524 lines
18 KiB
Python
Executable file
524 lines
18 KiB
Python
Executable file
#!/usr/bin/env python3
|
|
|
|
'''
|
|
Test script for record/replay. Only tested on Unix.
|
|
|
|
E.g.:
|
|
|
|
./flightgear/scripts/python/recordreplay.py -f run_fgfs.sh
|
|
|
|
Args:
|
|
--all
|
|
Run all tests (this is default).
|
|
--continuous BOOLS
|
|
--extra-properties BOOLS
|
|
--it-max <it>
|
|
Set min iteration (inclusive) to run; useful when fixing tests and
|
|
retrying.
|
|
--it-min <it>
|
|
Set max iteration (exclusive) to run; useful when fixing tests and
|
|
retrying.
|
|
--main-view BOOLS
|
|
--multiplayer
|
|
-f <fgfs>
|
|
The fgfs executable to use. Default assumes the Walk build system.
|
|
--f-old <fgfs-old>
|
|
A second fgfs executable. If specified we run all tests twice, first
|
|
using <fgfs-old> to create the recording and <fgfs> to replay it,
|
|
second the other way round.
|
|
--test-motion
|
|
Checks that speed of aircraft on replay is not affected by frame rate.
|
|
|
|
We deliberately change frame rate while recording UFO moving at
|
|
constant speed.
|
|
|
|
BOOLS is comma-sparated list of 0 or 1, with 1 activating the particular
|
|
feature. So for example '--continuous 0' tests normal recording/replay',
|
|
'--continuous 1' tests continuous recording/replay, and continuous 0,1'
|
|
tests both.
|
|
|
|
We test all combinations of continuous, extra-properties, main-view and
|
|
multiplayer recordings. For each test we check that we can create a
|
|
recording, and replay it in a new fgfs instance. When replaying we check
|
|
a small number of basic things such as the recording length, and whether
|
|
extra-properties are replayed.
|
|
'''
|
|
|
|
import os
|
|
import resource
|
|
import signal
|
|
import subprocess
|
|
import sys
|
|
import time
|
|
|
|
import FlightGear
|
|
|
|
def log(text):
|
|
print(text, file=sys.stderr)
|
|
sys.stderr.flush()
|
|
|
|
g_cleanup = []
|
|
|
|
class Fg:
|
|
'''
|
|
Runs 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):
|
|
'''
|
|
aircraft:
|
|
Specified as: --aircraft={aircraft}. This is separate from <args>
|
|
because we need to know the name of recording files.
|
|
args:
|
|
Miscellenous args either space-separated name=value strings or a
|
|
dict.
|
|
env:
|
|
Environment to set. If DISPLAY is not in <env> we add 'DISPLAY=:0'.
|
|
'''
|
|
self.child = None
|
|
self.aircraft = aircraft
|
|
args += f' --aircraft={aircraft}'
|
|
|
|
if telnet_port is None:
|
|
telnet_port = 5500
|
|
args += f' --telnet={telnet_port}'
|
|
args2 = args.split()
|
|
|
|
environ = os.environ.copy()
|
|
if isinstance(env, str):
|
|
for nv in env.split():
|
|
n, v = nv.split('=', 1)
|
|
environ[n] = v
|
|
if 'DISPLAY' not in environ:
|
|
environ['DISPLAY'] = ':0'
|
|
|
|
# Run flightgear in new process, telling it to open telnet server.
|
|
#
|
|
# We run not in a shell, otherwise self.child.terminate() doesn't
|
|
# work - it would kill the shell but leave fgfs running (there are
|
|
# workarounds for this, such as prefixing the command with 'exec').
|
|
#
|
|
log(f'Command is: {args}')
|
|
log(f'Running: {args2}')
|
|
def preexec():
|
|
try:
|
|
resource.setrlimit(resource.RLIMIT_CORE, (resource.RLIM_INFINITY, resource.RLIM_INFINITY))
|
|
except Exception as e:
|
|
log(f'*** preexec failed with e={e}')
|
|
raise
|
|
self.child = subprocess.Popen(args2, env=environ,
|
|
preexec_fn=preexec,
|
|
)
