diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py
index 6fdd08e66a94fb31dc9fbe5ac72e56ff22ab8380..cb65d0c9f931c1f84095fcbb38e80328bd9a49b9 100644
--- a/Tools/autotest/apmrover2.py
+++ b/Tools/autotest/apmrover2.py
@@ -186,7 +186,7 @@ def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fa
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
- valgrind_log = sitl.valgrind_log_filepath()
+ valgrind_log = util.valgrind_log_filepath(binary=binary, model='rover')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/APMrover2-valgrind.log"))
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 2139595041eebee448fa5330b8701668a3124b96..ce1910d0562b0d69d0fd3ec15b6b45e6b68f540c 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1289,7 +1289,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
- valgrind_log = sitl.valgrind_log_filepath()
+ valgrind_log = util.valgrind_log_filepath(binary=binary, model='+')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
@@ -1416,7 +1416,7 @@ def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
- valgrind_log = sitl.valgrind_log_filepath()
+ valgrind_log = util.valgrind_log_filepath(binary=binary, model='heli')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/Helicopter-valgrind.log"))
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index d9eab8cec2e84b74a4d5c561aa2198be57e1a897..bdc76c1df03fef62ce95a1a5730c9c47cab83774 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -563,7 +563,7 @@ def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
- valgrind_log = sitl.valgrind_log_filepath()
+ valgrind_log = util.valgrind_log_filepath(binary=binary, model='plane-elevrev')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index a4682206d3083efa78cd8e488504e6dd0f2b119e..bac35c28d55f0a220dc13b583b266ef0c426f1e5 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -178,61 +178,54 @@ def make_safe_filename(text):
return filename
-class SITL(pexpect.spawn):
-
- def __init__(self, binary, valgrind=False, gdb=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None, unhide_parameters=False):
- self.binary = binary
- self.model = model
-
- cmd = []
- if valgrind and os.path.exists('/usr/bin/valgrind'):
- cmd.extend(['valgrind', '-q', '--log-file=%s' % self.valgrind_log_filepath()])
- if gdb:
- f = open("/tmp/x.gdb", "w")
- f.write("r\n")
- f.close()
- cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
-
- cmd.append(binary)
- if wipe:
- cmd.append('-w')
- if synthetic_clock:
- cmd.append('-S')
- if home is not None:
- cmd.extend(['--home', home])
- if model is not None:
- cmd.extend(['--model', model])
- if speedup != 1:
- cmd.extend(['--speedup', str(speedup)])
- if defaults_file is not None:
- cmd.extend(['--defaults', defaults_file])
- if unhide_parameters:
- cmd.extend(['--unhide-groups'])
- print("Running: %s" % cmd_as_shell(cmd))
- first = cmd[0]
- rest = cmd[1:]
- super(SITL, self).__init__(first, rest, logfile=sys.stdout, timeout=5)
- delaybeforesend = 0
- pexpect_autoclose(self)
- # give time for parameters to properly setup
- time.sleep(3)
- if gdb:
- # if we run GDB we do so in an xterm. "Waiting for
- # connection" is never going to appear on xterm's output.
- # ... so let's give it another magic second.
- time.sleep(1)
- # TODO: have a SITL-compiled ardupilot able to have its
- # console on an output fd.
- else:
- self.expect('Waiting for connection', timeout=300)
-
- def valgrind_log_filepath(self):
- return make_safe_filename('%s-%s-valgrind.log' % (os.path.basename(self.binary), self.model,))
+def valgrind_log_filepath(binary, model):
+ return make_safe_filename('%s-%s-valgrind.log' % (os.path.basename(binary), model,))
-def start_SITL(binary, **kwargs):
+def start_SITL(binary, valgrind=False, gdb=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None, unhide_parameters=False):
"""Launch a SITL instance."""
- return SITL(binary, **kwargs)
+ cmd = []
+ if valgrind and os.path.exists('/usr/bin/valgrind'):
+ cmd.extend(['valgrind', '-q', '--log-file=%s' % valgrind_log_filepath(binary=binary, model=model)])
+ if gdb:
+ f = open("/tmp/x.gdb", "w")
+ f.write("r\n")
+ f.close()
+ cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
+
+ cmd.append(binary)
+ if wipe:
+ cmd.append('-w')
+ if synthetic_clock:
+ cmd.append('-S')
+ if home is not None:
+ cmd.extend(['--home', home])
+ if model is not None:
+ cmd.extend(['--model', model])
+ if speedup != 1:
+ cmd.extend(['--speedup', str(speedup)])
+ if defaults_file is not None:
+ cmd.extend(['--defaults', defaults_file])
+ if unhide_parameters:
+ cmd.extend(['--unhide-groups'])
+ print("Running: %s" % cmd_as_shell(cmd))
+ first = cmd[0]
+ rest = cmd[1:]
+ child = pexpect.spawn(first, rest, logfile=sys.stdout, timeout=5)
+ delaybeforesend = 0
+ pexpect_autoclose(child)
+ # give time for parameters to properly setup
+ time.sleep(3)
+ if gdb:
+ # if we run GDB we do so in an xterm. "Waiting for
+ # connection" is never going to appear on xterm's output.
+ # ... so let's give it another magic second.
+ time.sleep(1)
+ # TODO: have a SITL-compiled ardupilot able to have its
+ # console on an output fd.
+ else:
+ child.expect(u'Waiting for connection', timeout=300)
+ return child
def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index e088aa11b997c7d5c54940d7efbcfff9f475c4da..1a69ee222df5068259532982edb8ed92eb471663 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -124,7 +124,7 @@ def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
- valgrind_log = sitl.valgrind_log_filepath()
+ valgrind_log = util.valgrind_log_filepath(binary=binary, model='quadplane')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/QuadPlane-valgrind.log"))