Tools: add valgrind option to autotest.py

Tools/autotest/apmrover2.py

@@ -79,7 +79,7 @@ def drive_mission(mavproxy, mav, filename):
     return True
 
 
-def drive_APMrover2(viewerip=None, map=False):
+def drive_APMrover2(viewerip=None, map=False, valgrind=False):
     '''drive APMrover2 in SIL
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -108,7 +108,7 @@ def drive_APMrover2(viewerip=None, map=False):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
 
-    sil = util.start_SIL('APMrover2', model='rover', home=home, speedup=10)
+    sil = util.start_SIL('APMrover2', model='rover', home=home, speedup=10, valgrind=valgrind)
     mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)

Tools/autotest/arducopter.py

@@ -904,7 +904,7 @@ def setup_rc(mavproxy):
     # zero throttle
     mavproxy.send('rc 3 1000\n')
 
-def fly_ArduCopter(viewerip=None, map=False):
+def fly_ArduCopter(viewerip=None, map=False, valgrind=False):
     '''fly ArduCopter in SIL
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -928,7 +928,7 @@ def fly_ArduCopter(viewerip=None, map=False):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
 
-    sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=speedup_default)
+    sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=speedup_default, valgrind=valgrind)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip

Tools/autotest/arduplane.py

@@ -426,7 +426,7 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
     return True
 
 
-def fly_ArduPlane(viewerip=None, map=False):
+def fly_ArduPlane(viewerip=None, map=False, valgrind=False):
     '''fly ArduPlane in SIL
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -458,7 +458,7 @@ def fly_ArduPlane(viewerip=None, map=False):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
 
-    sil = util.start_SIL('ArduPlane', model='jsbsim', home=HOME_LOCATION, speedup=10)
+    sil = util.start_SIL('ArduPlane', model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind)
     mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)

Tools/autotest/autotest.py

@@ -138,6 +138,7 @@ parser.add_option("--viewerip", default=None, help='IP address to send MAVLink a
 parser.add_option("--map", action='store_true', default=False, help='show map')
 parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
 parser.add_option("--timeout", default=3000, type='int', help='maximum runtime in seconds')
+parser.add_option("--valgrind", default=False, action='store_true', help='run ArduPilot binaries under valgrind')
 parser.add_option("-j", default=1, type='int', help='build CPUs')
 
 opts, args = parser.parse_args()
@@ -225,19 +226,19 @@ def run_step(step):
         return get_default_params('APMrover2')
 
     if step == 'fly.ArduCopter':
-        return arducopter.fly_ArduCopter(viewerip=opts.viewerip, map=opts.map)
+        return arducopter.fly_ArduCopter(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
 
     if step == 'fly.CopterAVC':
-        return arducopter.fly_CopterAVC(viewerip=opts.viewerip, map=opts.map)
+        return arducopter.fly_CopterAVC(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
 
     if step == 'fly.ArduPlane':
-        return arduplane.fly_ArduPlane(viewerip=opts.viewerip, map=opts.map)
+        return arduplane.fly_ArduPlane(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
 
     if step == 'fly.QuadPlane':
-        return quadplane.fly_QuadPlane(viewerip=opts.viewerip, map=opts.map)
+        return quadplane.fly_QuadPlane(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
 
     if step == 'drive.APMrover2':
-        return apmrover2.drive_APMrover2(viewerip=opts.viewerip, map=opts.map)
+        return apmrover2.drive_APMrover2(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
 
     if step == 'build.All':
         return build_all()