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88 lines
2.6 KiB
88 lines
2.6 KiB
# utility code for autotest |
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import os, pexpect, sys, time |
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from subprocess import call, check_call,Popen, PIPE |
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def topdir(): |
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'''return top of git tree where autotest is running from''' |
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d = os.path.dirname(os.path.realpath(__file__)) |
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assert(os.path.basename(d)=='autotest') |
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d = os.path.dirname(d) |
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assert(os.path.basename(d)=='Tools') |
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d = os.path.dirname(d) |
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return d |
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def reltopdir(path): |
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'''return a path relative to topdir()''' |
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return os.path.normpath(os.path.join(topdir(), path)) |
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def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True): |
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'''run a shell command''' |
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if show: |
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print("Running: '%s' in '%s'" % (cmd, dir)) |
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if output: |
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return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0] |
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elif checkfail: |
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return check_call(cmd, shell=True, cwd=dir) |
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else: |
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return call(cmd, shell=True, cwd=dir) |
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def rmfile(path): |
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'''remove a file if it exists''' |
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try: |
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os.unlink('eeprom.bin') |
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except Exception: |
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pass |
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def deltree(path): |
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'''delete a tree of files''' |
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run_cmd('rm -rf %s' % path) |
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def build_SIL(atype): |
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'''build desktop SIL''' |
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run_cmd("make -f ../libraries/Desktop/Makefile.desktop clean hil", |
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dir=reltopdir(atype), |
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checkfail=True) |
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def start_SIL(atype): |
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'''launch a SIL instance''' |
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ret = pexpect.spawn(('valgrind -q --log-file=%s-valgrind.log ' % atype) + reltopdir('tmp/%s.build/%s.elf' % (atype, atype)), |
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logfile=sys.stdout, timeout=5) |
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ret.expect('Waiting for connection') |
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return ret |
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def start_MAVProxy_SIL(atype, options=''): |
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'''launch mavproxy connected to a SIL instance''' |
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MAVPROXY = reltopdir('../MAVProxy/mavproxy.py') |
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ret = pexpect.spawn('%s --master=tcp:127.0.0.1:5760 --aircraft=test.%s %s' % ( |
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MAVPROXY,atype,options), |
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logfile=sys.stdout, timeout=60) |
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return ret |
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def kill(name): |
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'''kill a process''' |
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run_cmd('killall -9 -q %s' % name, checkfail=False) |
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def expect_setup_callback(e, callback): |
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'''setup a callback that is called once a second while waiting for |
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patterns''' |
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def _expect_callback(pattern, timeout=e.timeout): |
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tstart = time.time() |
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while time.time() < tstart + timeout: |
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try: |
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ret = e.expect_saved(pattern, timeout=1) |
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return ret |
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except pexpect.TIMEOUT: |
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e.expect_user_callback(e) |
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pass |
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raise pexpect.TIMEOUT |
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e.expect_user_callback = callback |
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e.expect_saved = e.expect |
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e.expect = _expect_callback
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