From eaaf6f676af70b69228df639baa6c3d09bfbde71 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sun, 25 Jan 2026 09:52:19 +1300 Subject: [PATCH] test(mavsdk): leave tests backwards compatible but enable SIH This reverts some of the changes to keep runners of classic Gazebo in there but leave it optional, so we can still use it if required. --- .github/workflows/sitl_tests.yml | 2 +- Makefile | 6 +-- .../test_and_ci/integration_testing_mavsdk.md | 8 +-- .../{sitl.json => gazebo-classic-sitl.json} | 5 +- test/mavsdk_tests/configs/sih-sitl.json | 27 ++++++++++ .../integration_test_runner/process_helper.py | 2 +- .../integration_test_runner/test_runner.py | 52 ++++++++++++++----- test/mavsdk_tests/mavsdk_test_runner.py | 10 ++-- 8 files changed, 79 insertions(+), 33 deletions(-) rename test/mavsdk_tests/configs/{sitl.json => gazebo-classic-sitl.json} (87%) create mode 100644 test/mavsdk_tests/configs/sih-sitl.json diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml index ce44f3d8792..c3bdbc830cc 100644 --- a/.github/workflows/sitl_tests.yml +++ b/.github/workflows/sitl_tests.yml @@ -92,7 +92,7 @@ jobs: PX4_HOME_LAT: ${{matrix.config.latitude}} PX4_HOME_LON: ${{matrix.config.longitude}} PX4_HOME_ALT: ${{matrix.config.altitude}} - run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color + run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/gazebo-classic-sitl.json --verbose --force-color timeout-minutes: 45 - name: Upload failed logs diff --git a/Makefile b/Makefile index b53e9b3eef4..28b51698c25 100644 --- a/Makefile +++ b/Makefile @@ -491,16 +491,14 @@ rostest: px4_sitl_default @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic tests_integration: px4_sitl_default - @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic @$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests - @"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json + @"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sih-sitl.json tests_integration_coverage: @$(MAKE) clean @$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage - @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic @$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests - @"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json + @"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sih-sitl.json @mkdir -p coverage @lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info diff --git a/docs/en/test_and_ci/integration_testing_mavsdk.md b/docs/en/test_and_ci/integration_testing_mavsdk.md index 0d588d2f319..74b2d78f1b6 100644 --- a/docs/en/test_and_ci/integration_testing_mavsdk.md +++ b/docs/en/test_and_ci/integration_testing_mavsdk.md @@ -45,10 +45,10 @@ Install either from binaries or source: ## Run All PX4 Tests -To run all SITL tests as defined in [sitl.json](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/configs/sitl.json), do: +To run all SITL tests using the SIH simulator as defined in [sih-sitl.json](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/configs/sih-sitl.json), do: ```sh -test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10 +test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sih-sitl.json --speed-factor 10 ``` This will list all the tests and then run them sequentially. @@ -87,10 +87,10 @@ options: ## Run a Single Test Run a single test by specifying the `model` and test `case` as command line options. -For example, to test flying a tailsitter in a mission you might run: +For example, to test a multicopter mission using the SIH simulator: ```sh -test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10 --model tailsitter --case 'Fly VTOL mission' +test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sih-sitl.json --speed-factor 10 --model quadx --case 'Fly square Multicopter Missions including RTL' ``` The easiest way to find out the current set of models and their associated test cases is to run all PX4 tests [as shown above](#run-all-px4-tests) (note, you can then cancel the build if you wish to test just one). diff --git a/test/mavsdk_tests/configs/sitl.json b/test/mavsdk_tests/configs/gazebo-classic-sitl.json similarity index 87% rename from test/mavsdk_tests/configs/sitl.json rename to test/mavsdk_tests/configs/gazebo-classic-sitl.json index 9d32862402d..9905a0b7c6f 100644 --- a/test/mavsdk_tests/configs/sitl.json +++ b/test/mavsdk_tests/configs/gazebo-classic-sitl.json @@ -1,18 +1,17 @@ { "mode": "sitl", "simulator": "gazebo", + "model_prefix": "gazebo-classic_", "mavlink_connection": "udpin://0.0.0.0:14540", "tests": [ { "model": "iris", - "vehicle": "iris", "test_filter": "[multicopter],[offboard],[offboard_attitude]", "timeout_min": 10 }, { "model": "iris", - "vehicle": "iris", "test_filter": "[offboard_attitude]", "timeout_min": 10, "env": { @@ -28,13 +27,11 @@ }, { "model": "tailsitter", - "vehicle": "tailsitter", "test_filter": "[vtol]", "timeout_min": 10 }, { "model": "typhoon_h480", - "vehicle": "typhoon_h480", "test_filter": "[controlallocation]", "timeout_min": 10 } diff --git a/test/mavsdk_tests/configs/sih-sitl.json b/test/mavsdk_tests/configs/sih-sitl.json new file mode 100644 index 00000000000..eda75285913 --- /dev/null +++ b/test/mavsdk_tests/configs/sih-sitl.json @@ -0,0 +1,27 @@ +{ + "mode": "sitl", + "model_prefix": "sihsim_", + "mavlink_connection": "udpin://0.0.0.0:14540", + "tests": + [ + { + "model": "quadx", + "test_filter": "[multicopter],[offboard],[offboard_attitude]", + "timeout_min": 10 + }, + { + "model": "quadx", + "test_filter": "[offboard_attitude]", + "timeout_min": 10, + "env": { + "PX4_PARAM_EKF2_EN": 0, + "PX4_PARAM_ATT_EN": 1 + } + }, + { + "model": "standard_vtol", + "test_filter": "[vtol]", + "timeout_min": 10 + } + ] +} diff --git a/test/mavsdk_tests/integration_test_runner/process_helper.py b/test/mavsdk_tests/integration_test_runner/process_helper.py index dfee81a2b91..2a5213f6f42 100644 --- a/test/mavsdk_tests/integration_test_runner/process_helper.py +++ b/test/mavsdk_tests/integration_test_runner/process_helper.py @@ -168,7 +168,7 @@ class Px4Runner(Runner): os.path.join(workspace_dir, "test_data"), "-d" ] - self.env["PX4_SIM_MODEL"] = "sihsim_quadx" + self.env["PX4_SIM_MODEL"] = model self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor) self.debugger = debugger self.clear_rootfs() diff --git a/test/mavsdk_tests/integration_test_runner/test_runner.py b/test/mavsdk_tests/integration_test_runner/test_runner.py index b2d2a4b146d..cb45f64b078 100644 --- a/test/mavsdk_tests/integration_test_runner/test_runner.py +++ b/test/mavsdk_tests/integration_test_runner/test_runner.py @@ -306,7 +306,7 @@ class Tester: self.active_runners = [] if self.config['mode'] == 'sitl': - if self.config['simulator'] == 'gazebo': + if self.config.get('simulator') == 'gazebo': # Use RegEx to extract worldname.world from case name match = re.search(r'\((.*?\.world)\)', case) if match: @@ -314,24 +314,52 @@ class Tester: else: world_name = 'empty.world' - # We must start the PX4 instance at the end, as starting - # it in the beginning, then connecting Gazebo server freaks - # out the PX4 (it needs to have data coming in when started), - # and can lead to EKF to freak out, or the instance itself - # to die unexpectedly. - px4_runner = ph.Px4Runner( + gzserver_runner = ph.GzserverRunner( os.getcwd(), log_dir, test['model'], case, self.get_max_speed_factor(test), - self.debugger, self.verbose, self.build_dir, - self.tester_interface.rootfs_base_dirname()) - for env_key in test.get('env', []): - px4_runner.env[env_key] = str(test['env'][env_key]) - self.active_runners.append(px4_runner) + world_name) + self.active_runners.append(gzserver_runner) + + gzmodelspawn_runner = ph.GzmodelspawnRunner( + os.getcwd(), + log_dir, + test['model'], + case, + self.verbose, + self.build_dir) + self.active_runners.append(gzmodelspawn_runner) + + if self.gui: + gzclient_runner = ph.GzclientRunner( + os.getcwd(), + log_dir, + test['model'], + case, + self.verbose) + self.active_runners.append(gzclient_runner) + + # Determine PX4_SIM_MODEL using model_prefix from config + model_prefix = self.config.get('model_prefix', '') + px4_model = model_prefix + test['model'] + + px4_runner = ph.Px4Runner( + os.getcwd(), + log_dir, + px4_model, + case, + self.get_max_speed_factor(test), + self.debugger, + self.verbose, + self.build_dir, + self.tester_interface.rootfs_base_dirname()) + for env_key in test.get('env', []): + px4_runner.env[env_key] = str(test['env'][env_key]) + self.active_runners.append(px4_runner) self.active_runners.append(self.tester_interface.create_test_runner( os.getcwd(), diff --git a/test/mavsdk_tests/mavsdk_test_runner.py b/test/mavsdk_tests/mavsdk_test_runner.py index b1035b48d72..e045028955c 100755 --- a/test/mavsdk_tests/mavsdk_test_runner.py +++ b/test/mavsdk_tests/mavsdk_test_runner.py @@ -136,11 +136,9 @@ def is_everything_ready(config: Dict[str, str], build_dir: str) -> bool: result = False 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` or " - "`DONT_RUN=1 make px4_sitl_default gazebo mavsdk_tests`") + "run `DONT_RUN=1 make px4_sitl_default mavsdk_tests`") result = False - if config['simulator'] == 'gazebo': + if config.get('simulator') == 'gazebo': if is_running('gzserver'): print("gzserver process already running\n" "run `killall gzserver` and try again") @@ -153,9 +151,7 @@ def is_everything_ready(config: Dict[str, str], build_dir: str) -> bool: 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` or " - "`DONT_RUN=1 make px4_sitl_default gazebo mavsdk_tests`") + "run `DONT_RUN=1 make px4_sitl_default mavsdk_tests`") result = False return result