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scripts/python/recordreplay.py: fixed use when fgfs is run via wrapper script.

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Various tweaks to motion tests.
This commit is contained in:
Julian Smith 2021-04-10 10:36:52 +01:00
parent 4f28e2dfff
commit 29dc9ea93a
1 changed files with 89 additions and 26 deletions
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115
scripts/python/recordreplay.py
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@ -68,6 +68,9 @@ g_tapedir = './recordreplay.py.tapes'
def remove(path): def remove(path):
'''
Removes file, ignoring any error.
'''
log(f'Removing: {path}') log(f'Removing: {path}')
try: try:
os.remove(path) os.remove(path)
@ -76,6 +79,9 @@ def remove(path):
def readlink(path): def readlink(path):
'''
Returns absolute path destination of link.
'''
ret = os.readlink(path) ret = os.readlink(path)
if not os.path.isabs(ret): if not os.path.isabs(ret):
ret = os.path.join(os.path.dirname(path), ret) ret = os.path.join(os.path.dirname(path), ret)
@ -84,8 +90,10 @@ def readlink(path):
class Fg: class Fg:
''' '''
Runs flightgear. self.fg is a FlightGear.FlightGear instance, which uses Runs flightgear, with support for setting/getting properties etc.
telnet to communicate with Flightgear.
self.fg is a FlightGear.FlightGear instance, which uses telnet to
communicate with Flightgear.
''' '''
def __init__(self, aircraft, args, env=None, telnet_port=None): def __init__(self, aircraft, args, env=None, telnet_port=None):
''' '''
@ -131,7 +139,9 @@ class Fg:
except Exception as e: except Exception as e:
log(f'*** preexec failed with e={e}') log(f'*** preexec failed with e={e}')
raise raise
self.child = subprocess.Popen(args2, env=environ, self.child = subprocess.Popen(
args2,
env=environ,
preexec_fn=preexec, preexec_fn=preexec,
) )
@ -180,9 +190,24 @@ class Fg:
def close(self): def close(self):
assert self.child assert self.child
log(f'close(): stopping flightgear pid={self.child.pid}')
if 1:
# Kill any child processes so that things work if fgfs is being run
# by download_and_compile.sh's run_fgfs.sh script.
#
# This is Unix-only.
child_pids = subprocess.check_output(f'pgrep -P {self.child.pid}', shell=True)
child_pids = child_pids.decode('utf-8')
child_pids = child_pids.split()
for child_pid in child_pids:
#log(f'*** close() child_pid={child_pid}')
child_pid = int(child_pid)
#log(f'*** close() killing child_pid={child_pid}')
os.kill(child_pid, signal.SIGTERM)
self.child.terminate() self.child.terminate()
self.child.wait() self.child.wait()
self.child = None self.child = None
#log(f'*** close() returning.')
def __del__(self): def __del__(self):
if self.child: if self.child:
@ -322,27 +347,47 @@ def test_record_replay(
def test_motion(fgfs, multiplayer=False): def test_motion(fgfs, multiplayer=False):
'''
Records UFO moving with constant velocity with varying framerates, then
replays with varying framerates and checks that replayed UFO moves with
expected constant speed.
If <multiplayer> is true we also record MP UFO running in second Flightgear
instance and check that it too moves at constant speed when replaying.
'''
log('')
log('='*80)
log('== Record')
aircraft = 'ufo' aircraft = 'ufo'
fg = Fg( aircraft, f'{fgfs}') if multiplayer:
fg = Fg( aircraft, f'{fgfs} --prop:/sim/replay/log-raw-speed-multiplayer=cgdae-t')
else:
fg = Fg( aircraft, f'{fgfs}')
path = f'{g_tapedir}/{fg.aircraft}-continuous.fgtape' path = f'{g_tapedir}/{fg.aircraft}-continuous.fgtape'
fg.waitfor('/sim/fdm-initialized', 1, timeout=45) fg.waitfor('/sim/fdm-initialized', 1, timeout=45)
fg.fg['/controls/engines/engine[0]/throttle'] = 0 fg.fg['/controls/engines/engine[0]/throttle'] = 0
# Throttle/speed for ufo is set in fgdata/Aircraft/ufo/ufo.nas.
#
speed_max = 2000 # default for ufo; current=7.
fixed_speed = 100
throttle = fixed_speed / speed_max
if multiplayer: if multiplayer:
fg.fg['/sim/replay/record-multiplayer'] = True fg.fg['/sim/replay/record-multiplayer'] = True
fg2 = Fg( aircraft, f'{fgfs} --callsign=cgdae-t --multiplay=in,4,,5033 --read-only', telnet_port=5501) fg2 = Fg( aircraft, f'{fgfs} --callsign=cgdae-t --multiplay=in,4,,5033 --read-only', telnet_port=5501)
fg2.waitfor('/sim/fdm-initialized', 1, timeout=45) fg2.waitfor('/sim/fdm-initialized', 1, timeout=45)
fg.fg['/controls/engines/engine[0]/throttle'] = 0.1 fg.fg['/controls/engines/engine[0]/throttle'] = throttle
fg2.fg['/controls/engines/engine[0]/throttle'] = 0.1 fg2.fg['/controls/engines/engine[0]/throttle'] = throttle
time.sleep(1) time.sleep(1)
fgt = fg.fg['/controls/engines/engine[0]/throttle'] fgt = fg.fg['/controls/engines/engine[0]/throttle']
fg2t = fg2.fg['/controls/engines/engine[0]/throttle'] fg2t = fg2.fg['/controls/engines/engine[0]/throttle']
log(f'fgt={fgt} fg2t={fg2t}') log(f'fgt={fgt} fg2t={fg2t}')
else: else:
fg.fg['/controls/engines/engine[0]/throttle'] = 0.1 fg.fg['/controls/engines/engine[0]/throttle'] = throttle
# Run UFO with constant speed, varying the framerate so we check whether # Run UFO with constant speed, varying the framerate so we check whether
