618 lines
21 KiB
Python
Executable file
618 lines
21 KiB
Python
Executable file
#!/usr/bin/env python3
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'''
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Test script for record/replay. Only tested on Unix.
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E.g.:
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./flightgear/scripts/python/recordreplay.py -f run_fgfs.sh
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Args:
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--all
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Run all tests (this is default).
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--continuous BOOLS
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--extra-properties BOOLS
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--it-max <it>
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Set min iteration (inclusive) to run; useful when fixing tests and
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retrying.
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--it-min <it>
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Set max iteration (exclusive) to run; useful when fixing tests and
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retrying.
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--main-view BOOLS
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--multiplayer
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-f <fgfs>
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The fgfs executable to use. Default assumes the Walk build system.
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--f-old <fgfs-old>
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A second fgfs executable. If specified we run all tests twice, first
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using <fgfs-old> to create the recording and <fgfs> to replay it,
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second the other way round.
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--test-motion
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Checks that speed of aircraft on replay is not affected by frame rate.
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We deliberately change frame rate while recording UFO moving at
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constant speed.
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--test-motion-mp
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Checks that speed of MP on replay is not affected by frame rate.
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We deliberately change frame rate while recording UFO moving at
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constant speed.
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BOOLS is comma-sparated list of 0 or 1, with 1 activating the particular
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feature. So for example '--continuous 0' tests normal recording/replay',
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'--continuous 1' tests continuous recording/replay, and continuous 0,1'
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tests both.
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We test all combinations of continuous, extra-properties, main-view and
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multiplayer recordings. For each test we check that we can create a
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recording, and replay it in a new fgfs instance. When replaying we check
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a small number of basic things such as the recording length, and whether
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extra-properties are replayed.
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'''
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import os
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import resource
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import signal
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import subprocess
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import sys
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import time
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import FlightGear
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def log(text):
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print(text, file=sys.stderr)
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sys.stderr.flush()
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g_cleanup = []
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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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except Exception as e:
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log(f'Failed to remove {path}: {e}')
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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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return ret
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class Fg:
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'''
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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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aircraft:
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Specified as: --aircraft={aircraft}. This is separate from <args>
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because we need to know the name of recording files.
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args:
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Miscellenous args either space-separated name=value strings or a
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dict.
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env:
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Environment to set. If DISPLAY is not in <env> we add 'DISPLAY=:0'.
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'''
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self.child = None
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self.aircraft = aircraft
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args += f' --aircraft={aircraft}'
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if telnet_port is None:
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telnet_port = 5500
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args += f' --telnet={telnet_port}'
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args += f' --prop:/sim/replay/tape-directory={g_tapedir}'
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args2 = args.split()
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environ = os.environ.copy()
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if isinstance(env, str):
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for nv in env.split():
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n, v = nv.split('=', 1)
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environ[n] = v
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if 'DISPLAY' not in environ:
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environ['DISPLAY'] = ':0'
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# Run flightgear in new process, telling it to open telnet server.
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#
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# We run not in a shell, otherwise self.child.terminate() doesn't
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# work - it would kill the shell but leave fgfs running (there are
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# workarounds for this, such as prefixing the command with 'exec').
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#
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log(f'Command is: {args}')
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log(f'Running: {args2}')
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def preexec():
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try:
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resource.setrlimit(resource.RLIMIT_CORE, (resource.RLIM_INFINITY, resource.RLIM_INFINITY))
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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(
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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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# Connect to flightgear's telnet server.
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timeout = 15
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t0 = time.time()
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while 1:
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time.sleep(1)
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dt = time.time() - t0
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if dt > timeout:
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text = f'Timeout trying to connect. timeout={timeout}'
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log(text)
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raise Exception(text)
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try:
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log('Connecting... ')
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self.fg = FlightGear.FlightGear('localhost', telnet_port)
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log(f'Connected. timeout={timeout} dt={dt:.1f}')
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return
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except Exception as e:
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log(f'Failed to connect timeout={timeout} dt={dt:.1f}: {e}')
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def waitfor(self, name, value, timeout=30):
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'''
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Waits for specified property to be <value>. Returns time taken.
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'''
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t0 = time.time()
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while 1:
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time.sleep(1)
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dt = time.time() - t0
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try:
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v = self.fg[name]
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log(f'Waiting for {name}={value} current value: {v}. timeout={timeout} dt={dt:.1f}')
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except Exception as e:
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log(f'Failed to get value of property {name}: {e}. timeout={timeout} dt={dt:.1f}')
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v = None
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if v == value:
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return dt
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if dt > timeout:
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raise Exception(f'Timeout waiting for {name}={value}; current value: {v}. timeout={timeout}')
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def run_command(self, command):
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self.fg.telnet._putcmd(command)
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ret = self.fg.telnet._getresp()
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log(f'command={command!r} ret: {ret}')
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return ret
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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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log('*** Fg.__del__() calling self.close()')
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self.close()
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def make_recording(
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fg,
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continuous=0,
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extra_properties=0,
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main_view=0,
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length=5,
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):
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'''
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Makes a recording, and returns its path.
