Sh: Created page with "An automated test system is setup on tustin.iau.dtu.dk. The test consists of a number of scripts testing various features of the Mobotware software. The test is run hourly by..."

2014-02-13T21:57:53Z

Created page with "An automated test system is setup on tustin.iau.dtu.dk. The test consists of a number of scripts testing various features of the Mobotware software. The test is run hourly by..."

New page

An automated test system is setup on tustin.iau.dtu.dk. The test consists of a number of scripts testing various features of the Mobotware software.
The test is run hourly by a cron job and output is directed to a homepage.
The cron job is setup on a Linux system by running <tt>crontab -e</tt> and adding the following line:
00 * * * * /path/to/scripts/byg-check

== Compile test ==
To test that all programs in the standard Mobotware package compiles as intended the script <tt>byg-check</tt> is used.

<pre>
#!/bin/bash

WEB_PATH=/path/to/output/page.html
RUN_TIME=`date`

cd /path/to/scripts
svn up > /dev/null

make clean > /dev/null

rm -f err.log
cat text.html > out.html
echo $RUN_TIME >> out.html
make > /dev/null 2> err.log
if [ $? -eq 0 ]; then
echo "<hr><h2>Compile status: SUCCESS</h2>" >> out.html
else
echo "<hr><h2>Compile status: FAILED</h2><hr><b>Error-log:</b><br>" >> out.html
cat err.log >> out.html
fi

echo "</body></html>" >> out.html
cp out.html $WEB_PATH

exit 0
</pre>

== Simulator test ==
A test run is done in the simulator to check odometry and laser based localisation. To run the simulator without a display a virtual frame buffer is created using Xvfb.

The script is:

<pre>
#!/bin/bash
rm -f log
Xvfb :100 &
FRAMEPID=$!
export DISPLAY=:100
build/bin/rhd rhdconfig.maze.xml >simlog 2>simerr &
RHDPID=$!
sleep 5
build/bin/ulmsserver -a > /dev/null 2> /dev/null &
ULMPID=$!
sleep 5
build/bin/mrc -s0 test >mrclog 2>mrcerrlog
grep "1.0" log
if [ $? -eq 0 ]; then
RETVAL=1
else
grep "2.0" log
if [ $? -eq 0 ]; then
RETVAL=2
else
RETVAL=0
fi
fi

kill $FRAMEPID $RHDPID $ULMPID

exit $RETVAL
</pre>

The mrc program <tt>test</tt> is a smrcl script that drives the robot around a predefined pattern:

<pre>
laser "setinitpose x=-0.2 y=0.5 th=0.0"
laser "setinitcov Cx=0.004 Cy=0.004 Cth=0.01"
laser "push t='1.0' cmd='localize'"
fwd 1.7
turn 75
fwd 1.8
turn 15
fwd 1.15
turn 90
fwd 1.75
turn 60
fwd 0.15
turn 15
fwd 0.12
turn 15
fwd 0.3
turn 45
fwd 0.5
turn -45
fwd 1.45
turn -90
fwd 0.7
eval $odox;$odoy;$odoth
eval $l0;$l1;$l2
result=0
resultt=1
if (abs($odox+0.033)>0.01|abs($odoy-0.542)>0.01|abs(normalizeanglerad($odoth-3.14))>0.01) "failed"
resultt=2
if (abs($l0-0.1)>0.03|abs($l1+0.4)>0.03|abs(normalizeanglerad($l2))>0.05) "failed"
resultt=0
label "failed"
log "result"
result = resultt
</pre>

Automated test setup - Revision history

Sh: Created page with "An automated test system is setup on tustin.iau.dtu.dk. The test consists of a number of scripts testing various features of the Mobotware software. The test is run hourly by..."