|
|
|
|
# Connect to flightgear's telnet server.
|
|
timeout = 15
|
|
t0 = time.time()
|
|
while 1:
|
|
time.sleep(1)
|
|
dt = time.time() - t0
|
|
if dt > timeout:
|
|
text = f'Timeout trying to connect. timeout={timeout}'
|
|
log(text)
|
|
raise Exception(text)
|
|
try:
|
|
log('Connecting... ')
|
|
self.fg = FlightGear.FlightGear('localhost', telnet_port)
|
|
log(f'Connected. timeout={timeout} dt={dt:.1f}')
|
|
return
|
|
except Exception as e:
|
|
log(f'Failed to connect timeout={timeout} dt={dt:.1f}: {e}')
|
|
|
|
def waitfor(self, name, value, timeout=30):
|
|
'''
|
|
Waits for specified property to be <value>. Returns time taken.
|
|
'''
|
|
t0 = time.time()
|
|
while 1:
|
|
time.sleep(1)
|
|
dt = time.time() - t0
|
|
try:
|
|
v = self.fg[name]
|
|
log(f'Waiting for {name}={value} current value: {v}. timeout={timeout} dt={dt:.1f}')
|
|
except Exception as e:
|
|
log(f'Failed to get value of property {name}: {e}. timeout={timeout} dt={dt:.1f}')
|
|
v = None
|
|
if v == value:
|
|
return dt
|
|
if dt > timeout:
|
|
raise Exception(f'Timeout waiting for {name}={value}; current value: {v}. timeout={timeout}')
|
|
|
|
def run_command(self, command):
|
|
self.fg.telnet._putcmd(command)
|
|
ret = self.fg.telnet._getresp()
|
|
log(f'command={command!r} ret: {ret}')
|
|
return ret
|
|
|
|
def close(self):
|
|
assert self.child
|
|
self.child.terminate()
|
|
self.child.wait()
|
|
self.child = None
|
|
|
|
def __del__(self):
|
|
if self.child:
|
|
log('*** Fg.__del__() calling self.close()')
|
|
self.close()
|
|
|
|
def make_recording(
|
|
fg,
|
|
continuous=0,
|
|
extra_properties=0,
|
|
main_view=0,
|
|
length=5,
|
|
):
|
|
'''
|
|
Makes a recording, and returns its path.
|
|
|
|
We check that the recording file is newly created.
|
|
'''
|
|
t = time.time()
|
|
fg.fg['/sim/replay/record-signals'] = True # Just in case they are disabled by user.
|
|
if continuous:
|
|
assert not fg.fg['/sim/replay/record-continuous']
|
|
fg.fg['/sim/replay/record-continuous'] = 1
|
|
t0 = time.time()
|
|
while 1:
|
|
if time.time() > t0 + length:
|
|
break
|
|
fg.run_command('run view-step step=1')
|
|
time.sleep(1)
|
|
fg.fg['/sim/replay/record-continuous'] = 0
|
|
path = f'{fg.aircraft}-continuous.fgtape'
|
|
time.sleep(1)
|
|
else:
|
|
# Normal recording will have effectively already started, so we sleep
|
|
# for the remaining time. This is a little inaccurate though because it
|
|
# looks like normal recording starts a little after t=0, e.g. at t=0.5.
|
|
#
|
|
# Also, it looks like /sim/time/elapsed-sec doesn't quite track real
|
|
# time, so we sometimes need to sleep a little longer.
|
|
#
|
|
while 1:
|
|
t = fg.fg['/sim/time/elapsed-sec']
|
|
log(f'/sim/time/elapsed-sec={t}')
|
|
if t > length:
|
|
break
|
|
time.sleep(length - t + 0.5)
|
|
log(f'/sim/time/elapsed-sec={t}')
|
|
fg.fg.telnet._putcmd('run save-tape tape-data/starttime= tape-data/stoptime=')
|
|
response = fg.fg.telnet._getresp()
|
|
log(f'response: {response!r}')
|
|
path = f'{fg.aircraft}.fgtape'
