mavsdk_tests: update to be able to fetch rtps builds as well

test/mavsdk_tests/mavsdk_test_runner.py

@@ -52,6 +52,9 @@ def main() -> NoReturn:
     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")
+    parser.add_argument("--build-dir", type=str,
+                        default='build/px4_sitl_default/',
+                        help="relative path where the built files are stored")
     args = parser.parse_args()
 
     with open(args.config_file) as json_file:
@@ -62,7 +65,7 @@ def main() -> NoReturn:
               .format(config["mode"]))
         sys.exit(1)
 
-    if not is_everything_ready(config):
+    if not is_everything_ready(config, args.build_dir):
         sys.exit(1)
 
     if args.verbose:
@@ -80,7 +83,8 @@ def main() -> NoReturn:
         args.log_dir,
         args.gui,
         args.verbose,
-        args.upload
+        args.upload,
+        args.build_dir
     )
     signal.signal(signal.SIGINT, tester.sigint_handler)
 
@@ -94,7 +98,7 @@ def is_running(process_name: str) -> bool:
     return False
 
 
-def is_everything_ready(config: Dict[str, str]) -> bool:
+def is_everything_ready(config: Dict[str, str], build_dir: str) -> bool:
     result = True
 
     if config['mode'] == 'sitl':
@@ -102,10 +106,11 @@ def is_everything_ready(config: Dict[str, str]) -> bool:
             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'):
+        if not os.path.isfile(os.path.join(build_dir, 'bin/px4')):
             print("PX4 SITL is not built\n"
                   "run `DONT_RUN=1 "
-                  "make px4_sitl gazebo mavsdk_tests`")
+                  "make px4_sitl gazebo mavsdk_tests` or "
+                  "`DONT_RUN=1 make px4_sitl_rtps gazebo mavsdk_tests`")
             result = False
         if config['simulator'] == 'gazebo':
             if is_running('gzserver'):
@@ -117,10 +122,12 @@ def is_everything_ready(config: Dict[str, str]) -> bool:
                       "run `killall gzclient` and try again")
                 result = False
 
-    if not os.path.isfile('build/px4_sitl_default/mavsdk_tests/mavsdk_tests'):
+    if not os.path.isfile(os.path.join(build_dir,
+                                       'mavsdk_tests/mavsdk_tests')):
         print("Test runner is not built\n"
               "run `DONT_RUN=1 "
-              "make px4_sitl gazebo mavsdk_tests`")
+              "make px4_sitl gazebo mavsdk_tests` or "
+              "`DONT_RUN=1 make px4_sitl_rtps gazebo mavsdk_tests`")
         result = False
 
     return result
@@ -138,8 +145,10 @@ class Tester:
                  log_dir: str,
                  gui: bool,
                  verbose: bool,
-                 upload: bool):
+                 upload: bool,
+                 build_dir: str):
         self.config = config
+        self.build_dir = build_dir
         self.active_runners: List[ph.Runner]
         self.iterations = iterations
         self.abort_early = abort_early
@@ -153,30 +162,20 @@ class Tester:
         self.start_time = datetime.datetime.now()
         self.log_fd: Any[TextIO] = None
 
-    @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
-                                  cls.wildcard_match(case, key)))}
-
-        return tests
-
     @staticmethod
     def wildcard_match(pattern: str, potential_match: str) -> bool:
         return fnmatch.fnmatchcase(potential_match, pattern)
 
     @staticmethod
-    def query_test_cases(filter: str) -> List[str]:
+    def plural_s(n_items: int) -> str:
-        cmd = os.getcwd() + "/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
+        if n_items > 1:
+            return "s"
+        else:
+            return ""
+
+    @staticmethod
+    def query_test_cases(build_dir: str, filter: str) -> List[str]:
+        cmd = os.path.join(build_dir, 'mavsdk_tests/mavsdk_tests')
         args = ["--list-test-names-only", filter]
         p = subprocess.Popen(
             [cmd] + args,
@@ -187,12 +186,20 @@ class Tester:
         cases = str(p.stdout.read().decode("utf-8")).strip().split('\n')
         return cases
 