# recorded speeds are affected. # recorded speeds are affected.
@ -362,7 +407,7 @@ def test_motion(fgfs, multiplayer=False):
fg.fg['/sim/frame-rate-throttle-hz'] = 2 fg.fg['/sim/frame-rate-throttle-hz'] = 2
time.sleep(5) time.sleep(5)
# Restore original frame rate. # Change frame rate.
fg.fg['/sim/frame-rate-throttle-hz'] = 5 fg.fg['/sim/frame-rate-throttle-hz'] = 5
if multiplayer: if multiplayer:
fg2.fg['/sim/frame-rate-throttle-hz'] = 2 fg2.fg['/sim/frame-rate-throttle-hz'] = 2
@ -380,10 +425,20 @@ def test_motion(fgfs, multiplayer=False):
log(f'*** path={path} path2={path2}') log(f'*** path={path} path2={path2}')
g_cleanup.append(lambda: remove(path2)) g_cleanup.append(lambda: remove(path2))
log('')
log('='*80)
log('== Replay')
if multiplayer: if multiplayer:
fg = Fg( aircraft, f'{fgfs} --load-tape={path} --prop:/sim/replay/log-raw-speed-multiplayer=cgdae-t') fg = Fg( aircraft, f'{fgfs} --load-tape={path}'
f' --prop:/sim/replay/log-raw-speed-multiplayer=cgdae-t'
f' --prop:/sim/replay/log-raw-speed=true'
)
else: else:
fg = Fg( aircraft, f'{fgfs} --load-tape={path} --prop:/sim/replay/log-raw-speed=true') fg = Fg( aircraft,
f'{fgfs} --load-tape={path} --prop:/sim/replay/log-raw-speed=true',
#env='SG_LOG_DELTAS=flightgear/src/Aircraft/flightrecorder.cxx:replay=3',
)
fg.waitfor('/sim/fdm-initialized', 1, timeout=45) fg.waitfor('/sim/fdm-initialized', 1, timeout=45)
fg.fg['/sim/frame-rate-throttle-hz'] = 10 fg.fg['/sim/frame-rate-throttle-hz'] = 10
fg.waitfor('/sim/replay/replay-state', 1) fg.waitfor('/sim/replay/replay-state', 1)
@ -397,36 +452,46 @@ def test_motion(fgfs, multiplayer=False):
fg.waitfor('/sim/replay/replay-state-eof', 1) fg.waitfor('/sim/replay/replay-state-eof', 1)
errors = []
def examine_values(infix=''): def examine_values(infix=''):
'''
Looks at /sim/replay/log-raw-speed{infix}-values/value[], which will
contain measured speed of user/MP UFO. We check that the values are all
as expected - constant speed.
'''
log(f'== Looking at /sim/replay/log-raw-speed{infix}-values/value[]') log(f'== Looking at /sim/replay/log-raw-speed{infix}-values/value[]')
items0 = fg.fg.ls( f'/sim/replay/log-raw-speed{infix}-values') items0 = fg.fg.ls( f'/sim/replay/log-raw-speed{infix}-values')
log(f'len(items0)={len(items0)}') log(f'{infix} len(items0)={len(items0)}')
if not items0: assert items0, f'Failed to read items in /sim/replay/log-raw-speed{infix}-values/'
while 1:
log(f'*** hanging because failed to read contents of: /sim/replay/log-raw-speed{infix}-values')
time.sleep(5)
items = [] items = []
for item in items0: for item in items0:
if item.name == 'value': if item.name == 'value':
#log(f'have read item: {item}') #log(f'have read item: {item}')
items.append(item) items.append(item)
num_errors = 0 num_errors = 0
for item in items[:-1]: # Ignore last item because replay at end interpolates. for item in items[:-1]: # Ignore last item because replay at end interpolates.
speed = float(item.value) speed = float(item.value)
prefix = ' ' prefix = ' '
if abs(speed - 200) > 0.5: if abs(speed - fixed_speed) > 0.1:
num_errors += 1 num_errors += 1
prefix = '*' prefix = '*'
log( f' {prefix} speed={speed} details: {item}') log( f' {infix} {prefix} speed={speed:12.4} details: {item}')
assert num_errors == 0, 'Replay showed uneven speed.' if num_errors != 0:
log( f'*** Replay showed uneven speed')
errors.append('1')
if multiplayer: if multiplayer:
examine_values()
examine_values('-multiplayer') examine_values('-multiplayer')
examine_values('-multiplayer-post') examine_values('-multiplayer-post')
else: else:
examine_values() examine_values()
fg.close() fg.close()
if errors:
raise Exception('Failure')
log('test_motion() passed')
if __name__ == '__main__': if __name__ == '__main__':
@ -480,6 +545,8 @@ if __name__ == '__main__':
else: else:
raise Exception(f'Unrecognised arg: {arg!r}') raise Exception(f'Unrecognised arg: {arg!r}')
g_tapedir = os.path.abspath(g_tapedir)
if do_test == 'motion': if do_test == 'motion':
test_motion( fgfs) test_motion( fgfs)
elif do_test == 'motion-mp': elif do_test == 'motion-mp':
@ -545,11 +612,7 @@ if __name__ == '__main__':
for f in g_cleanup: for f in g_cleanup:
try: try:
f() f()
except: except Exception:
pass pass
if 0: log(f'{__file__}: Returning 0')
# This path can be used to check we cleanup properly after an error.
fg = Fg('./build-walk/fgfs.exe-run.sh --aircraft=harrier-gr3 --airport=egtk')
time.sleep(5)
assert 0