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104 lines
2.8 KiB
104 lines
2.8 KiB
5 years ago
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#!/usr/bin/env python3
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import datetime
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import os
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import subprocess
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import time
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test_matrix = [
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{
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"model": "iris",
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"test_filter": "[multicopter]",
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"timeout_min": 10,
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},
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{
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"model": "standard_vtol",
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"test_filter": "[vtol]",
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"timeout_min": 10,
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}
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]
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class Runner:
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def __init__(self):
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self.cmd = ""
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self.cwd = None
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self.args = []
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self.env = {}
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self.log_prefix = ""
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def run(self, group):
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with open(
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"log-{}-{}-{}-{}.txt".format(
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self.log_prefix,
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group['model'],
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group['test_filter'],
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datetime.datetime.now().strftime("%Y-%m-%dT%H-%M-%SZ")
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), 'w') as f:
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print("Running: {}".format(" ".join([self.cmd] + self.args)))
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print("Raw: {}".format([self.cmd] + self.args))
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self.process = subprocess.Popen(
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[self.cmd] + self.args,
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cwd=self.cwd,
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env=self.env,
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stdout=f, stderr=f
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)
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# self.process.wait(timeout=None)
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# print("Result is {}".format(self.process.returncode))
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class Px4Runner(Runner):
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def __init__(self, workspace_dir):
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super().__init__()
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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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self.args = [
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workspace_dir + "/ROMFS/px4fmu_common",
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"-s",
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"etc/init.d-posix/rcS",
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"-t",
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workspace_dir + "/test_data",
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"-d"
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]
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self.env = {"PATH": os.environ['PATH'],
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"PX4_SIM_MODEL": "iris"}
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self.log_prefix = "px4"
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class GazeboRunner(Runner):
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def __init__(self, workspace_dir):
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super().__init__()
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self.env = {"PATH": os.environ['PATH'],
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"HOME": os.environ['HOME'],
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"GAZEBO_PLUGIN_PATH":
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workspace_dir + "/build/px4_sitl_default/build_gazebo",
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"GAZEBO_MODEL_PATH":
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workspace_dir + "/Tools/sitl_gazebo/models",
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"PX4_SIM_SPEED_FACTOR": "1"}
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self.cmd = "gzserver"
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self.args = ["--verbose",
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workspace_dir + "/Tools/sitl_gazebo/worlds/iris.world"]
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self.log_prefix = "gazebo"
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def main():
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for group in test_matrix:
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print("Running test group for '{}' with filter '{}'"
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.format(group['model'], group['test_filter']))
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px4_runner = Px4Runner(os.getcwd())
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px4_runner.run(group)
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gazebo_runner = GazeboRunner(os.getcwd())
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gazebo_runner.run(group)
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# Run test here
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time.sleep(30)
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if __name__ == '__main__':
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main()
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