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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
mavsdk_tests: improve log file folder structure
This commit is contained in:
Julian Oes
Nuno Marques
parent
8283d19682
commit
814d79cb32
@ -1,7 +1,9 @@
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#!/usr/bin/env python3
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import argparse
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import datetime
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import json
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import math
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import os
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import psutil # type: ignore
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import signal
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@ -126,6 +128,7 @@ class Tester:
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self.log_dir = log_dir
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self.gui = gui
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self.verbose = verbose
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self.start_time = datetime.datetime.now()
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@classmethod
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def determine_tests(cls, tests: List[Dict[str, Any]], model: str) \
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@ -194,7 +197,6 @@ class Tester:
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print()
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def prepare_for_results(self) -> None:
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# prepare dict entry for results
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for test in self.tests:
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if not test['selected']:
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continue
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@ -207,14 +209,13 @@ class Tester:
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print("%%% Test iteration: {} / {}".
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format(iteration + 1, self.iterations))
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success = self.run_iteration()
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success = self.run_iteration(iteration)
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if not success:
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if self.abort_early:
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break
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def run_iteration(self) -> bool:
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def run_iteration(self, iteration: int) -> bool:
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iteration_success = True
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for test in self.tests:
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if not test['selected']:
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continue
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@ -226,7 +227,15 @@ class Tester:
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for i, case in enumerate(test['cases']):
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print("--> Test case {} of {}: '{}' running ...".
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format(i+1, len(test['cases']), case))
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was_success = self.run_test_case(test, case)
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log_dir = self.get_log_dir(iteration, test['model'], case)
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if self.verbose:
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print("creating log directory: {}"
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.format(log_dir))
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os.makedirs(log_dir, exist_ok=True)
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was_success = self.run_test_case(test, case, log_dir)
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if was_success:
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print(colorize(
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"--- Test case {} of {}: '{}' succeeded."
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@ -247,7 +256,23 @@ class Tester:
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return iteration_success
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def run_test_case(self, test: Dict[str, Any], case: str) -> bool:
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def get_log_dir(self, iteration: int, model: str, case: str) -> str:
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date_and_time = self.start_time.strftime("%Y-%m-%dT%H-%M-%SZ")
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foldername = os.path.join(self.log_dir, date_and_time)
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if self.iterations > 1:
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# Use as many zeros in foldername as required.
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digits = math.floor(math.log10(self.iterations)) + 1
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foldername = os.path.join(foldername,
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str(iteration + 1).zfill(digits))
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foldername = os.path.join(foldername, model)
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foldername = os.path.join(foldername, case.replace(" ", "_"))
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return foldername
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def run_test_case(self, test: Dict[str, Any],
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case: str, logfile_path: str) -> bool:
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self.active_runners = []
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speed_factor = self.speed_factor
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@ -257,8 +282,9 @@ class Tester:
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if self.config['mode'] == 'sitl':
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px4_runner = ph.Px4Runner(
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os.getcwd(),
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self.log_dir,
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test,
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logfile_path,
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test['model'],
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case,
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speed_factor,
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self.debugger,
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self.verbose)
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@ -268,8 +294,9 @@ class Tester:
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if self.config['simulator'] == 'gazebo':
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gzserver_runner = ph.GzserverRunner(
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os.getcwd(),
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self.log_dir,
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test,
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logfile_path,
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test['model'],
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case,
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self.speed_factor,
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self.verbose)
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gzserver_runner.start()
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@ -278,16 +305,17 @@ class Tester:
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if self.gui:
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gzclient_runner = ph.GzclientRunner(
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os.getcwd(),
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self.log_dir,
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test,
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logfile_path,
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test['model'],
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case,
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self.verbose)
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gzclient_runner.start()
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self.active_runners.append(gzclient_runner)
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test_runner = ph.TestRunner(
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os.getcwd(),
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self.log_dir,
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test,
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logfile_path,
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test['model'],
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case,
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self.config['mavlink_connection'],
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self.verbose)
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@ -315,18 +343,26 @@ class Tester:
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for runner in self.active_runners:
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runner.stop()
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test['cases'][case]['results'].append(is_success)
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result = {'success': is_success,
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'logfiles': [runner.get_log_filename()
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for runner in self.active_runners]}
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test['cases'][case]['results'].append(result)
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if not is_success:
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# TODO: print error and logfiles
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pass
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return is_success
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def show_detailed_results(self) -> None:
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print()
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print(colorize("Results:", color.BOLD))
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for test in self.tests:
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if not test['selected']:
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print(colorize(colorize(" - {} (not selected)".
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format(test['model']), color.BOLD), color.GRAY))
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print(colorize(colorize(
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" - {} (not selected)".