|
|
|
|
# Check recording is new.
|
|
os.system(f'ls -lL {path}')
|
|
s = os.stat(path, follow_symlinks=True)
|
|
assert s.st_mtime > t
|
|
path2 = os.readlink(path)
|
|
log(f'path={path} path2={path2}')
|
|
return path
|
|
|
|
|
|
def test_record_replay(
|
|
fgfs_save,
|
|
fgfs_load,
|
|
multiplayer,
|
|
continuous,
|
|
extra_properties,
|
|
main_view,
|
|
length,
|
|
):
|
|
if not fgfs_load:
|
|
fgfs_load = fgfs_save
|
|
log(f'=== save: {fgfs_save}')
|
|
log(f'=== load: {fgfs_load}')
|
|
log(f'=== --multiplayer {multiplayer} --continuous {continuous} --extra-properties {extra_properties} --main-view {main_view}')
|
|
log(f'===')
|
|
|
|
aircraft = 'harrier-gr3'
|
|
args = f'--state=vto --airport=egtk'
|
|
args += f' --prop:bool:/sim/replay/record-extra-properties={extra_properties}'
|
|
args += f' --prop:bool:/sim/replay/record-main-view={main_view}'
|
|
args += f' --prop:bool:/sim/replay/record-main-window=0'
|
|
|
|
# Start Flightgear.
|
|
fg = Fg(aircraft, f'{fgfs_save} {args}',
|
|
#env='SG_LOG_DELTAS=flightgear/src/Network/props.cxx=4',
|
|
)
|
|
fg.waitfor('/sim/fdm-initialized', 1, timeout=45)
|
|
|
|
assert fg.fg['sim/replay/record-extra-properties'] == extra_properties
|
|
assert fg.fg['sim/replay/record-main-view'] == main_view
|
|
log(f'sim/replay/record-extra-properties={fg.fg["sim/replay/record-extra-properties"]}')
|
|
|
|
# Save recording:
|
|
path = make_recording(fg,
|
|
continuous=continuous,
|
|
extra_properties=extra_properties,
|
|
main_view=main_view,
|
|
length=length,
|
|
)
|
|
|
|
g_cleanup.append(lambda: os.remove(path))
|
|
fg.close()
|
|
|
|
# Load recording into new Flightgear.
|
|
path = f'{aircraft}-continuous.fgtape' if continuous else f'{aircraft}.fgtape'
|
|
fg = Fg(aircraft, f'{fgfs_load} {args} --load-tape={path}')
|
|
fg.waitfor('/sim/fdm-initialized', 1, timeout=45)
|
|
fg.waitfor('/sim/replay/replay-state', 1)
|
|
|
|
# Check replay time is ok.
|
|
rtime_begin = fg.fg['/sim/replay/start-time']
|
|
rtime_end = fg.fg['/sim/replay/end-time']
|
|
rtime = rtime_end - rtime_begin
|
|
log(f'rtime={rtime_begin}..{rtime_end}, recording length: {rtime}, length={length}')
|
|
assert rtime > length-1 and rtime < length+2, \
|
|
f'length={length} rtime_begin={rtime_begin} rtime_end={rtime_end} rtime={rtime}'
|
|
|
|
num_frames_extra_properties = fg.fg['/sim/replay/continuous-stats-num-frames-extra-properties']
|
|
log(f'num_frames_extra_properties={num_frames_extra_properties}')
|
|
if continuous:
|
|
if main_view:
|
|
assert num_frames_extra_properties > 1
|
|
else:
|
|
assert num_frames_extra_properties == 0
|
|
else:
|
|
assert num_frames_extra_properties in (0, None), \
|
|
f'num_frames_extra_properties={num_frames_extra_properties}'
|
|
|
|
time.sleep(length)
|
|
|
|
fg.close()
|
|
|
|
os.remove(path)
|
|
|
|
log('Test passed')
|
|
|
|
|
|
def test_motion(fgfs, multiplayer=False):
|
|
|
|
aircraft = 'ufo'
|
|
fg = Fg( aircraft, f'{fgfs}')
|
|
path = f'{fg.aircraft}-continuous.fgtape'
|
|
|
|
fg.waitfor('/sim/fdm-initialized', 1, timeout=45)
|
|
|
|
fg.fg['/controls/engines/engine[0]/throttle'] = 0
|
|
|
|
if multiplayer:
|
|
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.waitfor('/sim/fdm-initialized', 1, timeout=45)
|
|
fg2.fg['/controls/engines/engine[0]/throttle'] = 0.1
|
|
time.sleep(1)
|
|
fgt = fg.fg['/controls/engines/engine[0]/throttle']
|
|
fg2t = fg2.fg['/controls/engines/engine[0]/throttle']
|
|
log(f'fgt={fgt} fg2t={fg2t}')
|
|
else:
