px4_autopilot/EKF/tests/pytest/ekf_test.py

#!/usr/bin/env python3
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"""Tests for the ecl library (using it's Python bindings via SWIG)

In order to run the tests, make sure to compile the ecl library including the
SWIG bindings, e.g. by running

    cmake -DEKF_PYTHON_TESTS=ON .. && make ecl_EKF_pytest-quick

from your build directory.

This script can also be run directly (e.g., by using `make pytest`), or you can
run pytest on the test folder.

Running the script directly provides some useful flags, in particular one can
enable plots (using `-p`) to visualize the test results. For example, the
following command will run all test that include the string "baro" in the test
name and plot the results:

    PYTHONPATH='/path/to/ecl' ekf_test -p "baro"


@author: Peter Dürr <Peter.Duerr@sony.com>
"""
from __future__ import print_function
from __future__ import unicode_literals
from __future__ import division
from __future__ import absolute_import

import os
from datetime import datetime
import argparse

import pytest
from hypothesis import settings

START_TIME = datetime.now()
"""Record when the script was loaded
"""

# Register hypothesis profiles
settings.register_profile("plots", settings(max_examples=0))
settings.register_profile("quick", settings(max_examples=20))


def main():
    """Called when the script is run standalone
    """

    parser = argparse.ArgumentParser(description="Tests ecl's EKF",
                                     usage=(__file__ +
                                            " [OPTIONS] [EXPRESSION]"))
    parser.add_argument('-q', '--quick',
                        action='store_true',
                        help='Run only the quick tests')
    parser.add_argument('-v', '--verbose',
                        action='store_true',
                        help='Print verbose output')
    parser.add_argument('-s', '--stdout',
                        action='store_true',
                        help='Print output to stdout during tests')
    parser.add_argument('-b', '--benchmark',
                        action='store_true',
                        help='Run the benchmark tests')
    parser.add_argument('-p', '--plots',
                        action='store_true',
                        help='Create plots during the tests '
                        '(requires matplotlib and seaborn)')
    parser.add_argument('tests', type=str, nargs='?',
                        help='Run only tests which match '
                        'the given substring expression')
    args = parser.parse_args()
    pytest_arguments = [os.path.dirname(os.path.realpath(__file__))]
    pytest_plugins = []

    if args.quick:
        pytest_arguments.append('--hypothesis-profile=plots')
    if args.verbose:
        pytest_arguments.append('-v')
        pytest_arguments.append('-l')
        pytest_arguments.append('--hypothesis-show-statistics')
    if args.stdout:
        pytest_arguments.append('-s')
    if args.benchmark:
        pytest_arguments.append('-m benchmark')
        pytest_arguments.append('--benchmark-verbose')
    else:
        pytest_arguments.append('--benchmark-disable')

    if args.tests:
        pytest_arguments.append('-k ' + args.tests)

    # To control plotting, monkeypatch a flag onto pytest (cannot just use a
    # global variable due to pytest's discovery)
    pytest.ENABLE_PLOTTING = args.plots
    if args.plots:
        pytest_arguments.append('--hypothesis-profile=plots')

    # Run pytest
    result = pytest.main(pytest_arguments, plugins=pytest_plugins)
    exit(result)


if __name__ == '__main__':
    main()