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https://github.com/wpilibsuite/allwpilib
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Runs DS enabled loop in process (#785)
Solves mutex issues, and other issues with the existing teststand software. And simplifies the unit test structure.
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
26a36779a6
commit
fa0b4428e9
@@ -17,12 +17,11 @@ DEFAULT_DESTINATION_CPP_TEST_FILE=${DEFAULT_TEST_SCP_DIR}/${DEFAULT_CPP_TEST_NAM
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DEFAULT_DESTINATION_RUN_TEST_SCRIPT=${DEFAULT_DESTINATION_DIR}/${DEFAULT_LOCAL_RUN_TEST_SCRIPT}
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usage="$(basename "$0") [-h] (java|cpp) [-m] [-A] [arg] [arg]...
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usage="$(basename "$0") [-h] (java|cpp) [-A] [arg] [arg]...
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A script designed to run the integration tests.
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This script should only be run on the roborio.
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Where:
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-h Show this help text.
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-m The driver station mutex will be handled manually.
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-A Disable language recomended arguments.
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arg Additional arguments to be passed to test."
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@@ -62,20 +61,14 @@ if [[ ! -e ${LOCAL_TEST_FILE} ]]; then
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exit 1
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fi
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MUTEX_OVERRIDE_PARAM_TEXT=""
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if [[ "$2" = "-m" ]]; then
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MUTEX_OVERRIDE_PARAM_TEXT="-m "
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TEST_RUN_ARGS="${@:3}"
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else
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TEST_RUN_ARGS="${@:2}"
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fi
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TEST_RUN_ARGS="${@:2}"
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shopt -s huponexit
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SCP_TEST_SCRIPT="scp config.sh ${DEFAULT_LOCAL_RUN_TEST_SCRIPT} ${ROBOT_ADDRESS}:/${DEFAULT_DESTINATION_DIR}"
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SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR="ssh -t ${ROBOT_ADDRESS} \"chmod a+x ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT}; mkdir ${DEFAULT_TEST_SCP_DIR}; touch ${DESTINATION_TEST_FILE}\""
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SCP_TEST_PROGRAM="scp ${LOCAL_TEST_FILE} ${ROBOT_ADDRESS}:${DESTINATION_TEST_FILE}"
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SSH_RUN_TESTS="ssh -t ${ROBOT_ADDRESS} ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT} ${LANGUAGE} $(whoami) ${MUTEX_OVERRIDE_PARAM_TEXT}-d ${DEFAULT_TEST_SCP_DIR} ${TEST_RUN_ARGS}"
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SSH_RUN_TESTS="ssh -t ${ROBOT_ADDRESS} ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT} ${LANGUAGE} $(whoami) -d ${DEFAULT_TEST_SCP_DIR} ${TEST_RUN_ARGS}"
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SCP_NATIVE_LIBRARIES="scp ${DEFAULT_LIBRARY_NATIVE_FILES}/* ${ROBOT_ADDRESS}:${DEFAULT_LIBRARY_NATIVE_DESTINATION}"
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CONFIG_NATIVE_LIBRARIES="ssh -t ${ADMIN_ROBOT_ADDRESS} ldconfig"
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@@ -14,9 +14,8 @@ source config.sh
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printf "Getting exclusive lock for RIO execution...\n"
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flock -x 200 || exit 1
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# To work around memory leak, kill NetComm and restart the teststand
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# (the teststand dies when NetComm is killed)
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SSH_RESTART_NETCOMM="ssh -t ${ROBOT_ADDRESS} sh -c 'killall FRC_NetCommDaemon; sleep 1; /etc/init.d/teststand stop; /etc/init.d/teststand start; sleep 1'"
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# To work around memory leak, kill NetComm and ensure the teststand is dead too
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SSH_RESTART_NETCOMM="ssh -t ${ROBOT_ADDRESS} sh -c '/etc/init.d/teststand stop; sleep 1; killall FRC_NetCommDaemon; sleep 1'"
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if [ $(which sshpass) ]; then
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sshpass -p "" ${SSH_RESTART_NETCOMM}
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else
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@@ -17,45 +17,20 @@ source config.sh
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DEFAULT_TEST_DIR=${DEFAULT_DESTINATION_DIR}
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DEFAULT_PATH_TO_JRE=/usr/local/frc/JRE/bin/java
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usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-m] [-A] [arg] [arg]...
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usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-A] [arg] [arg]...
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A script designed to run the integration tests.
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This script should only be run on the roborio.
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Where:
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-h Show this help text
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name The name of the user trying to run the tests (used for driver station)
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-d The directory where the tests have been placed.
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This is done to prevent overwriting an already running program
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in the case where another user already has the driver station mutex.
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This is done to prevent overwriting an already running program.
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This scrip will automatically move the test into the ${DEFAULT_TEST_DIR}
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directory when the driver station mutex is released.
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directory.
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Default: Assumes the test is in the same directory as this scrip.
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-m The driver station mutex will be handled manually.
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-A Do not use the default arguments for the given language.
