
test: Dict[str, Any],
|
||||
case: str) -> None:
|
||||
self.active_runners = []
|
||||
|
||||
if self.config['mode'] == 'sitl':
|
||||
if self.config['simulator'] == 'gazebo':
|
||||
# Use RegEx to extract worldname.world from case name
|
||||
match = re.search(r'\((.*?\.world)\)', case)
|
||||
if match:
|
||||
world_name = match.group(1)
|
||||
else:
|
||||
world_name = 'empty.world'
|
||||
|
||||
gzserver_runner = ph.GzserverRunner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
test['vehicle'],
|
||||
case,
|
||||
self.get_max_speed_factor(test),
|
||||
self.verbose,
|
||||
self.build_dir,
|
||||
world_name)
|
||||
self.active_runners.append(gzserver_runner)
|
||||
|
||||
gzmodelspawn_runner = ph.GzmodelspawnRunner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
test['vehicle'],
|
||||
case,
|
||||
self.verbose,
|
||||
self.build_dir)
|
||||
self.active_runners.append(gzmodelspawn_runner)
|
||||
|
||||
if self.gui:
|
||||
gzclient_runner = ph.GzclientRunner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
test['model'],
|
||||
case,
|
||||
self.verbose)
|
||||
self.active_runners.append(gzclient_runner)
|
||||
|
||||
# We must start the PX4 instance at the end, as starting
|
||||
# it in the beginning, then connecting Gazebo server freaks
|
||||
# out the PX4 (it needs to have data coming in when started),
|
||||
# and can lead to EKF to freak out, or the instance itself
|
||||
# to die unexpectedly.
|
||||
px4_runner = ph.Px4Runner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
test['model'],
|
||||
case,
|
||||
self.get_max_speed_factor(test),
|
||||
self.debugger,
|
||||
self.verbose,
|
||||
self.build_dir)
|
||||
for env_key in test.get('env', []):
|
||||
px4_runner.env[env_key] = str(test['env'][env_key])
|
||||
self.active_runners.append(px4_runner)
|
||||
|
||||
elif self.config['simulator'] == 'sih':
|
||||
|
||||
# import ipdb; ipdb.set_trace()
|
||||
|
||||
# only run px4.
|
||||
px4_runner = ph.Px4Runner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
test['model'],
|
||||
case,
|
||||
self.get_max_speed_factor(test),
|
||||
self.debugger,
|
||||
self.verbose,
|
||||
self.build_dir)
|
||||
for env_key in test.get('env', []):
|
||||
px4_runner.env[env_key] = str(test['env'][env_key])
|
||||
self.active_runners.append(px4_runner)
|
||||
|
||||
# overwrite these env vars which were already set in Px4Runner.__init__
|
||||
# maybe there is a cleaner way to do this?
|
||||
px4_runner.env['PX4_SIMULATOR'] = 'sihsim'
|
||||
# running
|
||||
# diff 10015_gazebo-classic_iris 10016_none_iris
|
||||
# literally only gives comment changes. therefore we should be good there...
|
||||
|
||||
# so we make another copy here, adapting the iris file for sihsim.
|
||||
px4_runner.env["PX4_SIM_MODEL"] = "sihsim_" + test['model']
|
||||
|
||||
# import ipdb; ipdb.set_trace()
|
||||
|
||||
|
||||
# import ipdb; ipdb.set_trace()
|
||||
|
||||
|
||||
mavsdk_tests_runner = ph.TestRunner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
test['model'],
|
||||
case,
|
||||
self.config['mavlink_connection'],
|
||||
self.speed_factor,
|
||||
self.verbose,
|
||||
self.build_dir)
|
||||
self.active_runners.append(mavsdk_tests_runner)
|
||||
|
||||
abort = False
|
||||
for runner in self.active_runners:
|
||||
runner.set_log_filename(
|
||||
self.determine_logfile_path(log_dir, runner.name))
|
||||
|
||||
if not self.try_to_run_several_times(runner):
|
||||
abort = True
|
||||
break
|
||||
|
||||
if abort:
|
||||
print("Could not start runner: {}".format(runner.name))
|
||||
self.collect_runner_output()
|
||||
self.stop_combined_log()
|
||||
self.stop_runners()
|
||||
sys.exit(1)
|
||||
|
||||
def try_to_run_several_times(self, runner: ph.Runner) -> bool:
|
||||
for _ in range(3):
|
||||
runner.start()
|
||||
|
||||
if runner.has_started_ok():
|
||||
return True
|
||||
|
||||
else:
|
||||
runner.stop()
|
||||
time.sleep(1)
|
||||
|
||||
return False
|
||||
|
||||
def stop_runners(self) -> None:
|
||||
for runner in self.active_runners:
|
||||
runner.stop()
|
||||
|
||||
def collect_runner_output(self) -> None:
|
||||
for runner in self.active_runners:
|
||||
while True:
|
||||
line = runner.get_output_line()
|
||||
if not line:
|
||||
break
|
||||
|
||||
self.add_to_combined_log(line)
|
||||
if self.verbose:
|
||||
print(line, end="")
|
||||
|
||||
def parse_for_ulog_file(self, log: str) -> Optional[str]:
|
||||
|
||||
match = "[logger] Opened full log file: ./"
|
||||
for line in log.splitlines():
|
||||
found = line.find(match)
|
||||
if found != -1:
|
||||
return os.path.join(os.getcwd(), self.build_dir,
|
||||
"tmp_mavsdk_tests/rootfs",
|
||||
line[found+len(match):])
