mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 01:17:51 +08:00
mavsdk_tests: properly exit on Ctrl+C
With threads we need to manually take care of it, otherwise it gets messy and we need to press Ctrl+C multiple times.
This commit is contained in:
Julian Oes
Nuno Marques
@@ -8,6 +8,7 @@ import json
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import os
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import psutil
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import re
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import signal
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import subprocess
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import sys
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import threading
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@@ -304,7 +305,10 @@ def main():
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print("Creating directory: {}".format(args.log_dir))
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os.makedirs(args.log_dir, exist_ok=True)
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sys.exit(run(args, config))
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tester = Tester()
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signal.signal(signal.SIGINT, tester.sigint_handler)
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sys.exit(tester.run(args, config))
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def determine_tests(filter):
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@@ -358,134 +362,137 @@ def is_everything_ready(config):
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return result
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def run(args, config):
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overall_success = True
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class Tester:
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def __init__(self):
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self.active_runners = []
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for iteration in range(args.iterations):
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if args.iterations > 1:
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print("Test iteration: {}".format(iteration + 1, args.iterations))
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def run(self, args, config):
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overall_success = True
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was_success = run_test_group(args, config)
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for iteration in range(args.iterations):
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if args.iterations > 1:
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print("Test iteration: {}".
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format(iteration + 1, args.iterations))
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if not was_success:
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overall_success = False
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if args.iterations > 1 and not was_success and args.abort_early:
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print("Aborting with a failure in test run {}/{}".
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format(iteration + 1, args.iterations))
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break
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if overall_success:
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print(color.GREEN + "Overall result: success!" + color.END)
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return 0
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else:
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print(color.RED + "Overall result: failure!" + color.END)
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return 1
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def run_test_group(args, config):
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overall_success = True
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tests = config["tests"]
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if args.model == 'all':
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models = tests
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else:
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found = False
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for elem in tests:
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if elem['model'] == args.model:
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models = [elem]
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found = True
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if not found:
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print("Specified model is not defined")
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models = []
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for group in models:
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print(color.BOLD + "==> Running tests for '{}' with filter '{}'"
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.format(group['model'], group['test_filter']) + color.END)
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tests = determine_tests(group['test_filter'])
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for i, test in enumerate(tests):
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print("--> Test {} of {}: '{}' running ...".
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format(i+1, len(tests), test))
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was_success = run_test(test, group, args, config)
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if was_success:
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print(color.GREEN + "--- Test {} of {}: '{}' succeeded.".
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format(i+1, len(tests), test) + color.END)
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else:
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print(color.RED + "--- Test {} of {}: '{}' failed.".
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format(i+1, len(tests), test) + color.END)
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was_success = self.run_test_group(args, config)
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if not was_success:
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overall_success = False
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if not was_success and args.abort_early:
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print("Aborting early")
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return False
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if args.iterations > 1 and not was_success and args.abort_early:
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print("Aborting with a failure in test run {}/{}".
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format(iteration + 1, args.iterations))
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break
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return overall_success
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if overall_success:
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print(color.GREEN + "Overall result: success!" + color.END)
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return 0
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else:
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print(color.RED + "Overall result: failure!" + color.END)
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return 1
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def run_test_group(self, args, config):
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overall_success = True
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def run_test(test, group, args, config):
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tests = config["tests"]
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speed_factor = args.speed_factor
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if "max_speed_factor" in group:
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speed_factor = min(int(speed_factor), group["max_speed_factor"])
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if args.model == 'all':
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models = tests
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else:
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found = False
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for elem in tests:
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if elem['model'] == args.model:
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models = [elem]
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found = True
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if not found:
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print("Specified model is not defined")
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models = []
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if config['mode'] == 'sitl':
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px4_runner = Px4Runner(
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group['model'], os.getcwd(), args.log_dir, speed_factor,
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args.debugger, args.verbose)
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px4_runner.start(group)
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for group in models:
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print(color.BOLD + "==> Running tests for '{}' with filter '{}'"
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.format(group['model'], group['test_filter']) + color.END)
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if config['simulator'] == 'gazebo':
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gzserver_runner = GzserverRunner(
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tests = determine_tests(group['test_filter'])
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for i, test in enumerate(tests):
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print("--> Test {} of {}: '{}' running ...".
