Mirrors_Framework/PX4-Autopilot
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mavsdk_tests: option for speed factor

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And we also need to communicate the speed factor for the px4 executable,
otherwise it can't adapt the timeouts accordingly.
This commit is contained in:
Julian Oes
2019-11-11 14:00:00 +01:00
committed by Lorenz Meier
parent 22bac037ed
commit ce9aa119ff
1 changed files with 11 additions and 6 deletions
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test/mavsdk_tests/mavsdk_test_runner.py
+11 -6
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@@ -80,7 +80,7 @@ class Runner:
class Px4Runner(Runner): class Px4Runner(Runner):
def __init__(self, workspace_dir, log_dir): def __init__(self, workspace_dir, log_dir, speed_factor):
super().__init__(log_dir) super().__init__(log_dir)
self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4" self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs" self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
@@ -93,12 +93,13 @@ class Px4Runner(Runner):
"-d" "-d"
] ]
self.env = {"PATH": os.environ['PATH'], self.env = {"PATH": os.environ['PATH'],
"PX4_SIM_MODEL": "iris"} "PX4_SIM_MODEL": "iris",
"PX4_SIM_SPEED_FACTOR": speed_factor}
self.log_prefix = "px4" self.log_prefix = "px4"
class GazeboRunner(Runner): class GazeboRunner(Runner):
def __init__(self, workspace_dir, log_dir): def __init__(self, workspace_dir, log_dir, speed_factor):
super().__init__(log_dir) super().__init__(log_dir)
self.env = {"PATH": os.environ['PATH'], self.env = {"PATH": os.environ['PATH'],
"HOME": os.environ['HOME'], "HOME": os.environ['HOME'],
@@ -106,7 +107,7 @@ class GazeboRunner(Runner):
workspace_dir + "/build/px4_sitl_default/build_gazebo", workspace_dir + "/build/px4_sitl_default/build_gazebo",
"GAZEBO_MODEL_PATH": "GAZEBO_MODEL_PATH":
workspace_dir + "/Tools/sitl_gazebo/models", workspace_dir + "/Tools/sitl_gazebo/models",
"PX4_SIM_SPEED_FACTOR": "5"} "PX4_SIM_SPEED_FACTOR": speed_factor}
self.cmd = "gzserver" self.cmd = "gzserver"
self.args = ["--verbose", self.args = ["--verbose",
workspace_dir + "/Tools/sitl_gazebo/worlds/iris.world"] workspace_dir + "/Tools/sitl_gazebo/worlds/iris.world"]
@@ -143,6 +144,8 @@ def main():
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
parser.add_argument("--log-dir", parser.add_argument("--log-dir",
help="Directory for log files, stdout if not provided") help="Directory for log files, stdout if not provided")
parser.add_argument("--speed-factor", default=1,
help="How fast to run the simulation")
args = parser.parse_args() args = parser.parse_args()
if not is_everything_ready(): if not is_everything_ready():
@@ -152,10 +155,12 @@ def main():
print("Running test group for '{}' with filter '{}'" print("Running test group for '{}' with filter '{}'"
.format(group['model'], group['test_filter'])) .format(group['model'], group['test_filter']))
px4_runner = Px4Runner(os.getcwd(), args.log_dir) px4_runner = Px4Runner(
os.getcwd(), args.log_dir, args.speed_factor)
px4_runner.start(group) px4_runner.start(group)
gazebo_runner = GazeboRunner(os.getcwd(), args.log_dir) gazebo_runner = GazeboRunner(
os.getcwd(), args.log_dir, args.speed_factor)
gazebo_runner.start(group) gazebo_runner.start(group)
test_runner = TestRunner(os.getcwd(), args.log_dir, group) test_runner = TestRunner(os.getcwd(), args.log_dir, group)