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mavsdk_test_runner.py
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mavsdk_test_runner.py
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#!/usr/bin/env python3
import argparse
import datetime
import json
import math
import os
import psutil # type: ignore
import signal
import subprocess
import sys
from logger_helper import color, colorize
import process_helper as ph
from typing import Any, Dict, List, NoReturn, TextIO, Optional
from types import FrameType
def main() -> NoReturn:
parser = argparse.ArgumentParser()
parser.add_argument("--log-dir",
help="Directory for log files", default="logs")
parser.add_argument("--speed-factor", default=1,
help="How fast to run the simulation")
parser.add_argument("--iterations", type=int, default=1,
help="How often to run all tests")
parser.add_argument("--abort-early", action='store_true',
help="Abort on first unsuccessful test")
parser.add_argument("--gui", default=False, action='store_true',
help="Display gzclient with simulation")
parser.add_argument("--model", type=str, default='all',
help="Only run tests for one model")
parser.add_argument("--case", type=str, default='all',
help="Only run tests for one case")
parser.add_argument("--debugger", default="",
help="valgrind callgrind gdb lldb")
parser.add_argument("--verbose", default=False, action='store_true',
help="Enable more verbose output")
parser.add_argument("config_file", help="JSON config file to use")
args = parser.parse_args()
with open(args.config_file) as json_file:
config = json.load(json_file)
if config["mode"] != "sitl" and args.gui:
print("--gui is not compatible with the mode '{}'"
.format(config["mode"]))
sys.exit(1)
if not is_everything_ready(config):
sys.exit(1)
if args.verbose:
print("Creating directory: {}".format(args.log_dir))
os.makedirs(args.log_dir, exist_ok=True)
tester = Tester(
config,
args.iterations,
args.abort_early,
args.speed_factor,
args.model,
args.case,
args.debugger,
args.log_dir,
args.gui,
args.verbose
)
signal.signal(signal.SIGINT, tester.sigint_handler)
sys.exit(0 if tester.run() else 1)
def is_running(process_name: str) -> bool:
for proc in psutil.process_iter(attrs=['name']):
if proc.info['name'] == process_name:
return True
return False
def is_everything_ready(config: Dict[str, str]) -> bool:
result = True
if config['mode'] == 'sitl':
if is_running('px4'):
print("px4 process already running\n"
"run `killall px4` and try again")
result = False
if not os.path.isfile('build/px4_sitl_default/bin/px4'):
print("PX4 SITL is not built\n"
"run `DONT_RUN=1 "
"make px4_sitl gazebo mavsdk_tests`")
result = False
if config['simulator'] == 'gazebo':
if is_running('gzserver'):
print("gzserver process already running\n"
"run `killall gzserver` and try again")
result = False
if is_running('gzclient'):
print("gzclient process already running\n"
"run `killall gzclient` and try again")
result = False
if not os.path.isfile('build/px4_sitl_default/mavsdk_tests/mavsdk_tests'):
print("Test runner is not built\n"
"run `DONT_RUN=1 "
"make px4_sitl gazebo mavsdk_tests`")
result = False
return result
class Tester:
def __init__(self,
config: Dict[str, Any],
iterations: int,
abort_early: bool,
speed_factor: float,
model: str,
case: str,
debugger: str,
log_dir: str,
gui: bool,
verbose: bool):
self.config = config
self.active_runners: List[ph.Runner]
self.iterations = iterations
self.abort_early = abort_early
self.tests = self.determine_tests(config['tests'], model, case)
self.speed_factor = speed_factor
self.debugger = debugger
self.log_dir = log_dir
self.gui = gui
self.verbose = verbose
self.start_time = datetime.datetime.now()
self.combined_log_fd = TextIO
@classmethod
def determine_tests(cls,
tests: List[Dict[str, Any]],
model: str,
case: str) -> List[Dict[str, Any]]:
for test in tests:
test['selected'] = (model == 'all' or model == test['model'])
test['cases'] = dict.fromkeys(
cls.query_test_cases(test['test_filter']))
for key in test['cases'].keys():
test['cases'][key] = {
'selected': (test['selected'] and
(case == 'all' or case == key))}
return tests
@staticmethod
def query_test_cases(filter: str) -> List[str]:
cmd = os.getcwd() + "/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
args = ["--list-test-names-only", filter]
p = subprocess.Popen(
[cmd] + args,
stdin=subprocess.PIPE,
stdout=subprocess.PIPE,
stderr=subprocess.STDOUT)
assert p.stdout is not None
cases = str(p.stdout.read().decode("utf-8")).strip().split('\n')
return cases
@staticmethod
def plural_s(n_items: int) -> str:
if n_items > 1:
return "s"
else:
return ""
def run(self) -> bool:
self.show_plans()
self.prepare_for_results()
self.run_tests()
self.show_detailed_results()
self.show_overall_result()
return self.was_overall_pass()
def show_plans(self) -> None:
print()
print(colorize(
"About to run {} test case{} for {} selected model{} "
"({} iteration{}):".
