autotest: avoid the need for killall

this ensures we cleanup child processes cleanly, so we don't need the
killall any more

Tools/autotest/arducopter.py

@@ -261,8 +261,8 @@ def fly_ArduCopter():
     mavproxy.expect('Please Run Setup')
 
     # we need to restart it after eeprom erase
-    mavproxy.close()
-    sil.close()
+    util.pexpect_close(mavproxy)
+    util.pexpect_close(sil)
     sil = util.start_SIL('ArduCopter')
     mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --quadcopter')
     mavproxy.expect('Received [0-9]+ parameters')
@@ -272,8 +272,8 @@ def fly_ArduCopter():
     mavproxy.expect('Loaded [0-9]+ parameters')
 
     # reboot with new parameters
-    mavproxy.close()
-    sil.close()
+    util.pexpect_close(mavproxy)
+    util.pexpect_close(sil)
     sil = util.start_SIL('ArduCopter')
     mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --out=192.168.2.15:14550 --quadcopter --streamrate=1')
     mavproxy.expect('Logging to (\S+)')
@@ -285,7 +285,6 @@ def fly_ArduCopter():
     util.expect_setup_callback(mavproxy, expect_callback)
 
     # start hil_quad.py
-    util.run_cmd('pkill -f hil_quad.py', checkfail=False)
     hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
                         logfile=sys.stdout, timeout=10)
     hquad.expect('Starting at')
@@ -313,9 +312,9 @@ def fly_ArduCopter():
     except pexpect.TIMEOUT, e:
         failed = True
 
-    mavproxy.close()
-    sil.close()
-    hquad.close()
+    util.pexpect_close(mavproxy)
+    util.pexpect_close(sil)
+    util.pexpect_close(hquad)
 
     shutil.copy(logfile, util.reltopdir("../buildlogs/ArduCopter-test.mavlog"))
     if os.path.exists('ArduCopter-valgrind.log'):

Tools/autotest/autotest.py

@@ -14,16 +14,16 @@ def get_default_params(atype):
     idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
     if idx == 0:
         # we need to restart it after eeprom erase
-        mavproxy.close()
-        sil.close()
+        util.pexpect_close(mavproxy)
+        util.pexpect_close(sil)
         sil = util.start_SIL(atype)
         mavproxy = util.start_MAVProxy_SIL(atype)
         idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
     parmfile = mavproxy.match.group(1)
     dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
     shutil.copy(parmfile, dest)
-    mavproxy.close()
-    sil.close()
+    util.pexpect_close(mavproxy)
+    util.pexpect_close(sil)
     print("Saved defaults for %s to %s" % (atype, dest))
 
 
@@ -44,8 +44,8 @@ def dump_logs(atype):
         mavproxy.send("dump %u\n" % (i+1))
         mavproxy.expect("logs enabled:")
         mavproxy.expect("Log]")
-    mavproxy.close()
-    sil.close()
+    util.pexpect_close(mavproxy)
+    util.pexpect_close(sil)
     log.close()
     print("Saved log for %s to %s" % (atype, logfile))
 
@@ -88,31 +88,35 @@ def skip_step(step):
             return True
     return False
 
-# kill any previous instance
-util.kill('ArduCopter.elf')
-util.kill('ArduPilot.elf')
-
-test_prerequesites()
-
-for step in steps:
-    if skip_step(step):
-        continue
-    if step == 'build.ArduPlane':
-        util.build_SIL('ArduPlane')
-    elif step == 'build.ArduCopter':
-        util.build_SIL('ArduCopter')
-    elif step == 'defaults.ArduPlane':
-        get_default_params('ArduPlane')
-    elif step == 'defaults.ArduCopter':
-        get_default_params('ArduCopter')
-    elif step == 'logs.ArduPlane':
-        dump_logs('ArduPlane')
-    elif step == 'logs.ArduCopter':
-        dump_logs('ArduCopter')
-    elif step == 'fly.ArduCopter':
-        arducopter.fly_ArduCopter()
-    else:
-        raise RuntimeError("Unknown step %s" % step)
-
-util.kill('ArduCopter.elf')
-util.kill('ArduPilot.elf')
+def run_tests(steps):
+    '''run a list of steps'''
+
+    test_prerequesites()
+    for step in steps:
+        if skip_step(step):
+            continue
+        if step == 'build.ArduPlane':
+            util.build_SIL('ArduPlane')
+        elif step == 'build.ArduCopter':
+            util.build_SIL('ArduCopter')
+        elif step == 'defaults.ArduPlane':
+            get_default_params('ArduPlane')
+        elif step == 'defaults.ArduCopter':
+            get_default_params('ArduCopter')
+        elif step == 'logs.ArduPlane':
+            dump_logs('ArduPlane')
+        elif step == 'logs.ArduCopter':
+            dump_logs('ArduCopter')
+        elif step == 'fly.ArduCopter':
+            arducopter.fly_ArduCopter()
+        else:
+            raise RuntimeError("Unknown step %s" % step)
+
+try:
+    run_tests(steps)
+except KeyboardInterrupt:
+    util.pexpect_close_all()
+except Exception:
+    # make sure we kill off any children
+    util.pexpect_close_all()
+    raise

Tools/autotest/util.py

@@ -48,8 +48,26 @@ def build_SIL(atype):
             dir=reltopdir(atype),
             checkfail=True)
 
+close_list = []
+
+def pexpect_close(p):
+    '''close a pexpect child'''
+    global close_list
+    p.close()
+    close_list.remove(p)
+
+def pexpect_close_all():
+    '''close all pexpect children'''
+    global close_list
+    for p in close_list[:]:
+        try:
+            p.close()
+        except Exception:
+            pass
+
 def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
     '''launch a SIL instance'''
+    global close_list
     cmd=""
     if valgrind and os.path.exists('/usr/bin/valgrind'):
         cmd += 'valgrind -q --log-file=%s-valgrind.log ' % atype
@@ -59,12 +77,14 @@ def start_SIL(atype, valgrind=True, wipe=False, CLI=False):
     if CLI:
         cmd += ' -s'
     ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
+    close_list.append(ret)
     ret.expect('Waiting for connection')
     return ret
 
 def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
                        options=None, logfile=sys.stdout):
     '''launch mavproxy connected to a SIL instance'''
+    global close_list
     MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
     cmd = MAVPROXY + ' --master=%s' % master
     if setup:
@@ -75,14 +95,10 @@ def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:
     if options is not None:
         cmd += ' ' + options
     ret = pexpect.spawn(cmd, logfile=logfile, timeout=60)
+    close_list.append(ret)
     return ret
 
 
-def kill(name):
-    '''kill a process'''
-    run_cmd('killall -9 -q %s' % name, checkfail=False)
-
-
 def expect_setup_callback(e, callback):
     '''setup a callback that is called once a second while waiting for
        patterns'''