-    @staticmethod
+    def determine_tests(self,
-    def plural_s(n_items: int) -> str:
+                        tests: List[Dict[str, Any]],
-        if n_items > 1:
+                        model: str,
-            return "s"
+                        case: str) -> List[Dict[str, Any]]:
-        else:
+        for test in tests:
-            return ""
+            test['selected'] = (model == 'all' or model == test['model'])
+            test['cases'] = dict.fromkeys(
+                self.query_test_cases(self.build_dir, test['test_filter']))
+            for key in test['cases'].keys():
+                test['cases'][key] = {
+                    'selected': (test['selected'] and
+                                 (case == 'all' or
+                                  self.wildcard_match(case, key)))}
+        return tests
 
     def run(self) -> bool:
         self.show_plans()
@@ -392,6 +399,7 @@ class Tester:
                       test: Dict[str, Any],
                       case: str) -> None:
         self.active_runners = []
+
         if self.config['mode'] == 'sitl':
             px4_runner = ph.Px4Runner(
                 os.getcwd(),
@@ -400,7 +408,8 @@ class Tester:
                 case,
                 self.get_max_speed_factor(test),
                 self.debugger,
-                self.verbose)
+                self.verbose,
+                self.build_dir)
             self.active_runners.append(px4_runner)
 
             if self.config['simulator'] == 'gazebo':
@@ -410,7 +419,8 @@ class Tester:
                     test['vehicle'],
                     case,
                     self.get_max_speed_factor(test),
-                    self.verbose)
+                    self.verbose,
+                    self.build_dir)
                 self.active_runners.append(gzserver_runner)
 
                 gzmodelspawn_runner = ph.GzmodelspawnRunner(
@@ -418,7 +428,8 @@ class Tester:
                     log_dir,
                     test['vehicle'],
                     case,
-                    self.verbose)
+                    self.verbose,
+                    self.build_dir)
                 self.active_runners.append(gzmodelspawn_runner)
 
                 if self.gui:
@@ -437,7 +448,8 @@ class Tester:
             case,
             self.config['mavlink_connection'],
             self.speed_factor,
-            self.verbose)
+            self.verbose,
+            self.build_dir)
         self.active_runners.append(mavsdk_tests_runner)
 
         abort = False
@@ -490,9 +502,9 @@ class Tester:
         for line in log.splitlines():
             found = line.find(match)
             if found != -1:
-                return os.getcwd() \
+                return os.path.join(os.getcwd(), self.build_dir,
-                    + "/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/" \
+                                    "tmp_mavsdk_tests/rootfs",
-                    + line[found+len(match):]
+                                    line[found+len(match):])
         return None
 
