autotest: improved error checking and child termination

we now report pass/fail for each test

Tools/autotest/arducopter.py

@@ -287,6 +287,7 @@ def fly_ArduCopter():
     # start hil_quad.py
     hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
                         logfile=sys.stdout, timeout=10)
+    util.pexpect_autoclose(hquad)
     hquad.expect('Starting at')
 
     expect_list.extend([hquad, sil, mavproxy])
@@ -325,5 +326,5 @@ def fly_ArduCopter():
 
     if failed:
         print("FAILED: %s" % e)
-        sys.exit(1)
+        return False
-
+    return True

Tools/autotest/autotest.py

@@ -3,7 +3,7 @@
 # Andrew Tridgell, October 2011
 
 import pexpect, os, util, sys, shutil, arducopter
-import optparse, fnmatch
+import optparse, fnmatch, time
 
 os.putenv('TMPDIR', util.reltopdir('tmp'))
 
@@ -25,7 +25,7 @@ def get_default_params(atype):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
     print("Saved defaults for %s to %s" % (atype, dest))
-
+    return True
 
 def dump_logs(atype):
     '''dump DataFlash logs'''
@@ -48,6 +48,7 @@ def dump_logs(atype):
     util.pexpect_close(sil)
     log.close()
     print("Saved log for %s to %s" % (atype, logfile))
+    return True
 
 def test_prerequesites():
     '''check we have the right directories and tools to run tests'''
@@ -60,6 +61,8 @@ You need to install HILTest in %s
 You can get it from git://git.samba.org/tridge/UAV/HILTest.git
 
         ''' % util.reltopdir('../HILTest'))
+        return False
+    return True
     
 
 ############## main program #############
@@ -70,9 +73,14 @@ parser.add_option("--list", action='store_true', default=False, help='list the a
 opts, args = parser.parse_args()
 
 steps = [
+    'prerequesites',
+    'build1280.ArduPlane',
+    'build2560.ArduPlane',
     'build.ArduPlane',
     'defaults.ArduPlane',
     'logs.ArduPlane',
+    'build1280.ArduCopter',
+    'build2560.ArduCopter',
     'build.ArduCopter',
     'defaults.ArduCopter',
     'fly.ArduCopter',
@@ -88,34 +96,74 @@ def skip_step(step):
             return True
     return False
 
+def run_step(step):
+    '''run one step'''
+    if step == "prerequesites":
+        return test_prerequesites()
+
+    if step == 'build.ArduPlane':
+        return util.build_SIL('ArduPlane')
+
+    if step == 'build.ArduCopter':
+        return util.build_SIL('ArduCopter')
+
+    if step == 'build1280.ArduCopter':
+        return util.build_AVR('ArduCopter', board='mega')
+
+    if step == 'build2560.ArduCopter':
+        return util.build_AVR('ArduCopter', board='mega2560')
+
+    if step == 'build1280.ArduPlane':
+        return util.build_AVR('ArduPlane', board='mega')
+
+    if step == 'build2560.ArduPlane':
+        return util.build_AVR('ArduPlane', board='mega2560')
+
+    if step == 'defaults.ArduPlane':
+        return get_default_params('ArduPlane')
+
+    if step == 'defaults.ArduCopter':
+        return get_default_params('ArduCopter')
+
+    if step == 'logs.ArduPlane':
+        return dump_logs('ArduPlane')
+
+    if step == 'logs.ArduCopter':
+        return dump_logs('ArduCopter')
+
+    if step == 'fly.ArduCopter':
+        return arducopter.fly_ArduCopter()
+
+    raise RuntimeError("Unknown step %s" % step)
+
+
 def run_tests(steps):
     '''run a list of steps'''
 
-    test_prerequesites()
+    passed = True
     for step in steps:
         if skip_step(step):
             continue
-        if step == 'build.ArduPlane':
+
-            util.build_SIL('ArduPlane')
+        print(">>>> RUNNING STEP: %s at %s" % (step, time.asctime()))
-        elif step == 'build.ArduCopter':
+        try:
-            util.build_SIL('ArduCopter')
+            if not run_step(step):
-        elif step == 'defaults.ArduPlane':
+                print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
-            get_default_params('ArduPlane')
+                passed = False
-        elif step == 'defaults.ArduCopter':
+                continue
-            get_default_params('ArduCopter')
+        except Exception, msg:
-        elif step == 'logs.ArduPlane':
+            passed = False
-            dump_logs('ArduPlane')
+            print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg))
-        elif step == 'logs.ArduCopter':
+            continue
-            dump_logs('ArduCopter')
+        print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
-        elif step == 'fly.ArduCopter':
+    return passed
-            arducopter.fly_ArduCopter()
-        else:
-            raise RuntimeError("Unknown step %s" % step)
 
 try:
-    run_tests(steps)
+    if not run_tests(steps):
+        sys.exit(1)
 except KeyboardInterrupt:
     util.pexpect_close_all()
+    sys.exit(1)
 except Exception:
     # make sure we kill off any children
     util.pexpect_close_all()

Tools/autotest/util.py

@@ -47,13 +47,33 @@ def build_SIL(atype):
     run_cmd("make -f ../libraries/Desktop/Makefile.desktop clean hil",
             dir=reltopdir(atype),
             checkfail=True)
-
+    return True
+
+def build_AVR(atype, board='mega2560'):
+    '''build AVR binaries'''
+    config = open(reltopdir('config.mk'), mode='w')
+    config.write('''
+BOARD=%s
+PORT=/dev/null
+''' % board)
+    config.close()
+    run_cmd("make clean", dir=reltopdir(atype),  checkfail=True)
+    run_cmd("make", dir=reltopdir(atype),  checkfail=True)
+    return True
+
+
+# list of pexpect children to close on exit
 close_list = []
 
+def pexpect_autoclose(p):
+    '''mark for autoclosing'''
+    global close_list
+    close_list.append(p)
+
 def pexpect_close(p):
     '''close a pexpect child'''
     global close_list
-    p.close()
+    p.close(force=True)
     close_list.remove(p)
 
 def pexpect_close_all():
@@ -61,13 +81,12 @@ def pexpect_close_all():
     global close_list
     for p in close_list[:]:
         try:
-            p.close()
+            p.close(Force=True)
         except Exception:
             pass
 
 def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
     '''launch a SIL instance'''
-    global close_list
     cmd=""
     if valgrind and os.path.exists('/usr/bin/valgrind'):
         cmd += 'valgrind -q --log-file=%s-valgrind.log ' % atype
@@ -77,7 +96,7 @@ def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
     if CLI:
         cmd += ' -s'
     ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
-    close_list.append(ret)
+    pexpect_autoclose(ret)
     ret.expect('Waiting for connection')
     return ret
 
@@ -95,7 +114,7 @@ def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:
     if options is not None:
         cmd += ' ' + options
     ret = pexpect.spawn(cmd, logfile=logfile, timeout=60)
-    close_list.append(ret)
+    pexpect_autoclose(ret)
     return ret