|
||||
return None
|
||||
|
||||
def upload_log(self, ulog_path: Optional[str],
|
||||
model: str, case: str, success: bool) -> None:
|
||||
if not ulog_path:
|
||||
print(" Could not find ulog log file to upload")
|
||||
return
|
||||
|
||||
if not os.getenv('GITHUB_RUN_ID'):
|
||||
print(" Upload only implemented for GitHub Actions CI")
|
||||
return
|
||||
|
||||
print(" Uploading logfile '{}' ...".format(ulog_path))
|
||||
|
||||
server = "https://logs.px4.io"
|
||||
|
||||
result_str = "passing" if success else "failing"
|
||||
|
||||
payload = {
|
||||
"type": "flightreport",
|
||||
"description": "SITL integration test - {}: '{}' -> {}"
|
||||
.format(model, case, result_str),
|
||||
"feedback":
|
||||
"{}/{}/actions/runs/{}"
|
||||
.format(os.getenv("GITHUB_SERVER_URL"),
|
||||
os.getenv("GITHUB_REPOSITORY"),
|
||||
os.getenv("GITHUB_RUN_ID")),
|
||||
"email": "",
|
||||
"source": "CI",
|
||||
"videoUrl": "",
|
||||
"rating": "notset",
|
||||
"windSpeed": -1,
|
||||
"public": "true"
|
||||
}
|
||||
|
||||
with open(ulog_path, 'rb') as f:
|
||||
r = requests.post(server + "/upload",
|
||||
data=payload,
|
||||
files={'filearg': f},
|
||||
allow_redirects=False)
|
||||
if r.status_code == 302: # redirect
|
||||
if 'Location' in r.headers:
|
||||
plot_url = r.headers['Location']
|
||||
if len(plot_url) > 0 and plot_url[0] == '/':
|
||||
plot_url = server + plot_url
|
||||
print(" Uploaded to: " + plot_url)
|
||||
else:
|
||||
print(" Upload failed with status_code: {}"
|
||||
.format(r.status_code))
|
||||
|
||||
def start_combined_log(self, filename: str) -> None:
|
||||
self.log_fd = open(filename, 'w')
|
||||
|
||||
def stop_combined_log(self) -> None:
|
||||
if self.log_fd:
|
||||
self.log_fd.close()
|
||||
|
||||
def add_to_combined_log(self, output: str) -> None:
|
||||
self.log_fd.write(output)
|
||||
|
||||
def get_combined_log(self, filename: str) -> str:
|
||||
with open(filename, 'r') as f:
|
||||
return f.read()
|
||||
|
||||
@staticmethod
|
||||
def determine_logfile_path(log_dir: str, desc: str) -> str:
|
||||
return os.path.join(log_dir, "log-{}.log".format(desc))
|
||||
|
||||
def show_detailed_results(self) -> None:
|
||||
print()
|
||||
print(colorize("Results:", color.BOLD))
|
||||
|
||||
for test in self.tests:
|
||||
if not test['selected']:
|
||||
print(colorize(colorize(
|
||||
" - {} (not selected)".
|
||||
format(test['model']), color.BOLD), color.GRAY))
|
||||
continue
|
||||
else:
|
||||
print(colorize(" - {}:".format(test['model']), color.BOLD))
|
||||
|
||||
for name, case in test['cases'].items():
|
||||
if not case['selected']:
|
||||
continue
|
||||
print(" - '{}': ".format(name), end="")
|
||||
|
||||
n_succeeded = [result['success']
|
||||
for result in case['results']].count(True)
|
||||
n_failed = [result['success']
|
||||
for result in case['results']].count(False)
|
||||
n_cancelled = self.iterations - len(case['results'])
|
||||
|
||||
notes = [
|
||||
self.note_if_any(
|
||||
colorize("{}succeeded", color.GREEN),
|
||||
n_succeeded, self.iterations),
|
||||
self.note_if_any(
|
||||
colorize("{}failed", color.RED),
|
||||
n_failed, self.iterations),
|
||||
self.note_if_any(
|
||||
colorize("{}cancelled", color.GRAY),
|
||||
n_cancelled, self.iterations)]
|
||||
notes_without_none = list(filter(None, notes))
|
||||
print(", ".join(notes_without_none))
|
||||
|
||||
def was_overall_pass(self) -> bool:
|
||||
for test in self.tests:
|
||||
if not test['selected']:
|
||||
continue
|
||||
|
||||
for case in test['cases'].values():
|
||||
if not case['selected']:
|
||||
continue
|
||||
for result in case['results']:
|
||||
if result['success'] is not True:
|
||||
return False
|
||||
return True
|
||||
|
||||
def show_overall_result(self) -> None:
|
||||
print(colorize(
|
||||
"Overall result: {}".format(
|
||||
colorize("PASS", color.GREEN)
|
||||
if self.was_overall_pass()
|
||||
else colorize("FAIL", color.RED)), color.BOLD))
|
||||
|
||||
@staticmethod
|
||||
def note_if_any(text_to_format: str, n: int, total: int) -> Optional[str]:
|
||||
assert not n < 0
|
||||
if n == 0:
|
||||
return None
|
||||
elif n == 1 and total == 1:
|
||||
return text_to_format.format("")
|
||||
else:
|
||||
return text_to_format.format(str(n) + " ")
|
||||
|
||||
def sigint_handler(self, sig: int, frame: Optional[FrameType]) \
|
||||
-> NoReturn:
|
||||
print("Received SIGINT")
|
||||
print("Stopping all processes ...")
|
||||
self.stop_runners()
|
||||
self.stop_combined_log()
|
||||
print("Stopping all processes done.")
|
||||
self.show_detailed_results()
|
||||
sys.exit(-sig)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
Reference in New Issue
Block a user