|
|
fg.fg['/controls/engines/engine[0]/throttle'] = 0.1
|
|
|
|
# Run UFO with constant speed, varying the framerate so we check whether
|
|
# recorded speeds are affected.
|
|
#
|
|
fg.fg['/sim/frame-rate-throttle-hz'] = 5
|
|
if multiplayer:
|
|
fg2.fg['/sim/frame-rate-throttle-hz'] = 5
|
|
|
|
# Delay to let frame rate settle.
|
|
time.sleep(10)
|
|
|
|
# Start recording.
|
|
fg.fg['/sim/replay/record-continuous'] = 1
|
|
time.sleep(5)
|
|
|
|
# Change frame rate.
|
|
fg.fg['/sim/frame-rate-throttle-hz'] = 2
|
|
time.sleep(5)
|
|
|
|
# Restore original frame rate.
|
|
fg.fg['/sim/frame-rate-throttle-hz'] = 5
|
|
if multiplayer:
|
|
fg2.fg['/sim/frame-rate-throttle-hz'] = 2
|
|
time.sleep(5)
|
|
|
|
# Stop recording.
|
|
fg.fg['/sim/replay/record-continuous'] = 0
|
|
|
|
fg.close()
|
|
if multiplayer:
|
|
fg2.close()
|
|
time.sleep(2)
|
|
|
|
path2 = os.readlink( path)
|
|
g_cleanup.append(lambda: os.remove(path2))
|
|
|
|
if multiplayer:
|
|
fg = Fg( aircraft, f'{fgfs} --load-tape={path} --prop:/sim/replay/log-raw-speed-multiplayer=cgdae-t')
|
|
else:
|
|
fg = Fg( aircraft, f'{fgfs} --load-tape={path} --prop:/sim/replay/log-raw-speed=true')
|
|
fg.waitfor('/sim/fdm-initialized', 1, timeout=45)
|
|
fg.fg['/sim/frame-rate-throttle-hz'] = 10
|
|
fg.waitfor('/sim/replay/replay-state', 1)
|
|
|
|
time.sleep(3)
|
|
fg.fg['/sim/frame-rate-throttle-hz'] = 2
|
|
time.sleep(5)
|
|
fg.fg['/sim/frame-rate-throttle-hz'] = 5
|
|
time.sleep(3)
|
|
fg.fg['/sim/frame-rate-throttle-hz'] = 7
|
|
|
|
fg.waitfor('/sim/replay/replay-state-eof', 1)
|
|
|
|
def examine_values(infix=''):
|
|
items0 = fg.fg.ls( f'/sim/replay/log-raw-speed{infix}-values')
|
|
log(f'len(items0)={len(items0)}')
|
|
if not items0:
|
|
while 1:
|
|
log(f'*** hanging because failed to read contents of: /sim/replay/log-raw-speed{infix}-values')
|
|
time.sleep(5)
|
|
items = []
|
|
for item in items0:
|
|
if item.name == 'value':
|
|
#log(f'have read item: {item}')
|
|
items.append(item)
|
|
num_errors = 0
|
|
for item in items[:-1]: # Ignore last item because replay at end interpolates.
|
|
speed = float(item.value)
|
|
prefix = ' '
|
|
if abs(speed - 200) > 0.5:
|
|
num_errors += 1
|
|
prefix = '*'
|
|
log( f' {prefix} speed={speed} details: {item}')
|
|
assert num_errors == 0, 'Replay showed uneven speed.'
|
|
|
|
if multiplayer:
|
|
examine_values('-multiplayer')
|
|
else:
|
|
examine_values()
|
|
|
|
fg.close()
|
|
|
|
|
|
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 == '--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}')
|
|
|
|
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:
|
|
pass
|
|
|
|
if 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
|