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We check that the recording file is newly created.
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'''
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t = time.time()
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fg.fg['/sim/replay/record-signals'] = True # Just in case they are disabled by user.
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if continuous:
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assert not fg.fg['/sim/replay/record-continuous']
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fg.fg['/sim/replay/record-continuous'] = 1
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t0 = time.time()
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while 1:
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if time.time() > t0 + length:
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break
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fg.run_command('run view-step step=1')
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time.sleep(1)
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fg.fg['/sim/replay/record-continuous'] = 0
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path = f'{g_tapedir}/{fg.aircraft}-continuous.fgtape'
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time.sleep(1)
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else:
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# Normal recording will have effectively already started, so we sleep
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# for the remaining time. This is a little inaccurate though because it
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# looks like normal recording starts a little after t=0, e.g. at t=0.5.
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#
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# Also, it looks like /sim/time/elapsed-sec doesn't quite track real
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# time, so we sometimes need to sleep a little longer.
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#
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while 1:
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t = fg.fg['/sim/time/elapsed-sec']
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log(f'/sim/time/elapsed-sec={t}')
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if t > length:
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break
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time.sleep(length - t + 0.5)
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log(f'/sim/time/elapsed-sec={t}')
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fg.fg.telnet._putcmd('run save-tape tape-data/starttime= tape-data/stoptime=')
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response = fg.fg.telnet._getresp()
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log(f'response: {response!r}')
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path = f'{g_tapedir}/{fg.aircraft}.fgtape'
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# Check recording is new.
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os.system(f'ls -lL {path}')
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s = os.stat(path, follow_symlinks=True)
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assert s.st_mtime > t
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path2 = readlink(path)
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log(f'path={path} path2={path2}')
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return path
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def test_record_replay(
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fgfs_save,
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fgfs_load,
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multiplayer,
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continuous,
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extra_properties,
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main_view,
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length,
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):
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if not fgfs_load:
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fgfs_load = fgfs_save
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log(f'=== save: {fgfs_save}')
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log(f'=== load: {fgfs_load}')
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log(f'=== --multiplayer {multiplayer} --continuous {continuous} --extra-properties {extra_properties} --main-view {main_view}')
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log(f'===')
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aircraft = 'harrier-gr3'
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args = f'--state=vto --airport=egtk'
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args += f' --prop:bool:/sim/replay/record-extra-properties={extra_properties}'
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args += f' --prop:bool:/sim/replay/record-main-view={main_view}'
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args += f' --prop:bool:/sim/replay/record-main-window=0'
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# Start Flightgear.
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fg = Fg(aircraft, f'{fgfs_save} {args}',
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#env='SG_LOG_DELTAS=flightgear/src/Network/props.cxx=4',
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)
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fg.waitfor('/sim/fdm-initialized', 1, timeout=45)
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assert fg.fg['sim/replay/record-extra-properties'] == extra_properties
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assert fg.fg['sim/replay/record-main-view'] == main_view
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log(f'sim/replay/record-extra-properties={fg.fg["sim/replay/record-extra-properties"]}')
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# Save recording:
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path = make_recording(fg,
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continuous=continuous,
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extra_properties=extra_properties,
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main_view=main_view,
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length=length,
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)
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g_cleanup.append(lambda: remove(path))
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fg.close()
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# Load recording into new Flightgear.
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path = f'{g_tapedir}/{aircraft}-continuous.fgtape' if continuous else f'{g_tapedir}/{aircraft}.fgtape'
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fg = Fg(aircraft, f'{fgfs_load} {args} --load-tape={path}')
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fg.waitfor('/sim/fdm-initialized', 1, timeout=45)
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fg.waitfor('/sim/replay/replay-state', 1)
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# Check replay time is ok.
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rtime_begin = fg.fg['/sim/replay/start-time']
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rtime_end = fg.fg['/sim/replay/end-time']
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rtime = rtime_end - rtime_begin
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log(f'rtime={rtime_begin}..{rtime_end}, recording length: {rtime}, length={length}')
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assert rtime > length-1 and rtime < length+2, \
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f'length={length} rtime_begin={rtime_begin} rtime_end={rtime_end} rtime={rtime}'
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num_frames_extra_properties = fg.fg['/sim/replay/continuous-stats-num-frames-extra-properties']
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log(f'num_frames_extra_properties={num_frames_extra_properties}')
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if continuous:
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if main_view:
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assert num_frames_extra_properties > 1
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else:
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assert num_frames_extra_properties == 0
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else:
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assert num_frames_extra_properties in (0, None), \
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f'num_frames_extra_properties={num_frames_extra_properties}'
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time.sleep(length)
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fg.close()
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remove(path)
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log('Test passed')
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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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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'] = 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'] = 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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#
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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'] = 5
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# Delay to let frame rate settle.
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time.sleep(10)
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# Start recording.
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fg.fg['/sim/replay/record-continuous'] = 1
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time.sleep(5)
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# Change frame rate.
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fg.fg['/sim/frame-rate-throttle-hz'] = 2
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time.sleep(5)
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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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time.sleep(5)
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# Stop recording.
