debug action

systemtests/test_flights.py

@@ -50,6 +50,7 @@ def print_PIPE(process : Popen, process_name, always=False):
  '''If process creates some error, prints the stderr and stdout PIPE of the process. NB : stderr and stdout must = PIPE in the Popen constructor'''
  if process.returncode != 0 or always:
  out, err = process.communicate()
+ print(f"{process_name} returncode = {process.returncode}")
  print(f"{process_name} stderr : {err}")
  print(f"{process_name} stdout : {out}")
  else:
@@ -85,11 +86,11 @@ def setUp(self):
  start_new_session=True, executable="/bin/bash")
  atexit.register(clean_process, self.launch_crazyswarm) #atexit helps us to make sure processes are cleaned even if script exits unexpectedly
  time.sleep(1)
- print_PIPE(self.launch_crazyswarm, "launch_crazyswarm")
 
  # runs once per test_ function
  def tearDown(self) -> None:
  clean_process(self.launch_crazyswarm) #kill crazyswarm_server and all of its child processes
+ print_PIPE(self.launch_crazyswarm, "launch_crazyswarm")
 
  # copy .ros/log files to results folder
  if Path(Path.home() / ".ros/log").exists():
@@ -119,7 +120,7 @@ def record_start_and_clean(self, testname:str, max_wait:int):
  atexit.register(clean_process, start_flight_test)
 
  if TestFlights.SIM :
- start_flight_test.wait(timeout=max_wait*1) #simulation can be super slow 
+ start_flight_test.wait(timeout=max_wait*10) #simulation can be super slow 
  else : 
  start_flight_test.wait(timeout=max_wait) #raise Timeoutexpired after max_wait seconds if start_flight_test didn't finish by itself
 
@@ -136,8 +137,8 @@ def record_start_and_clean(self, testname:str, max_wait:int):
  clean_process(record_bag)
 
  #if something went wrong with the bash command lines in Popen, print the error
- print_PIPE(record_bag, "record_bag")
- print_PIPE(start_flight_test, f"start_flight_test_{self.idFolderName}")
+ print_PIPE(record_bag, f"record_bag for {self.idFolderName()}")
+ print_PIPE(start_flight_test, f"start_flight_test for {self.idFolderName()}")
 
 
  def translate_plot_and_check(self, testname:str) -> bool :
@@ -167,22 +168,26 @@ def test_figure8(self):
  test_passed = self.translate_plot_and_check("figure8")
  test_passed, "figure8 test failed : deviation larger than epsilon"
 
- def test_multi_trajectory(self):
- self.test_file = "../crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv"
- self.record_start_and_clean("multi_trajectory", 80)
- test_passed = self.translate_plot_and_check("multi_trajectory")
- assert test_passed, "multitrajectory test failed : deviation larger than epsilon"
+ # def test_multi_trajectory(self):
+ #  self.test_file = "../crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv"
+ #  self.record_start_and_clean("multi_trajectory", 80)
+ #  test_passed = self.translate_plot_and_check("multi_trajectory")
+ #  assert test_passed, "multitrajectory test failed : deviation larger than epsilon"
 
 
 
 
 if __name__ == '__main__':
- from argparse import ArgumentParser
- import sys
- parser = ArgumentParser(description="Runs (real or simulated) flight tests with pytest framework")
- parser.add_argument("--sim", action="store_true", help="Runs the test from the simulation backend")
- args, other_args = parser.parse_known_args()
- if args.sim :
- TestFlights.SIM = True
-
- unittest.main(argv=[sys.argv[0]] + other_args)
+ # from argparse import ArgumentParser
+ # import sys
+ # parser = ArgumentParser(description="Runs (real or simulated) flight tests with pytest framework")
+ # parser.add_argument("--sim", action="store_true", help="Runs the test from the simulation backend")
+ # args, other_args = parser.parse_known_args()
+ # if args.sim :
+ # TestFlights.SIM = True
+
+ # unittest.main(argv=[sys.argv[0]] + other_args)
+
+
+ TestFlights.SIM = True
+ unittest.main()