format(self.num_cases(), self.plural_s(self.num_cases()),
self.num_models(), self.plural_s(self.num_models()),
self.iterations, self.plural_s(self.iterations)),
color.BOLD))
for test in self.tests:
if not test['selected']:
print(colorize(colorize(
" - {} (not selected)".format(test['model']),
color.BOLD), color.GRAY))
continue
print(colorize(" - {}:".format(test['model']), color.BOLD))
for key, case in test['cases'].items():
if case['selected']:
print(" - '{}'".format(key))
else:
print(colorize(" - '{}' (not selected)".format(key),
color.GRAY))
print()
def num_models(self) -> int:
return sum(map(
lambda test: 1 if test['selected'] else 0,
self.tests))
def num_cases(self) -> int:
n_cases = 0
for test in self.tests:
if not test['selected']:
continue
n_cases += self.num_cases_for_test(test)
return n_cases
def num_cases_for_test(self, test: Dict[str, Any]) -> int:
n_cases = 0
for case in test['cases'].values():
if not case['selected']:
continue
n_cases += 1
return n_cases
def prepare_for_results(self) -> None:
for test in self.tests:
if not test['selected']:
continue
for key, value in test['cases'].items():
if not value['selected']:
continue
value['results'] = []
def run_tests(self) -> None:
for iteration in range(self.iterations):
if self.iterations > 1:
print(colorize("%%% Test iteration: {} / {}".
format(iteration + 1, self.iterations), color.BOLD))
success = self.run_iteration(iteration)
if not success:
if self.abort_early:
break
def run_iteration(self, iteration: int) -> bool:
iteration_success = True
for test in self.tests:
if not test['selected']:
continue
print(colorize(
"==> Running tests for {}".format(test['model']),
color.BOLD))
test_i = 0
for key, case_value in test['cases'].items():
if not case_value['selected']:
continue
print("--> Test case {} of {}: '{}' running ...".
format(test_i+1,
self.num_cases_for_test(test),
key))
log_dir = self.get_log_dir(iteration, test['model'], key)
if self.verbose:
print("creating log directory: {}"
.format(log_dir))
os.makedirs(log_dir, exist_ok=True)
was_success = self.run_test_case(test, key, log_dir)
print("--- Test case {} of {}: '{}' {}."
.format(test_i+1,
self.num_cases_for_test(test),
key,
colorize("succeeded", color.GREEN)
if was_success
else colorize("failed", color.RED)))
if not was_success:
iteration_success = False
if not was_success and self.abort_early:
print("Aborting early")
return False
test_i += 1
return iteration_success
def get_log_dir(self, iteration: int, model: str, case: str) -> str:
date_and_time = self.start_time.strftime("%Y-%m-%dT%H-%M-%SZ")
foldername = os.path.join(self.log_dir, date_and_time)
if self.iterations > 1:
# Use as many zeros in foldername as required.
digits = math.floor(math.log10(self.iterations)) + 1
foldername = os.path.join(foldername,
str(iteration + 1).zfill(digits))
foldername = os.path.join(foldername, model)
foldername = os.path.join(foldername, case.replace(" ", "_"))
return foldername
def get_max_speed_factor(self, test: Dict[str, Any]) -> float:
speed_factor = self.speed_factor
if "max_speed_factor" in test:
speed_factor = min(float(speed_factor), test["max_speed_factor"])
return speed_factor
def run_test_case(self, test: Dict[str, Any],
case: str, log_dir: str) -> bool:
self.start_runners(log_dir, test, case)
logfile_path = self.determine_logfile_path(log_dir, 'combined')
self.start_combined_log(logfile_path)
test_timeout_s = test['timeout_min']*60
while self.active_runners[-1].time_elapsed_s() < test_timeout_s:
returncode = self.active_runners[-1].poll()
if returncode is not None:
is_success = (returncode == 0)
break
self.collect_runner_output()
else:
print(colorize(
"Test timeout of {} mins triggered!".
