MAVSDK testing improvements

.github/workflows/python_checks.yml

@@ -0,0 +1,25 @@
+name: Python CI checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Install Python3
+      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+    - name: Install tools
+      run: pip3 install --user mypy flake8
+    - name: Check MAVSDK test scripts with mypy
+      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+    - name: Check MAVSDK test scripts with flake8
+      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

.github/workflows/sitl_tests.yml

@@ -33,16 +33,14 @@ jobs:
       run: DONT_RUN=1 make px4_sitl PX4_CMAKE_BUILD_TYPE=Coverage gazebo mavsdk_tests
     - name: ccache post-run
       run: ccache -s && ccache -z
-
-      # Run mavsdk tests
-    - name: Run multicopter simulation test
-      run:  test/mavsdk_tests/mavsdk_test_runner.py --model iris --speed-factor 20 --iterations 1 --fail-early
-    - name: Run multicopter with optical flow simulation test
-      run:  test/mavsdk_tests/mavsdk_test_runner.py --model iris_opt_flow_mockup --speed-factor 1 --iterations 1 --fail-early
-    - name: Run multicopter with VIO sensor simulation test
-      run:  test/mavsdk_tests/mavsdk_test_runner.py --model iris_vision --speed-factor 1 --iterations 1 --fail-early
-    - name: Run VTOL simulation test #
-      run:  test/mavsdk_tests/mavsdk_test_runner.py --model standard_vtol --speed-factor 20 --iterations 1 --fail-early
+    - name: Run SITL tests
+      run:  test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+    - name: Run SITL tests in Southern hemisphere
+      run: PX4_HOME_LAT=-37.8134048 PX4_HOME_LON=175.304109 PX4_HOME_ALT=32 |
+        test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+    - name: Run SITL tests far in the West
+      run: PX4_HOME_LAT=59.6176928 PX4_HOME_LON=-151.1453163 PX4_HOME_ALT=48 |
+        test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
 
     # Report test coverage
     - name: disable the keychain credential helper

Tools/astyle/files_to_check_code_style.sh

@@ -7,7 +7,7 @@ if [ $# -gt 0 ]; then
     PATTERN="$1"
 fi
 
-exec find boards msg src platforms \
+exec find boards msg src platforms test \
     -path msg/templates/urtps -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
@@ -18,4 +18,5 @@ exec find boards msg src platforms \
     -path src/lib/systemlib/uthash -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
+    -path test/mavsdk_tests/catch2 -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/sitl_run.sh

@@ -2,6 +2,16 @@
 
 set -e
 
+if [ "$#" -lt 6 ]; then
+	echo usage: sitl_run.sh sitl_bin debugger program model src_path build_path
+	exit 1
+fi
+
+if [[ -n "$DONT_RUN" ]]; then
+	echo "Not running simulation (DONT_RUN is set)."
+    exit 0
+fi
+
 sitl_bin="$1"
 debugger="$2"
 program="$3"
@@ -41,12 +51,6 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
 	model="iris"
 fi
 
-if [ "$#" -lt 6 ]; then
-	echo usage: sitl_run.sh sitl_bin debugger program model src_path build_path
-	echo ""
-	exit 1
-fi
-
 # kill process names that might stil
 # be running from last time
 pkill -x gazebo || true
@@ -73,22 +77,20 @@ if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
 	SIM_PID=`echo $!`
 elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 	if [ -x "$(command -v gazebo)" ]; then
-		if  [[ -z "$DONT_RUN" ]]; then
-			# Set the plugin path so Gazebo finds our model and sim
-			source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
+	# Set the plugin path so Gazebo finds our model and sim
+	source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
 
 			gzserver "${src_path}/Tools/sitl_gazebo/worlds/${model}.world" &
 			SIM_PID=`echo $!`
 
-			if [[ -n "$HEADLESS" ]]; then
-				echo "not running gazebo gui"
-			else
-				# gzserver needs to be running to avoid a race. Since the launch
-				# is putting it into the background we need to avoid it by backing off
-				sleep 3
-				nice -n 20 gzclient --verbose &
-				GUI_PID=`echo $!`
-			fi
+	if [[ -n "$HEADLESS" ]]; then
+		echo "not running gazebo gui"
+	else
+		# gzserver needs to be running to avoid a race. Since the launch
+		# is putting it into the background we need to avoid it by backing off
+		sleep 3
+		nice -n 20 gzclient --verbose &
+		GUI_PID=`echo $!`
 		fi
 	else
 		echo "You need to have gazebo simulator installed!"
@@ -112,9 +114,7 @@ echo SITL COMMAND: $sitl_command
 export PX4_SIM_MODEL=${model}
 
 
-if [[ -n "$DONT_RUN" ]]; then
-	echo "Not running simulation (\$DONT_RUN is set)."
-elif [ "$debugger" == "lldb" ]; then
+if [ "$debugger" == "lldb" ]; then
 	eval lldb -- $sitl_command
 elif [ "$debugger" == "gdb" ]; then
 	eval gdb --args $sitl_command
@@ -138,14 +138,12 @@ fi
 
 popd >/dev/null
 
-if [[ -z "$DONT_RUN" ]]; then
-	if [ "$program" == "jmavsim" ]; then
-		pkill -9 -P $SIM_PID
-		kill -9 $SIM_PID
-	elif [ "$program" == "gazebo" ]; then
-		kill -9 $SIM_PID
-		if [[ ! -n "$HEADLESS" ]]; then
-			kill -9 $GUI_PID
-		fi
+if [ "$program" == "jmavsim" ]; then
+	pkill -9 -P $SIM_PID
+	kill -9 $SIM_PID
+elif [ "$program" == "gazebo" ]; then
+	kill -9 $SIM_PID
+	if [[ ! -n "$HEADLESS" ]]; then
+		kill -9 $GUI_PID
 	fi
 fi

src/modules/simulator/simulator_mavlink.cpp

@@ -963,7 +963,7 @@ int Simulator::publish_flow_topic(const mavlink_hil_optical_flow_t *flow_mavlink
 {
 	optical_flow_s flow = {};
 	flow.sensor_id = flow_mavlink->sensor_id;
-	flow.timestamp = hrt_absolute_time();;
+	flow.timestamp = hrt_absolute_time();
 	flow.time_since_last_sonar_update = 0;
 	flow.frame_count_since_last_readout = 0; // ?
 	flow.integration_timespan = flow_mavlink->integration_time_us;

test/mavsdk_tests/CMakeLists.txt

@@ -6,16 +6,15 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-find_package(MAVSDK QUIET)
+find_package(MAVSDK REQUIRED)
 
 if(MAVSDK_FOUND)
     add_executable(mavsdk_tests
         test_main.cpp
         autopilot_tester.cpp
         test_multicopter_offboard.cpp
-        test_mission_multicopter.cpp
-        test_mission_plane.cpp
-        test_mission_vtol.cpp
+        test_multicopter_mission.cpp
+        test_vtol_mission.cpp
     )
 
     target_link_libraries(mavsdk_tests