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format(i+1, len(tests), test))
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was_success = self.run_test(test, group, args, config)
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if was_success:
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print(color.GREEN + "--- Test {} of {}: '{}' succeeded.".
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format(i+1, len(tests), test) + color.END)
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else:
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print(color.RED + "--- Test {} of {}: '{}' failed.".
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format(i+1, len(tests), test) + color.END)
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if not was_success:
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overall_success = False
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if not was_success and args.abort_early:
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print("Aborting early")
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return False
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return overall_success
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def run_test(self, test, group, args, config):
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self.active_runners = []
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speed_factor = args.speed_factor
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if "max_speed_factor" in group:
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speed_factor = min(int(speed_factor), group["max_speed_factor"])
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if config['mode'] == 'sitl':
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px4_runner = Px4Runner(
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group['model'], os.getcwd(), args.log_dir, speed_factor,
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args.verbose)
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gzserver_runner.start(group)
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args.debugger, args.verbose)
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px4_runner.start(group)
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self.active_runners.append(px4_runner)
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if args.gui:
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gzclient_runner = GzclientRunner(
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os.getcwd(), args.log_dir, args.verbose)
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gzclient_runner.start(group)
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if config['simulator'] == 'gazebo':
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gzserver_runner = GzserverRunner(
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group['model'], os.getcwd(), args.log_dir, speed_factor,
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args.verbose)
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gzserver_runner.start(group)
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self.active_runners.append(gzserver_runner)
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test_runner = TestRunner(os.getcwd(), args.log_dir, group, test,
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config['mavlink_connection'], args.verbose)
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test_runner.start(group)
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if args.gui:
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gzclient_runner = GzclientRunner(
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os.getcwd(), args.log_dir, args.verbose)
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gzclient_runner.start(group)
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self.active_runners.append(gzclient_runner)
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while test_runner.time_elapsed_s() < group['timeout_min']*60:
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returncode = test_runner.poll()
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if returncode is not None:
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is_success = (returncode == 0)
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break
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test_runner = TestRunner(os.getcwd(), args.log_dir, group, test,
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config['mavlink_connection'], args.verbose)
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test_runner.start(group)
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self.active_runners.append(test_runner)
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if args.verbose:
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test_runner.print_output()
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while test_runner.time_elapsed_s() < group['timeout_min']*60:
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returncode = test_runner.poll()
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if returncode is not None:
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is_success = (returncode == 0)
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break
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if config['mode'] == 'sitl':
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px4_runner.print_output()
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if args.verbose:
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for runner in self.active_runners:
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runner.print_output()
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if config['simulator'] == 'gazebo':
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gzserver_runner.print_output()
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else:
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print(color.BOLD + "Test timeout of {} mins triggered!".
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format(group['timeout_min']) + color.END)
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is_success = False
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if args.gui:
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gzclient_runner.print_output()
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else:
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print(color.BOLD + "Test timeout of {} mins triggered!".
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format(group['timeout_min']) + color.END)
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is_success = False
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for runner in self.active_runners:
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runner.stop()
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test_runner.stop()
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return is_success
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if config['mode'] == 'sitl':
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if config['simulator'] == 'gazebo':
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if args.gui:
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gzclient_runner.stop()
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gzserver_runner.stop()
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px4_runner.stop()
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return is_success
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def sigint_handler(self, sig, frame):
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print("Received SIGINT")
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print("Stopping all processes ...")
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for runner in self.active_runners:
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runner.stop()
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print("Stopping all processes done.")
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sys.exit(-sig)
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if __name__ == '__main__':
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