mavsdk_tests: wait for gz to run for model spawn

test/mavsdk_tests/mavsdk_test_runner.py

@@ -381,12 +381,19 @@ class Tester:
                     self.verbose)
                 self.active_runners.append(gzserver_runner)
 
+                waitforgz_runner = ph.WaitforgzRunner(
+                    os.getcwd(),
+                    log_dir,
+                    test['model'],
+                    case,
+                    self.verbose)
+                self.active_runners.append(waitforgz_runner)
+
                 gzmodelspawn_runner = ph.GzmodelspawnRunner(
                     os.getcwd(),
                     log_dir,
                     test['model'],
                     case,
-                    self.get_max_speed_factor(test),
                     self.verbose)
                 self.active_runners.append(gzmodelspawn_runner)
 

test/mavsdk_tests/process_helper.py

@@ -6,6 +6,7 @@ import os
 import atexit
 import subprocess
 import threading
+import pathlib
 import errno
 from typing import Dict, List, TextIO, Optional
 
@@ -30,6 +31,7 @@ class Runner:
         self.start_time = time.time()
         self.log_dir = log_dir
         self.log_filename = ""
+        self.wait_until_complete = False
 
     def set_log_filename(self, log_filename: str) -> None:
         self.log_filename = log_filename
@@ -59,6 +61,9 @@ class Runner:
         self.stop_thread = threading.Event()
         self.thread = threading.Thread(target=self.process_output)
         self.thread.start()
+        if self.wait_until_complete:
+            if self.wait(1.0) != 0:
+                raise TimeoutError("Command not completed")
 
     def process_output(self) -> None:
         assert self.process.stdout is not None
@@ -197,13 +202,30 @@ class GzserverRunner(Runner):
             self.env[var] = os.environ[var]
 
 
+class WaitforgzRunner(Runner):
+    def __init__(self,
+                 workspace_dir: str,
+                 log_dir: str,
+                 model: str,
+                 case: str,
+                 verbose: bool):
+        super().__init__(log_dir, model, case, verbose)
+        self.name = "waitforgz"
+        self.cwd = workspace_dir
+        self.env = {"PATH": os.environ['PATH'],
+                    "HOME": os.environ['HOME']}
+        script_dir = pathlib.Path(__file__).parent.absolute()
+        self.cmd = os.path.join(script_dir, "waitforgz.sh")
+        self.args = []
+        self.wait_until_complete = True
+
+
 class GzmodelspawnRunner(Runner):
     def __init__(self,
                  workspace_dir: str,
                  log_dir: str,
                  model: str,
                  case: str,
-                 speed_factor: float,
                  verbose: bool):
         super().__init__(log_dir, model, case, verbose)
         self.name = "gzmodelspawn"
@@ -214,21 +236,14 @@ class GzmodelspawnRunner(Runner):
                     workspace_dir + "/build/px4_sitl_default/build_gazebo",
                     "GAZEBO_MODEL_PATH":
                     workspace_dir + "/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": str(speed_factor),
                     "DISPLAY": os.environ['DISPLAY']}
-        self.add_to_env_if_set("PX4_HOME_LAT")
-        self.add_to_env_if_set("PX4_HOME_LON")
-        self.add_to_env_if_set("PX4_HOME_ALT")
         self.cmd = "gz"
         self.args = ["model", "--spawn-file", workspace_dir +
                      "/Tools/sitl_gazebo/models/" +
                      self.model + "/" + self.model + ".sdf",
                      "--model-name", self.model,
                      "-x", "1.01", "-y", "0.98", "-z", "0.83"]
-
-    def add_to_env_if_set(self, var: str) -> None:
-        if var in os.environ:
-            self.env[var] = os.environ[var]
+        self.wait_until_complete = True
 
 
 class GzclientRunner(Runner):

test/mavsdk_tests/waitforgz.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+while gz stats -d 0 2>&1 | grep "An instance of Gazebo is not running."; do
+    echo "Still running"
+done
+
+echo "done"