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fg.fg['/sim/replay/record-continuous'] = 0
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fg.close()
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if multiplayer:
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fg2.close()
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time.sleep(2)
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path2 = readlink( path)
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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}'
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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,
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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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time.sleep(3)
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fg.fg['/sim/frame-rate-throttle-hz'] = 2
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time.sleep(5)
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fg.fg['/sim/frame-rate-throttle-hz'] = 5
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time.sleep(3)
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fg.fg['/sim/frame-rate-throttle-hz'] = 7
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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'{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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speed = float(item.value)
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prefix = ' '
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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' {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()
|
|
if errors:
|
|
raise Exception('Failure')
|
|
|
|
log('test_motion() passed')
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
fgfs = f'./build-walk/fgfs.exe-run.sh'
|
|
fgfs_old = None
|
|
|
|
do_test = 'all'
|
|
continuous_s = [0, 1]
|
|
extra_properties_s = [0, 1]
|
|
main_view_s = [0, 1]
|
|
multiplayer_s = [0, 1]
|
|
fgfs_reverse_s = [0]
|
|
it_min = None
|
|
it_max = None
|
|
|
|
if len(sys.argv) == 1:
|
|
do_all = True
|
|
|
|
args = iter(sys.argv[1:])
|
|
while 1:
|
|
try:
|
|
arg = next(args)
|
|
except StopIteration:
|
|
break
|
|
if arg == '--all':
|
|
do_all = True
|
|
elif arg == '--continuous':
|
|
continuous_s = map(int, next(args).split(','))
|
|
elif arg == '--tape-dir':
|
|
g_tapedir = next(args)
|
|
elif arg == '--extra-properties':
|
|
extra_properties_s = map(int, next(args).split(','))
|
|
elif arg == '--it-max':
|
|
it_max = int(next(args))
|
|
elif arg == '--it-min':
|
|
it_min = int(next(args))
|
|
elif arg == '--main-view':
|
|
main_view_s = map(int, next(args).split(','))
|
|
elif arg == '--multiplayer':
|
|
multiplayer_s = map(int, next(args).split(','))
|
|
elif arg == '-f':
|
|
fgfs = next(args)
|
|
elif arg == '--f-old':
|
|
fgfs_old = next(args)
|
|
fgfs_reverse = [0, 1]
|
|
elif arg == '--test-motion':
|
|
do_test = 'motion'
|
|
elif arg == '--test-motion-mp':
|
|
do_test = 'motion-mp'
|
|
else:
|
|
raise Exception(f'Unrecognised arg: {arg!r}')
|
|
|
|
g_tapedir = os.path.abspath(g_tapedir)
|
|
|
|
if do_test == 'motion':
|
|
test_motion( fgfs)
|
|
elif do_test == 'motion-mp':
|
|
test_motion( fgfs, True)
|
|
elif do_test == 'all':
|
|
try:
|
|
if fgfs_old:
|
|
for fgfs1, fgfs2 in [(fgfs, fgfs_old), (fgfs_old, fgfs)]:
|
|
for multiplayer in 0, 1:
|
|
test_record_replay(
|
|
fgfs1,
|
|
fgfs2,
|
|
multiplayer,
|
|
continuous=0,
|
|
extra_properties=0,
|
|
main_view=0,
|
|
length=10,
|
|
)
|
|
else:
|
|
its_max = len(multiplayer_s) * len(continuous_s) * len(extra_properties_s) * len(main_view_s) * len(fgfs_reverse_s)
|
|
it = 0
|
|
for multiplayer in multiplayer_s:
|
|
for continuous in continuous_s:
|
|
for extra_properties in extra_properties_s:
|
|
for main_view in main_view_s:
|
|
for fgfs_reverse in fgfs_reverse_s:
|
|
if fgfs_reverse:
|
|
fgfs_save = fgfs_old
|
|
fgfs_load = fgfs
|
|
else:
|
|
fgfs_save = fgfs
|
|
fgfs_load = fgfs_old
|
|
|
|
ok = True
|
|
if it_min is not None:
|
|
if it < it_min:
|
|
ok = False
|
|
if it_max is not None:
|
|
if it >= it_max:
|
|
ok = False
|
|
log('')
|
|
log(f'===')
|
|
log(f'=== {it}/{its_max}')
|
|
if ok:
|
|
test_record_replay(
|
|
fgfs_save,
|
|
fgfs_load,
|
|
multiplayer=multiplayer,
|
|
continuous=continuous,
|
|
extra_properties=extra_properties,
|
|
main_view=main_view,
|
|
length=10
|
|
)
|
|
it += 1
|
|
finally:
|
|
pass
|
|
else:
|
|
assert 0, f'do_test={do_test}'
|
|
|
|
# If everything passed, cleanup. Otherwise leave recordings in place, as
|
|
# they can be useful for debugging.
|
|
#
|
|
for f in g_cleanup:
|
|
try:
|
|
f()
|
|
except Exception:
|
|
pass
|
|
|
|
log(f'{__file__}: Returning 0')
|