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mavsdk_tests: actually use chosen model

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This does not work for plane yet, and VTOL only acts as multicopter for
now, so doesn't make much sense just yet.
This commit is contained in:
Julian Oes
2020-01-08 16:07:07 +01:00
committed by Lorenz Meier
parent 5589812104
commit 0f77e3ba44
1 changed files with 17 additions and 16 deletions
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test/mavsdk_tests/mavsdk_test_runner.py
+17 -16
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@@ -16,16 +16,16 @@ test_matrix = [
"test_filter": "[multicopter]",
"timeout_min": 20,
},
{
"model": "standard_vtol",
"test_filter": "[vtol]",
"timeout_min": 20,
},
{
"model": "standard_plane",
"test_filter": "[plane]",
"timeout_min": 25,
}
#{
# "model": "standard_vtol",
# "test_filter": "[vtol]",
# "timeout_min": 20,
#},
# {
# "model": "standard_plane",
# "test_filter": "[plane]",
# "timeout_min": 25,
# }
]
@@ -93,7 +93,7 @@ class Runner:
class Px4Runner(Runner):
def __init__(self, workspace_dir, log_dir, speed_factor):
def __init__(self, model, workspace_dir, log_dir, speed_factor):
super().__init__(log_dir)
self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
@@ -106,13 +106,13 @@ class Px4Runner(Runner):
"-d"
]
self.env = {"PATH": os.environ['PATH'],
"PX4_SIM_MODEL": "iris",
"PX4_SIM_MODEL": model,
"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
self.log_prefix = "px4"
class GzserverRunner(Runner):
def __init__(self, workspace_dir, log_dir, speed_factor):
def __init__(self, model, workspace_dir, log_dir, speed_factor):
super().__init__(log_dir)
self.env = {"PATH": os.environ['PATH'],
"HOME": os.environ['HOME'],
@@ -122,7 +122,8 @@ class GzserverRunner(Runner):
workspace_dir + "/Tools/sitl_gazebo/models",
"PX4_SIM_SPEED_FACTOR": str(speed_factor)}
self.cmd = "gzserver"
self.args = [workspace_dir + "/Tools/sitl_gazebo/worlds/iris.world"]
self.args = [workspace_dir + "/Tools/sitl_gazebo/worlds/" +
model + ".world"]
self.log_prefix = "gzserver"
@@ -265,11 +266,11 @@ def run_test_group(args):
def run_test(test, group, args):
px4_runner = Px4Runner(
os.getcwd(), args.log_dir, args.speed_factor)
group['model'], os.getcwd(), args.log_dir, args.speed_factor)
px4_runner.start(group)
gzserver_runner = GzserverRunner(
os.getcwd(), args.log_dir, args.speed_factor)
group['model'], os.getcwd(), args.log_dir, args.speed_factor)
gzserver_runner.start(group)
if args.gui: