mavsdk_tests: further argument cleanup, some types

test/mavsdk_tests/mavsdk_test_runner.py

@@ -3,7 +3,7 @@
 import argparse
 import json
 import os
-import psutil
+import psutil  # type: ignore
 import signal
 import subprocess
 import sys
@@ -142,7 +142,7 @@ class Tester:
 
         for iteration in range(self.iterations):
             if self.iterations > 1:
-                print("Test iteration: {}".
+                print("Test iteration: {} / {}".
                       format(iteration + 1, self.iterations))
 
             was_success = self.run_test_group()
@@ -203,6 +203,7 @@ class Tester:
                         "--- Test {} of {}: '{}' failed."
                         .format(i+1, len(tests), test),
                         color.RED))
+                    # TODO: now print the test output
 
                 if not was_success:
                     overall_success = False
@@ -222,25 +223,32 @@ class Tester:
 
         if self.config['mode'] == 'sitl':
             px4_runner = ph.Px4Runner(
-                group['model'], os.getcwd(), self.log_dir, speed_factor,
-                self.debugger, self.verbose)
-            px4_runner.start(group)
+                os.getcwd(),
+                self.log_dir,
+                group,
+                speed_factor,
+                self.debugger,
+                self.verbose)
+            px4_runner.start()
             self.active_runners.append(px4_runner)
 
             if self.config['simulator'] == 'gazebo':
                 gzserver_runner = ph.GzserverRunner(
-                    group['model'],
                     os.getcwd(),
                     self.log_dir,
+                    group,
                     self.speed_factor,
                     self.verbose)
-                gzserver_runner.start(group)
+                gzserver_runner.start()
                 self.active_runners.append(gzserver_runner)
 
                 if self.gui:
                     gzclient_runner = ph.GzclientRunner(
-                        os.getcwd(), self.log_dir, self.verbose)
-                    gzclient_runner.start(group)
+                        os.getcwd(),
+                        self.log_dir,
+                        group,
+                        self.verbose)
+                    gzclient_runner.start()
                     self.active_runners.append(gzclient_runner)
 
         test_runner = ph.TestRunner(
@@ -251,7 +259,7 @@ class Tester:
             self.config['mavlink_connection'],
             self.verbose)
 
-        test_runner.start(group)
+        test_runner.start()
         self.active_runners.append(test_runner)
 
         while test_runner.time_elapsed_s() < group['timeout_min']*60:
@@ -282,6 +290,7 @@ class Tester:
         for runner in self.active_runners:
             runner.stop()
         print("Stopping all processes done.")
+        # TODO: print interim results
         sys.exit(-sig)
 
 

test/mavsdk_tests/process_helper.py

@@ -9,40 +9,46 @@ import subprocess
 import threading
 import errno
 from logger_helper import color, maybe_strip_color, colorize
+from typing import Dict, List
 
 
 class Runner:
-    def __init__(self, log_dir, verbose):
+    def __init__(self, log_dir: str, config: dict, verbose: bool):
         self.name = ""
         self.cmd = ""
-        self.cwd = None
-        self.args = []
-        self.env = {}
+        self.cwd = ""
+        self.args: List[str]
+        self.env: Dict[str, str]
         self.log_dir = log_dir
+        self.config = config
         self.log_filename = ""
         self.log_fd = None
         self.verbose = verbose
-        self.output_queue = queue.Queue()
+        self.output_queue: queue.Queue = queue.Queue()
         self.start_time = time.time()
 
-    def create_log_filename(self, model, test_filter):
+    def create_log_filename(self, model: str, test_filter: str) -> str:
         return self.log_dir + os.path.sep + \
             "log-{}-{}-{}-{}.log".format(
                 self.name,
                 model,
                 test_filter,
                 datetime.datetime.now().strftime("%Y-%m-%dT%H-%M-%SZ"))
+        # TODO: improve logfilename, create folder, create merged log.
 
-    def start(self, config):
+    def start(self):
         if self.verbose:
             print("Running: {}".format(" ".join([self.cmd] + self.args)))
 
         atexit.register(self.stop)
 
         self.log_filename = self.create_log_filename(
-            config['model'], config['test_filter'])
+            self.config['model'], self.config['test_filter'])
         self.log_fd = open(self.log_filename, 'w')
 
+        print("self.cmd: {}".format(self.cmd))
+        print("self.args: {}".format(self.args))
+        print("self.cwd: {}".format(self.cwd))
         self.process = subprocess.Popen(
             [self.cmd] + self.args,
             cwd=self.cwd,
@@ -130,9 +136,10 @@ class Runner:
 
 
 class Px4Runner(Runner):
-    def __init__(self, model, workspace_dir, log_dir, speed_factor, debugger,
-                 verbose):
-        super().__init__(log_dir, verbose)
+    def __init__(self, workspace_dir: str, log_dir: str,
+                 config: Dict[str, str], speed_factor: float,
+                 debugger: str, verbose: bool):
+        super().__init__(log_dir, config, verbose)
         self.name = "px4"
         self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
         self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
@@ -144,10 +151,9 @@ class Px4Runner(Runner):
                 workspace_dir + "/test_data",
                 "-d"
             ]
-        self.env = {"PATH": os.environ['PATH'],
-                    "PX4_SIM_MODEL": model,
+        self.env = {"PATH": str(os.environ['PATH']),
+                    "PX4_SIM_MODEL": str(config['model']),
                     "PX4_SIM_SPEED_FACTOR": str(speed_factor)}
-        self.name = "px4"
         self.debugger = debugger
 
         if not self.debugger:
@@ -169,9 +175,11 @@ class Px4Runner(Runner):
 
 
 class GzserverRunner(Runner):
-    def __init__(self, model, workspace_dir, log_dir, speed_factor, verbose):
-        super().__init__(log_dir, verbose)
+    def __init__(self, workspace_dir, log_dir, config,
+                 speed_factor, verbose):
+        super().__init__(log_dir, config, verbose)
         self.name = "gzserver"
+        self.cwd = workspace_dir
         self.env = {"PATH": os.environ['PATH'],
                     "HOME": os.environ['HOME'],
                     "GAZEBO_PLUGIN_PATH":
@@ -183,13 +191,14 @@ class GzserverRunner(Runner):
         self.cmd = "gzserver"
         self.args = ["--verbose",
                      workspace_dir + "/Tools/sitl_gazebo/worlds/" +
-                     model + ".world"]
+                     config['model'] + ".world"]
 
 
 class GzclientRunner(Runner):
-    def __init__(self, workspace_dir, log_dir, verbose):
-        super().__init__(log_dir, verbose)
+    def __init__(self, workspace_dir, log_dir, config, verbose):
+        super().__init__(log_dir, config, verbose)
         self.name = "gzclient"
+        self.cwd = workspace_dir
         self.env = {"PATH": os.environ['PATH'],
                     "HOME": os.environ['HOME'],
                     # "GAZEBO_PLUGIN_PATH":
@@ -204,8 +213,9 @@ class GzclientRunner(Runner):
 class TestRunner(Runner):
     def __init__(self, workspace_dir, log_dir, config, test,
                  mavlink_connection, verbose):
-        super().__init__(log_dir, verbose)
+        super().__init__(log_dir, config, verbose)
         self.name = "test_runner"
+        self.cwd = workspace_dir
         self.env = {"PATH": os.environ['PATH']}
         self.cmd = workspace_dir + \
             "/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"