Інтеграційне тестування за допомогою MAVSDK

PX4 can be tested end to end to using integration tests based on MAVSDK.

Тести в основному розробляються для SITL і запускаються в режимі безперервної інтеграції (CI). В майбутньому ми плануємо зробити їх універсальними для будь-якої платформи/обладнання.

Інструкції нижче пояснюють, як налаштувати та запустити тести локально.

Вимоги

Налаштування середовища розробника

Якщо ви цього ще не зробили:

• Install the development toolchain for Linux or macOS (Windows not supported). Gazebo Classic is required, and should be installed by default.

• Get the PX4 source code:

  git clone https://github.com/PX4/PX4-Autopilot.git --recursive
  cd PX4-Autopilot

Збірка PX4 для тестування

Щоб зібрати вихідний код PX4 для тестування на симуляторі, скористайтеся:

DONT_RUN=1 make px4_sitl gazebo-classic mavsdk_tests

Встановлення бібліотеки C++ MAVSDK

The tests need the MAVSDK C++ library installed system-wide (e.g. in /usr/lib or /usr/local/lib).

Встановлюйте або з бінарних файлів, або з джерела:

• MAVSDK > C++ > C++ QuickStart: Install as a prebuilt library on supported platforms (recommended)
• MAVSDK > C++ Guide > Building from Source: Build C++ library from source.

Запуск усіх PX4 тестів

To run all SITL tests as defined in sitl.json, do:

test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10

Буде перелічено всі тести, а потім запущено їх послідовно.

To see all possible command line arguments use the -h argument:

test/mavsdk_tests/mavsdk_test_runner.py -h

usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] [--gui] [--model MODEL]
                             [--case CASE] [--debugger DEBUGGER] [--verbose]
                             config_file

positional arguments:
  config_file           JSON config file to use

optional arguments:
  -h, --help            show this help message and exit
  --log-dir LOG_DIR     Directory for log files
  --speed-factor SPEED_FACTOR
                        how fast to run the simulation
  --iterations ITERATIONS
                        how often to run all tests
  --abort-early         abort on first unsuccessful test
  --gui                 display the visualization for a simulation
  --model MODEL         only run tests for one model
  --case CASE           only run tests for one case
  --debugger DEBUGGER   choice from valgrind, callgrind, gdb, lldb
  --verbose             enable more verbose output

Запуск одного тесту

Run a single test by specifying the model and test case as command line options. Наприклад, щоб протестувати керування хвостовиком у місії, ви можете виконати:

test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10 --model tailsitter --case 'Fly VTOL mission'

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 (note, you can then cancel the build if you wish to test just one).

На момент написання статті список, згенерований в результаті запуску всіх тестів, є таким:

About to run 39 test cases for 3 selected models (1 iteration):
  - iris:
    - 'Land on GPS lost during mission (baro height mode)'
    - 'Land on GPS lost during mission (GPS height mode)'
    - 'Continue on mag lost during mission'
    - 'Continue on baro lost during mission (baro height mode)'
    - 'Continue on baro lost during mission (GPS height mode)'
    - 'Continue on baro stuck during mission (baro height mode)'
    - 'Continue on baro stuck during mission (GPS height mode)'
    - 'Takeoff and Land'
    - 'Fly square Multicopter Missions including RTL'
    - 'Fly square Multicopter Missions with manual RTL'
    - 'Fly straight Multicopter Mission'
    - 'Offboard takeoff and land'
    - 'Offboard position control'
    - 'Fly forward in position control'
    - 'Fly forward in altitude control'
  - standard_vtol:
    - 'Land on GPS lost during mission (baro height mode)'
    - 'Land on GPS lost during mission (GPS height mode)'
    - 'Continue on mag lost during mission'
    - 'Continue on baro lost during mission (baro height mode)'
    - 'Continue on baro lost during mission (GPS height mode)'
    - 'Continue on baro stuck during mission (baro height mode)'
    - 'Continue on baro stuck during mission (GPS height mode)'
    - 'Takeoff and Land'
    - 'Fly square Multicopter Missions including RTL'
    - 'Fly square Multicopter Missions with manual RTL'
    - 'Fly forward in position control'
    - 'Fly forward in altitude control'
  - tailsitter:
    - 'Land on GPS lost during mission (baro height mode)'
    - 'Land on GPS lost during mission (GPS height mode)'
    - 'Continue on mag lost during mission'
    - 'Continue on baro lost during mission (baro height mode)'
    - 'Continue on baro lost during mission (GPS height mode)'
    - 'Continue on baro stuck during mission (baro height mode)'
    - 'Continue on baro stuck during mission (GPS height mode)'
    - 'Takeoff and Land'
    - 'Fly square Multicopter Missions including RTL'
    - 'Fly square Multicopter Missions with manual RTL'
    - 'Fly forward in position control'
    - 'Fly forward in altitude control'

Примітки щодо реалізацій:

• The tests are invoked from the test runner script mavsdk_test_runner.py, which is written in Python.

  In addition to MAVSDK, this runner starts px4 as well as Gazebo for SITL tests, and collects the logs of these processes.

• Модуль виконання тесту - це бінарний файл на мові C++, який містить:

  • The main function to parse the arguments.
  • An abstraction around MAVSDK called autopilot_tester.
  • The actual tests using the abstraction around MAVSDK as e.g. test_multicopter_mission.cpp.
  • The tests use the catch2 unit testing framework. Причини використання цього фреймворку наступні:
    • Asserts (REQUIRE) which are needed to abort a test can be inside of functions (and not just in the top level test as is the case with gtest).
    • Dependency management is easier because catch2 can just be included as a header-only library.
    • Catch2 supports tags, which allows for flexible composition of tests.

Терміни:

• "model": This is the selected Gazebo model, e.g. iris.
• "test case": This is a catch2 test case.