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