autotest: add --gdb option to autotest.py

Tools/autotest/apmrover2.py

@@ -79,7 +79,7 @@ def drive_mission(mavproxy, mav, filename):
     return True
 
 
-def drive_APMrover2(binary, viewerip=None, map=False, valgrind=False):
+def drive_APMrover2(binary, viewerip=None, map=False, valgrind=False, gdb=False):
     '''drive APMrover2 in SIL
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -111,7 +111,7 @@ def drive_APMrover2(binary, viewerip=None, map=False, valgrind=False):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
 
-    sil = util.start_SIL(binary, model='rover', home=home, speedup=10, valgrind=valgrind)
+    sil = util.start_SIL(binary, model='rover', home=home, speedup=10, valgrind=valgrind, gdb=gdb)
     mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)

Tools/autotest/arducopter.py

@@ -914,7 +914,7 @@ def setup_rc(mavproxy):
     # zero throttle
     mavproxy.send('rc 3 1000\n')
 
-def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False):
+def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False, gdb=False):
     '''fly ArduCopter in SIL
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -938,7 +938,7 @@ def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
 
-    sil = util.start_SIL(binary, model='+', home=home, speedup=speedup_default, valgrind=valgrind)
+    sil = util.start_SIL(binary, model='+', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip
@@ -1265,7 +1265,7 @@ def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False):
     return True
 
 
-def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False):
+def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False, gdb=False):
     '''fly ArduCopter in SIL for AVC2013 mission
     '''
     global homeloc
@@ -1286,7 +1286,7 @@ def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
 
-    sil = util.start_SIL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind)
+    sil = util.start_SIL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip

Tools/autotest/arduplane.py

@@ -426,7 +426,7 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
     return True
 
 
-def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False):
+def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
     '''fly ArduPlane in SIL
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -461,7 +461,7 @@ def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
 
-    sil = util.start_SIL(binary, model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind)
+    sil = util.start_SIL(binary, model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind, gdb=gdb)
     mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)

Tools/autotest/autotest.py

@@ -144,6 +144,7 @@ parser.add_option("--map", action='store_true', default=False, help='show map')
 parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
 parser.add_option("--timeout", default=3000, type='int', help='maximum runtime in seconds')
 parser.add_option("--valgrind", default=False, action='store_true', help='run ArduPilot binaries under valgrind')
+parser.add_option("--gdb", default=False, action='store_true', help='run ArduPilot binaries under gdb')
 parser.add_option("--debug", default=False, action='store_true', help='make built binaries debug binaries')
 parser.add_option("-j", default=None, type='int', help='build CPUs')
 
@@ -265,19 +266,19 @@ def run_step(step):
         return get_default_params('APMrover2', binary)
 
     if step == 'fly.ArduCopter':
-        return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
+        return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
 
     if step == 'fly.CopterAVC':
-        return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
+        return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
 
     if step == 'fly.ArduPlane':
-        return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
+        return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
 
     if step == 'fly.QuadPlane':
-        return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
+        return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
 
     if step == 'drive.APMrover2':
-        return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
+        return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
 
     if step == 'build.All':
         return build_all()

Tools/autotest/pysim/util.py

@@ -190,7 +190,15 @@ class SIL(pexpect.spawn):
         pexpect_autoclose(self)
         # give time for parameters to properly setup
         time.sleep(3)
-        self.expect('Waiting for connection',timeout=300)
+        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):

Tools/autotest/quadplane.py

@@ -40,7 +40,7 @@ def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
     return True
 
 
-def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False):
+def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
     '''fly QuadPlane in SIL
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -55,7 +55,7 @@ def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False):
         options += ' --map'
 
     sil = util.start_SIL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
-                         defaults_file=os.path.join(testdir, 'quadplane.parm'), valgrind=valgrind)
+                         defaults_file=os.path.join(testdir, 'quadplane.parm'), valgrind=valgrind, gdb=gdb)
     mavproxy = util.start_MAVProxy_SIL('QuadPlane', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)