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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/autotest/check_autotest_speedup.py
Views: 1798
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#!/usr/bin/env python

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'''

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Run autotest repeatedly at different speedups to help find best default speedup

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AP_FLAKE8_CLEAN

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'''

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import optparse

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import os

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import re

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import subprocess

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import time

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class CheckAutoTestSpeedup(object):

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    def __init__(

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            self,

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            build_target="build.Plane",

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            test_target="test.QuadPlane",

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            min_speedup=1,

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            max_speedup=50,

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            gdb=False,

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            debug=False

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    ):

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        self.build_target = build_target

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        self.test_target = test_target

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        self.min_speedup = min_speedup

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        self.max_speedup = max_speedup

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        self.gdb = gdb

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        self.debug = debug

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    def progress(self, message):

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        print("PROGRESS: %s" % (message,))

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    def run_program(self, prefix, cmd_list):

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        '''copied in from build_binaries.py'''

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        '''run cmd_list, spewing and setting output in self'''

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        self.progress("Running (%s)" % " ".join(cmd_list))

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        p = subprocess.Popen(cmd_list,

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                             stdin=None,

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                             close_fds=True,

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                             stdout=subprocess.PIPE,

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                             stderr=subprocess.STDOUT)

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        self.program_output = ""

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        while True:

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            x = p.stdout.readline()

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            if len(x) == 0:

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                returncode = os.waitpid(p.pid, 0)

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                if returncode:

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                    break

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                    # select not available on Windows... probably...

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                time.sleep(0.1)

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                continue

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            if isinstance(x, bytes):

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                x = x.decode('utf-8')

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            self.program_output += x

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            x = x.rstrip()

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            print("%s: %s" % (prefix, x))

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        (_, status) = returncode

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        if status != 0:

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            self.progress("Process failed (%s)" %

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                          str(returncode))

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            raise subprocess.CalledProcessError(

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                returncode, cmd_list)

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    def run(self):

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        build_args = [

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            "./Tools/autotest/autotest.py",

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            self.build_target

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        ]

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        if opts.debug:

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            build_args.append("--debug")

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        self.run_program("BUILD", build_args)

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        results = {

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        }

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        f = open(os.path.join("/tmp/speedup.txt"), "w")

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        for i in range(self.max_speedup, self.min_speedup-1, -1):

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            self.progress("Checking speedup %u" % i)

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            run_args = [

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                "./Tools/autotest/autotest.py",

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                "--speedup", str(i),

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                "--show-test-timings",

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                self.test_target,

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            ]

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            if opts.gdb:

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                run_args.append("--gdb")

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            self.run_program("SPEEDUP-%03u" % i, run_args)

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            for line in self.program_output.split("\n"):

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                match = re.match(".*tests_total_time.*?([0-9.]+)s.*", line)

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                if match is not None:

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                    break

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            results[i] = float(match.group(1))

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            prog = "%u %f" % (i, results[i])

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            self.progress(prog)

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            print(prog, file=f)

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            f.flush()

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        for (speedup, t) in results.items():

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            print("%u %f" % (speedup, t))

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if __name__ == '__main__':

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    parser = optparse.OptionParser(

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        "check_autotest_speedup.py",

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        epilog=""

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        "e.g. ./Tools/autotest/check_autotest_speedup.py --max-speedup=40 --build-target=build.Sub --test-target=test.Sub"

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    )

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    parser.add_option("--debug",

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                      default=False,

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                      help='compile with debugging')

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    parser.add_option("--gdb",

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                      default=False,

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                      help='run under gdb')

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    parser.add_option("--max-speedup",

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                      type=int,

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                      default=50,

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                      help='max speedup to test')

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    parser.add_option("--min-speedup",

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                      type=int,

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                      default=1,

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                      help='min speedup to test')

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    parser.add_option("--build-target",

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                      type='string',

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                      default='build.Plane',

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                      help='build target (e.g. build.Plane)')

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    parser.add_option("--test-target",

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                      type='string',

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                      default='test.QuadPlane',

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                      help='test target (e.g. test.QuadPlane)')

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    opts, args = parser.parse_args()

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    checker = CheckAutoTestSpeedup(

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        gdb=opts.gdb,

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        debug=opts.debug,

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        max_speedup=opts.max_speedup,

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        min_speedup=opts.min_speedup,

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        build_target=opts.build_target,

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        test_target=opts.test_target

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    )

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    checker.run()

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