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arg The arguments to be passed to test."
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mutexTaken=false
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driverStationEnabled=false
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# This function should run even if the script exits abnormally
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function finish {
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if [ "$driverStationEnabled" == true ]; then
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/usr/local/frc/bin/teststand ds --name="${NAME}" disable
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driverStationEnabled=false
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fi
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if [ "$mutexTaken" == true ]; then
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/usr/local/frc/bin/teststand give --name="${NAME}"
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mutexTaken=false
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fi
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}
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trap finish EXIT SIGINT
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# This function should be run asynchronysly to enable the tests 10
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# seconds after they have been run.
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function enableIn10Seconds {
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/usr/local/frc/bin/teststand ds --name="${NAME}" disable
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driverStationEnabled=true
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sleep 10
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/usr/local/frc/bin/teststand ds --name="${NAME}" enable
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}
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# Are you trying to run this program on a platform other than the roboRIO?
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if [[ ! -e "${DEFAULT_TEST_DIR}" ]]; then
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@@ -75,7 +50,6 @@ PARAM_ARGS=${@:3}
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TEST_RUN_ARGS=${@:3}
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RUN_WITH_DEFAULT_ARGS=true
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DEFAULT_ARGS=""
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MUTEX_OVERRIDE=false
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# Determine the language that we are attempting to run
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if [[ "$1" = java ]]; then
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@@ -113,10 +87,6 @@ while getopts ':hmd:A' option $PARAM_ARGS ; do
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RUN_WITH_DEFAULT_ARGS=false
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PARAM_COUNTER=$[$PARAM_COUNTER +1]
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;;
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m)
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MUTEX_OVERRIDE=true
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PARAM_COUNTER=$[$PARAM_COUNTER +1]
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;;
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d)
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TEST_DIR=$OPTARG
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# Since we are selecting the directory the run args start from the 5th argument
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@@ -142,19 +112,9 @@ if [[ $# -lt $PARAM_COUNTER ]]; then
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exit 1
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fi
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# If the mutex has been retrived a higher level in the tree
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if [ "$MUTEX_OVERRIDE" == false ]; then
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# Attempt to take the mutex for the driver station
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mutexTaken=true
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/usr/local/frc/bin/teststand take --name="${NAME}"
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else
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printf "Override driver station control enabled.\n"
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fi
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# Kill all running robot programs
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killall java FRCUserProgram
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# Once we have the mutex no other tests are running
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# If we are running with the -d argument move the test to the DEFAULT_TEST_DIR
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if [[ ! -e "${TEST_DIR}/${TEST_FILE}" ]]; then
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printf "Failed to find %s.\nDid you copy the test file correctly?\n" "${TEST_DIR}/${TEST_FILE}"
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@@ -166,9 +126,6 @@ fi
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# Make sure the excecutable file has permission to run
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# Setup the driver station to enable automatically in 10 seconds without waiting for the function to excecute.
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enableIn10Seconds&
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# Get the serial number and FPGADeviceCode for this rio
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export serialnum=`/sbin/fw_printenv -n serial#`
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export eval `/sbin/fw_printenv DeviceCode FPGADeviceCode DeviceDesc TargetClass`
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@@ -1,43 +0,0 @@
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#!/usr/bin/env bash
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#*----------------------------------------------------------------------------*#
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#* Copyright (c) FIRST 2014. All Rights Reserved. *#
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#* Open Source Software - may be modified and shared by FRC teams. The code *#
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#* must be accompanied by the FIRST BSD license file in the root directory of *#
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#* the project. *#
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#*----------------------------------------------------------------------------*#
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source config.sh
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TESTSTAND_SERVE_COMMAND="/usr/local/frc/bin/teststand serve"
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#Checks to see if the mutex driver station is running. If it isn't then start it.
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SSH_CHECK_FOR_TESTSTAND="ssh -qn ${ADMIN_ROBOT_ADDRESS} 'pidof ${TESTSTAND_SERVE_COMMAND}' &>/dev/null"
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TESTSTAND_SERVE_COMMAND="nohup ${TESTSTAND_SERVE_COMMAND} > /dev/null 2>&1 < /dev/null &"
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if [ $(which sshpass) ]; then
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SSH_CHECK_FOR_TESTSTAND="sshpass -p '' ${SSH_CHECK_FOR_TESTSTAND}"
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fi
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echo $SSH_CHECK_FOR_TESTSTAND
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if $(eval $SSH_CHECK_FOR_TESTSTAND); then
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echo "Driver Station is already running";
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exit 0;
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fi
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echo "Starting Driver Station";
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function startDS {
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SSH_START_TESTSTAND_DRIVER_STATION="ssh ${ADMIN_ROBOT_ADDRESS} ${TESTSTAND_SERVE_COMMAND}"
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if [ $(which sshpass) ]; then
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sshpass -p "" ${SSH_START_TESTSTAND_DRIVER_STATION}
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else
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eval ${SSH_START_TESTSTAND_DRIVER_STATION}
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fi
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}
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startDS&
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sleep 1
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