     def upload_log(self, ulog_path: Optional[str],

test/mavsdk_tests/process_helper.py

@@ -146,18 +146,18 @@ class Runner:
 class Px4Runner(Runner):
     def __init__(self, workspace_dir: str, log_dir: str,
                  model: str, case: str, speed_factor: float,
-                 debugger: str, verbose: bool):
+                 debugger: str, verbose: bool, build_dir: str):
         super().__init__(log_dir, model, case, verbose)
         self.name = "px4"
-        self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
+        self.cmd = os.path.join(workspace_dir, build_dir, "bin/px4")
-        self.cwd = workspace_dir + \
+        self.cwd = os.path.join(workspace_dir, build_dir,
-            "/build/px4_sitl_default/tmp_mavsdk_tests/rootfs"
+                                "tmp_mavsdk_tests/rootfs")
         self.args = [
-                workspace_dir + "/build/px4_sitl_default/etc",
+                os.path.join(workspace_dir, build_dir, "etc"),
                 "-s",
                 "etc/init.d-posix/rcS",
                 "-t",
-                workspace_dir + "/test_data",
+                os.path.join(workspace_dir, "test_data"),
                 "-d"
             ]
         self.env["PX4_SIM_MODEL"] = self.model
@@ -214,14 +214,15 @@ class GzserverRunner(Runner):
                  model: str,
                  case: str,
                  speed_factor: float,
-                 verbose: bool):
+                 verbose: bool,
+                 build_dir: str):
         super().__init__(log_dir, model, case, verbose)
         self.name = "gzserver"
         self.cwd = workspace_dir
         self.env["GAZEBO_PLUGIN_PATH"] = \
-            workspace_dir + "/build/px4_sitl_default/build_gazebo"
+            os.path.join(workspace_dir, build_dir, "build_gazebo")
         self.env["GAZEBO_MODEL_PATH"] = \
-            workspace_dir + "/Tools/sitl_gazebo/models"
+            os.path.join(workspace_dir, "Tools/sitl_gazebo/models")
         self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
         self.cmd = "stdbuf"
         self.args = ["-o0", "-e0", "gzserver", "--verbose",
@@ -251,28 +252,29 @@ class GzmodelspawnRunner(Runner):
                  log_dir: str,
                  model: str,
                  case: str,
-                 verbose: bool):
+                 verbose: bool,
+                 build_dir: str):
         super().__init__(log_dir, model, case, verbose)
         self.name = "gzmodelspawn"
         self.cwd = workspace_dir
         self.env["GAZEBO_PLUGIN_PATH"] = \
-            workspace_dir + "/build/px4_sitl_default/build_gazebo"
+            os.path.join(workspace_dir, build_dir, "build_gazebo")
         self.env["GAZEBO_MODEL_PATH"] = \
-            workspace_dir + "/Tools/sitl_gazebo/models"
+            os.path.join(workspace_dir, "Tools/sitl_gazebo/models")
         self.cmd = "gz"
 
-        if os.path.isfile(workspace_dir +
+        if os.path.isfile(os.path.join(workspace_dir,
-                          "/Tools/sitl_gazebo/models/" +
+                                       "Tools/sitl_gazebo/models",
-                          self.model + "/" + self.model + ".sdf"):
+                                       self.model, self.model + ".sdf")):
-            model_path = workspace_dir + \
+            model_path = os.path.join(workspace_dir,
-                "/Tools/sitl_gazebo/models/" + \
+                                      "Tools/sitl_gazebo/models",
-                self.model + "/" + self.model + ".sdf"
+                                      self.model, self.model + ".sdf")
-        elif os.path.isfile(workspace_dir +
+        elif os.path.isfile(os.path.join(workspace_dir,
-                            "/Tools/sitl_gazebo/models/" +
+                                         "Tools/sitl_gazebo/models",
-                            self.model + "/" + self.model + "-gen.sdf"):
+                                         self.model, self.model + "-gen.sdf")):
-            model_path = workspace_dir + \
+            model_path = os.path.join(workspace_dir,
-                "/Tools/sitl_gazebo/models/" + \
+                                      "Tools/sitl_gazebo/models",
-                self.model + "/" + self.model + "-gen.sdf"
+                                      self.model, self.model + "-gen.sdf")
         else:
             raise Exception("Model not found")
 
@@ -322,7 +324,8 @@ class GzclientRunner(Runner):
         self.name = "gzclient"
         self.cwd = workspace_dir
         self.env = dict(os.environ, **{
-            "GAZEBO_MODEL_PATH": workspace_dir + "/Tools/sitl_gazebo/models"})
+            "GAZEBO_MODEL_PATH": os.path.join(workspace_dir,
+                                              "Tools/sitl_gazebo/models")})
         self.cmd = "gzclient"
         self.args = ["--verbose"]
 
@@ -335,12 +338,13 @@ class TestRunner(Runner):
                  case: str,
                  mavlink_connection: str,
                  speed_factor: float,
-                 verbose: bool):
+                 verbose: bool,
+                 build_dir: str):
         super().__init__(log_dir, model, case, verbose)
         self.name = "mavsdk_tests"
         self.cwd = workspace_dir
-        self.cmd = workspace_dir + \
+        self.cmd = os.path.join(workspace_dir, build_dir,
-            "/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
+                                "mavsdk_tests/mavsdk_tests")
         self.args = ["--url", mavlink_connection,
                      "--speed-factor", str(speed_factor),
                      case]