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mavsdk_tests: update to be able to fetch rtps builds as well

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This commit is contained in:
TSC21
2021-12-20 13:05:46 -05:00
committed by Daniel Agar
parent 9312c772f1
commit 9894598b63
2 changed files with 84 additions and 68 deletions
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test/mavsdk_tests/process_helper.py
+32 -28
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@@ -146,18 +146,18 @@ class Runner:
class Px4Runner(Runner):
def __init__(self, workspace_dir: str, log_dir: str,
model: str, case: str, speed_factor: float,
debugger: str, verbose: bool):
debugger: str, verbose: bool, build_dir: str):
super().__init__(log_dir, model, case, verbose)
self.name = "px4"
self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
self.cwd = workspace_dir + \
"/build/px4_sitl_default/tmp_mavsdk_tests/rootfs"
self.cmd = os.path.join(workspace_dir, build_dir, "bin/px4")
self.cwd = os.path.join(workspace_dir, build_dir,
"tmp_mavsdk_tests/rootfs")
self.args = [
workspace_dir + "/build/px4_sitl_default/etc",
os.path.join(workspace_dir, build_dir, "etc"),
"-s",
"etc/init.d-posix/rcS",
"-t",
workspace_dir + "/test_data",
os.path.join(workspace_dir, "test_data"),
"-d"
]
self.env["PX4_SIM_MODEL"] = self.model
@@ -214,14 +214,15 @@ class GzserverRunner(Runner):
model: str,
case: str,
speed_factor: float,
verbose: bool):
verbose: bool,
build_dir: str):
super().__init__(log_dir, model, case, verbose)
self.name = "gzserver"
self.cwd = workspace_dir
self.env["GAZEBO_PLUGIN_PATH"] = \
workspace_dir + "/build/px4_sitl_default/build_gazebo"
os.path.join(workspace_dir, build_dir, "build_gazebo")
self.env["GAZEBO_MODEL_PATH"] = \
workspace_dir + "/Tools/sitl_gazebo/models"
os.path.join(workspace_dir, "Tools/sitl_gazebo/models")
self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
self.cmd = "stdbuf"
self.args = ["-o0", "-e0", "gzserver", "--verbose",
@@ -251,28 +252,29 @@ class GzmodelspawnRunner(Runner):
log_dir: str,
model: str,
case: str,
verbose: bool):
verbose: bool,
build_dir: str):
super().__init__(log_dir, model, case, verbose)
self.name = "gzmodelspawn"
self.cwd = workspace_dir
self.env["GAZEBO_PLUGIN_PATH"] = \
workspace_dir + "/build/px4_sitl_default/build_gazebo"
os.path.join(workspace_dir, build_dir, "build_gazebo")
self.env["GAZEBO_MODEL_PATH"] = \
workspace_dir + "/Tools/sitl_gazebo/models"
os.path.join(workspace_dir, "Tools/sitl_gazebo/models")
self.cmd = "gz"
if os.path.isfile(workspace_dir +
"/Tools/sitl_gazebo/models/" +
self.model + "/" + self.model + ".sdf"):
model_path = workspace_dir + \
"/Tools/sitl_gazebo/models/" + \
self.model + "/" + self.model + ".sdf"
elif os.path.isfile(workspace_dir +
"/Tools/sitl_gazebo/models/" +
self.model + "/" + self.model + "-gen.sdf"):
model_path = workspace_dir + \
"/Tools/sitl_gazebo/models/" + \
self.model + "/" + self.model + "-gen.sdf"
if os.path.isfile(os.path.join(workspace_dir,
"Tools/sitl_gazebo/models",
self.model, self.model + ".sdf")):
model_path = os.path.join(workspace_dir,
"Tools/sitl_gazebo/models",
self.model, self.model + ".sdf")
elif os.path.isfile(os.path.join(workspace_dir,
"Tools/sitl_gazebo/models",
self.model, self.model + "-gen.sdf")):
model_path = os.path.join(workspace_dir,
"Tools/sitl_gazebo/models",
self.model, self.model + "-gen.sdf")
else:
raise Exception("Model not found")
@@ -322,7 +324,8 @@ class GzclientRunner(Runner):
self.name = "gzclient"
self.cwd = workspace_dir
self.env = dict(os.environ, **{
"GAZEBO_MODEL_PATH": workspace_dir + "/Tools/sitl_gazebo/models"})
"GAZEBO_MODEL_PATH": os.path.join(workspace_dir,
"Tools/sitl_gazebo/models")})
self.cmd = "gzclient"
self.args = ["--verbose"]
@@ -335,12 +338,13 @@ class TestRunner(Runner):
case: str,
mavlink_connection: str,
speed_factor: float,
verbose: bool):
verbose: bool,
build_dir: str):
super().__init__(log_dir, model, case, verbose)
self.name = "mavsdk_tests"
self.cwd = workspace_dir
self.cmd = workspace_dir + \
"/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
self.cmd = os.path.join(workspace_dir, build_dir,
"mavsdk_tests/mavsdk_tests")
self.args = ["--url", mavlink_connection,
"--speed-factor", str(speed_factor),
case]