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format(test['model']), color.BOLD), color.GRAY))
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continue
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else:
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print(colorize(" - {}:".format(test['model']), color.BOLD))
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@ -334,8 +370,10 @@ class Tester:
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for name, case in test['cases'].items():
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print(" - '{}': ".format(name), end="")
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n_succeeded = case['results'].count(True)
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n_failed = case['results'].count(False)
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n_succeeded = [result['success']
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for result in case['results']].count(True)
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n_failed = [result['success']
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for result in case['results']].count(False)
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n_cancelled = self.iterations - len(case['results'])
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notes = [
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@ -3,7 +3,6 @@
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import queue
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import time
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import os
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import datetime
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import atexit
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import subprocess
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import threading
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@ -15,29 +14,30 @@ from typing import Dict, List, TextIO, Optional
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class Runner:
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def __init__(self,
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log_dir: str,
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config: Dict[str, str],
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model: str,
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case: str,
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verbose: bool):
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self.name = ""
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self.cmd = ""
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self.cwd = ""
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self.args: List[str]
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self.env: Dict[str, str]
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self.log_dir = log_dir
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self.config = config
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self.model = model
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self.case = case
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self.log_filename = ""
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self.log_fd: TextIO
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self.verbose = verbose
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self.output_queue: queue.Queue[str] = queue.Queue()
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self.start_time = time.time()
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self.log_dir = log_dir
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self.log_filename = ""
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def create_log_filename(self, model: str, test_filter: str) -> str:
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return self.log_dir + os.path.sep + \
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"log-{}-{}-{}-{}.log".format(
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self.name,
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model,
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test_filter,
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datetime.datetime.now().strftime("%Y-%m-%dT%H-%M-%SZ"))
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# TODO: improve logfilename, create folder, create merged log.
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def set_log_filename(self) -> None:
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self.log_filename = self.log_dir + os.path.sep + \
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"log-{}.log".format(self.name)
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def get_log_filename(self) -> str:
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return self.log_filename
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def start(self) -> None:
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if self.verbose:
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@ -45,8 +45,9 @@ class Runner:
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atexit.register(self.stop)
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self.log_filename = self.create_log_filename(
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self.config['model'], self.config['test_filter'])
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self.set_log_filename()
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if self.verbose:
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print("Logging to {}".format(self.log_filename))
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self.log_fd = open(self.log_filename, 'w')
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self.process = subprocess.Popen(
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@ -138,9 +139,9 @@ class Runner:
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class Px4Runner(Runner):
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def __init__(self, workspace_dir: str, log_dir: str,
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config: Dict[str, str], speed_factor: float,
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model: str, case: str, speed_factor: float,
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debugger: str, verbose: bool):
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super().__init__(log_dir, config, verbose)
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super().__init__(log_dir, model, case, verbose)
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self.name = "px4"
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self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
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self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
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@ -153,7 +154,7 @@ class Px4Runner(Runner):
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"-d"
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]
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self.env = {"PATH": str(os.environ['PATH']),
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"PX4_SIM_MODEL": str(config['model']),
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"PX4_SIM_MODEL": self.model,
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"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
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self.debugger = debugger
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@ -179,10 +180,11 @@ class GzserverRunner(Runner):
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def __init__(self,
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workspace_dir: str,
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log_dir: str,
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config: Dict[str, str],
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model: str,
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case: str,
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speed_factor: float,
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verbose: bool):
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super().__init__(log_dir, config, verbose)
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super().__init__(log_dir, model, case, verbose)
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self.name = "gzserver"
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self.cwd = workspace_dir
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self.env = {"PATH": os.environ['PATH'],
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@ -196,16 +198,17 @@ class GzserverRunner(Runner):
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self.cmd = "gzserver"
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self.args = ["--verbose",
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workspace_dir + "/Tools/sitl_gazebo/worlds/" +
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config['model'] + ".world"]
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self.model + ".world"]
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class GzclientRunner(Runner):
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def __init__(self,
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workspace_dir: str,
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log_dir: str,
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config: Dict[str, str],
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model: str,
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case: str,
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verbose: bool):
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super().__init__(log_dir, config, verbose)
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super().__init__(log_dir, model, case, verbose)
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self.name = "gzclient"
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self.cwd = workspace_dir
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self.env = {"PATH": os.environ['PATH'],
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@ -223,14 +226,14 @@ class TestRunner(Runner):
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def __init__(self,
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workspace_dir: str,
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log_dir: str,
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config: Dict[str, str],
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test: str,
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model: str,
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case: str,
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mavlink_connection: str,
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verbose: bool):
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super().__init__(log_dir, config, verbose)
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super().__init__(log_dir, model, case, verbose)
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self.name = "test_runner"
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self.cwd = workspace_dir
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self.env = {"PATH": os.environ['PATH']}
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self.cmd = workspace_dir + \
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"/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
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self.args = ["--url", mavlink_connection, test]
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self.args = ["--url", mavlink_connection, case]
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