Tools: autotest: tee MAVProxy output to per-test file

Tools/autotest/apmrover2.py

@@ -63,6 +63,8 @@ class AutoTestRover(AutoTest):
         if self.frame is None:
             self.frame = 'rover'
 
+        self.mavproxy_logfile = self.open_mavproxy_logfile()
+
         self.sitl = util.start_SITL(self.binary,
                                     model=self.frame,
                                     home=self.home,
@@ -73,7 +75,9 @@ class AutoTestRover(AutoTest):
                                     breakpoints=self.breakpoints,
                                     wipe=True)
         self.mavproxy = util.start_MAVProxy_SITL(
-            'APMrover2', options=self.mavproxy_options())
+            'APMrover2',
+            logfile=self.mavproxy_logfile,
+            options=self.mavproxy_options())
         self.mavproxy.expect('Telemetry log: (\S+)\r\n')
         self.logfile = self.mavproxy.match.group(1)
         self.progress("LOGFILE %s" % self.logfile)

Tools/autotest/common.py

@@ -109,15 +109,19 @@ class Context(object):
 
 # https://stackoverflow.com/questions/616645/how-do-i-duplicate-sys-stdout-to-a-log-file-in-python
 class TeeBoth(object):
-    def __init__(self, name, mode):
+    def __init__(self, name, mode, mavproxy_logfile):
         self.file = open(name, mode)
         self.stdout = sys.stdout
         self.stderr = sys.stderr
+        self.mavproxy_logfile = mavproxy_logfile
+        self.mavproxy_logfile.set_fh(self)
         sys.stdout = self
         sys.stderr = self
     def close(self):
         sys.stdout = self.stdout
         sys.stderr = self.stderr
+        self.mavproxy_logfile.set_fh(self)
+        self.mavproxy_logfile = None
         self.file.close()
     def write(self, data):
         self.file.write(data)
@@ -125,6 +129,24 @@ class TeeBoth(object):
     def flush(self):
         self.file.flush()
 
+class MAVProxyLogFile(object):
+    def __init__(self):
+        self.fh = None
+    def close(self):
+        pass
+    def set_fh(self, fh):
+        self.fh = fh
+    def write(self, data):
+        if self.fh is not None:
+            self.fh.write(data)
+        else:
+            sys.stdout.write(data)
+    def flush(self):
+        if self.fh is not None:
+            self.fh.flush()
+        else:
+            sys.stdout.flush()
+
 class AutoTest(ABC):
     """Base abstract class.
     It implements the common function for all vehicle types.
@@ -154,6 +176,9 @@ class AutoTest(ABC):
     def buildlogs_dirpath():
         return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
 
+    def open_mavproxy_logfile(self):
+        return MAVProxyLogFile()
+
     def buildlogs_path(self, path):
         """Return a string representing path in the buildlogs directory."""
         bits = [self.buildlogs_dirpath()]
@@ -1432,7 +1457,7 @@ class AutoTest(ABC):
         '''new-style run-one-test used by run_tests'''
         test_output_filename = self.buildlogs_path("%s-%s.txt" %
                                                    (self.log_name, name))
-        tee = TeeBoth(test_output_filename, 'w')
+        tee = TeeBoth(test_output_filename, 'w', self.mavproxy_logfile)
 
         prettyname = "%s (%s)" % (name, desc)
         self.start_test(prettyname)