format(test['timeout_min']),
color.BOLD))
is_success = False
self.stop_runners()
self.stop_combined_log()
result = {'success': is_success,
'logfiles': [runner.get_log_filename()
for runner in self.active_runners]}
test['cases'][case]['results'].append(result)
if not is_success:
if not self.verbose:
print(self.get_combined_log(logfile_path))
print("Logfiles: ")
print(" - {}".format(logfile_path))
for runner in self.active_runners:
print(" - {}".format(runner.get_log_filename()))
return is_success
def start_runners(self,
log_dir: str,
test: Dict[str, Any],
case: str) -> None:
self.active_runners = []
if self.config['mode'] == 'sitl':
px4_runner = ph.Px4Runner(
os.getcwd(),
log_dir,
test['model'],
case,
self.get_max_speed_factor(test),
self.debugger,
self.verbose)
self.active_runners.append(px4_runner)
if self.config['simulator'] == 'gazebo':
gzserver_runner = ph.GzserverRunner(
os.getcwd(),
log_dir,
test['model'],
case,
self.get_max_speed_factor(test),
self.verbose)
self.active_runners.append(gzserver_runner)
if self.gui:
gzclient_runner = ph.GzclientRunner(
os.getcwd(),
log_dir,
test['model'],
case,
self.verbose)
self.active_runners.append(gzclient_runner)
test_runner = ph.TestRunner(
os.getcwd(),
log_dir,
test['model'],
case,
self.config['mavlink_connection'],
self.verbose)
self.active_runners.append(test_runner)
for runner in self.active_runners:
runner.set_log_filename(
self.determine_logfile_path(log_dir, runner.name))
runner.start()
def stop_runners(self) -> None:
for runner in self.active_runners:
runner.stop()
def collect_runner_output(self) -> None:
max_name = max(len(runner.name) for runner in self.active_runners)
for runner in self.active_runners:
output = runner.get_output()
if not output:
continue
output = self.add_name_prefix(max_name, runner.name, output)
self.add_to_combined_log(output)
if self.verbose:
print(output, end="")
def start_combined_log(self, filename: str) -> None:
self.log_fd = open(filename, 'w')
def stop_combined_log(self) -> None:
self.log_fd.close()
def add_to_combined_log(self, output: str) -> None:
self.log_fd.write(output)
def get_combined_log(self, filename: str) -> str:
with open(filename, 'r') as f:
return f.read()
@staticmethod
def add_name_prefix(width: int, name: str, text: str) -> str:
return colorize("[" + name.ljust(width) + "] " + text, color.RESET)
@staticmethod
def determine_logfile_path(log_dir: str, desc: str) -> str:
return os.path.join(log_dir, "log-{}.log".format(desc))
def show_detailed_results(self) -> None:
print()
print(colorize("Results:", color.BOLD))
for test in self.tests:
if not test['selected']:
print(colorize(colorize(
" - {} (not selected)".
format(test['model']), color.BOLD), color.GRAY))
continue
else:
print(colorize(" - {}:".format(test['model']), color.BOLD))
for name, case in test['cases'].items():
if not case['selected']:
continue
print(" - '{}': ".format(name), end="")
n_succeeded = [result['success']
for result in case['results']].count(True)
n_failed = [result['success']
for result in case['results']].count(False)
n_cancelled = self.iterations - len(case['results'])
notes = [
self.note_if_any(
colorize("{}succeeded", color.GREEN),
n_succeeded, self.iterations),
self.note_if_any(
colorize("{}failed", color.RED),
n_failed, self.iterations),
self.note_if_any(
colorize("{}cancelled", color.GRAY),
n_cancelled, self.iterations)]
notes_without_none = list(filter(None, notes))
print(", ".join(notes_without_none))
def was_overall_pass(self) -> bool:
for test in self.tests:
if not test['selected']:
continue
for case in test['cases'].values():
if not case['selected']:
continue
for result in case['results']:
if result['success'] is not True:
return False
return True
def show_overall_result(self) -> None:
print(colorize(
"Overall result: {}".format(
colorize("PASS", color.GREEN)
if self.was_overall_pass()
else colorize("FAIL", color.RED)), color.BOLD))
@staticmethod
def note_if_any(text_to_format: str, n: int, total: int) -> Optional[str]:
assert not n < 0
if n == 0:
return None
elif n == 1 and total == 1:
return text_to_format.format("")
else:
return text_to_format.format(str(n) + " ")
def sigint_handler(self, sig: signal.Signals, frame: FrameType) \
-> NoReturn:
print("Received SIGINT")
print("Stopping all processes ...")
self.stop_runners()
self.stop_combined_log()
print("Stopping all processes done.")
self.show_detailed_results()
sys.exit(-sig)
if __name__ == '__main__':
main()