Merge pull request #13 from bitcraze/jonasdn/crazyswarm

Add testing of swarms using Crazyswarm project

.github/workflows/crazylab-malmö.yml

@@ -39,7 +39,7 @@ jobs:
         run: python3 management/program.py --file nightly/firmware-cf2-nightly.zip
 
       - name: Run test suite
-        run: pytest --verbose --junit-xml $CRAZY_SITE-$(date +%s).xml
+        run: pytest --verbose --junit-xml $CRAZY_SITE-$(date +%s).xml tests/QA
 
       - name: Checkout Crazyflie python library
         uses: actions/checkout@v2

.github/workflows/crazyswarm-malmö.yml

@@ -0,0 +1,79 @@
+name: Crazyswarm test 🐝
+
+# Controls when the action will run.
+on:
+  workflow_dispatch:
+  schedule:
+  - cron:  '0 4 * * *'
+
+jobs:
+  swarm_at_crazylab:
+    runs-on: self-hosted
+    container:
+      image: ros:noetic
+      options: --privileged
+
+    env:
+      CSW_PYTHON: python3
+      CRAZYSWARM_PATH: crazyswarm
+      CRAZYSWARM_YAML: crazylab-malmö.yaml
+
+    steps:
+      - name: Update apt sources
+        run: |
+          echo "deb http://ports.ubuntu.com/ubuntu-ports focal main restricted" >> /etc/apt/sources.list
+          sudo apt-get update
+
+      - name: Install Crazyswarm dependencies
+        run: |
+          sudo apt-get install -y git swig libpython3-dev python3-numpy \
+          python3-yaml python3-matplotlib python3-pytest python3-scipy \
+          libpcl-dev libusb-1.0-0-dev sdcc ros-noetic-vrpn gcc-arm-none-eabi \
+          ros-noetic-tf ros-noetic-tf-conversions python3-toml python3-pip
+
+      - name: Check out sources
+        uses: actions/checkout@v2
+
+      - name: Download latest firmware files
+        with:
+          repo: bitcraze/crazyflie-release
+          workflow: nightly.yml
+        uses: dawidd6/action-download-artifact@v2.14.0
+
+      - name: Check out sources
+        uses: actions/checkout@v2
+
+      - name: Download latest firmware files
+        with:
+          repo: bitcraze/crazyflie-release
+          workflow: nightly.yml
+        uses: dawidd6/action-download-artifact@v2.14.0
+
+      - name: Checkout Crazyswarm
+        uses: actions/checkout@v2
+        with:
+          repository: USC-ACTLab/crazyswarm
+          path: crazyswarm
+
+      - name: Build Crazyswarm
+        run: |
+          source /opt/ros/noetic/setup.bash
+          cd crazyswarm
+          ./build.sh
+        shell: bash
+
+      - name: Install Crazyflie python library
+        run: pip3 install git+https://github.com/bitcraze/crazyflie-lib-python.git@master
+
+      - name: Upgrade swarm to latest firmware
+        run: |
+          source crazyswarm/ros_ws/devel/setup.bash
+          python3 management/program_swarm.py nightly/firmware-tag-nightly.zip --sim
+        shell: bash
+
+      - name: Run Crazyswarm tests
+        run: |
+          source crazyswarm/ros_ws/devel/setup.bash
+          roslaunch swarms/crazylab-malmö.launch &
+          python3 -m pytest --verbose tests/crazyswarm
+        shell: bash

.pre-commit-config.yaml

@@ -3,3 +3,4 @@ repos:
     rev: 7192665e31cea6ace58a71e086c7248d7e5610c2
     hooks:
     -   id: flake8
+        args: [--ignore=E501]

README.md

@@ -17,7 +17,7 @@ See the file `sites/single-cf.toml` for the site file format to define new test
 
 To run the test for a single Crazyflie, run:
 ```
-CRAZY_SITE=single-cf pytest --verbose
+CRAZY_SITE=single-cf pytest --verbose tests/QA
 ```
 
 If you have defined your own site, then change the `CRAZY_SITE` environment
@@ -32,4 +32,25 @@ management/program.py               - Flash a firmware file to devices in site
 management/bootloader_addresses.py  - List all devices bootloader addresses
 management/recover.py               - Attempt to recover one or all device(s)
                                       from bootloader mode
-```
+management/program_swarm.py         - Flash a firmware file to devices in a swarm
+```
+
+## Testing with Crazyswarm
+It also possible to test using the [Crazyswarm](https://github.com/USC-ACTLab/crazyswarm) project.
+You will need to specify your swarm in `swarms/name.yaml` and a [ROS](https://www.ros.org/) launch file in `swarms/name.launch` you can check the `swarms/crazylab-malmö.[yaml|launch]` files for inspiration.
+
+To run the Crazyswarm tests or flash firmware files to a swarm you need to define some environment variables:
+
+```
+$ export CRAZYSWARM_PATH=[path to checked out crazyswarm source]
+$ export CRAZYSWARM_YAML=[name_of_your.yaml]
+
+$ source $CRAZYSWARM_PATH/ros_ws/devel/setup.bash
+$ roslaunch [path to your launch file] &
+
+# To flash all devices in swarm
+$ python3 management/program_swarm.py [firmware file]
+
+# To run the crazyswarm tests
+$ python3 -m pytest tests/crazyswarm
+```

conftest.py

@@ -1,10 +1,14 @@
 import pytest
+import binascii
 import os
 import time
 import toml
 import glob
+import struct
+import sys
 
 from typing import Callable
+from typing import List
 from typing import NoReturn
 from typing import Optional
 
@@ -134,7 +138,43 @@ def test_setup(request):
     fix.device.cf.close_link()
 
 
-def get_devices():
+def get_bl_address(dev: BCDevice) -> str:
+    '''
+    Send the BOOTLOADER_CMD_RESET_INIT command to the NRF firmware
+    and receive the bootloader radio address in the response
+    '''
+    address = None
+    link = cflib.crtp.get_link_driver(dev.link_uri)
+    if link is None:
+        return None
+
+    # 0xFF => BOOTLOADER CMD
+    # 0xFE => To the NRF firmware
+    # 0xFF => BOOTLOADER_CMD_RESET_INIT (to get bl address)
+    pk = CRTPPacket(0xFF, [0xFE, 0xFF])
+    link.send_packet(pk)
+
+    timeout = 5  # seconds
+    ts = time.time()
+    while time.time() - ts < timeout:
+        pk = link.receive_packet(2)
+        if pk is None:
+            continue
+
+        # Header 0xFF means port is 0xF ((header & 0xF0) >> 4)) and channel
+        # is 0x3 (header & 0x03).
+        if pk.port == 0xF and pk.channel == 0x3 and len(pk.data) > 3:
+            # 0xFE is NRF target id, 0xFF is BOOTLOADER_CMD_RESET_INIT
+            if struct.unpack('<BB', pk.data[0:2]) != (0xFE, 0xFF):
+                continue
+            address = 'B1' + binascii.hexlify(pk.data[2:6][::-1]).upper().decode('utf8')  # noqa
+            break
+
+    link.close()
+    return address
+
+
+def get_devices() -> List[BCDevice]:
     devices = list()
 
     site = os.getenv('CRAZY_SITE')
@@ -154,6 +194,59 @@ def get_devices():
     return devices
 
 
+def get_swarm() -> List[BCDevice]:
+    '''
+    Given a path to the Crazyswarm project source and path in the
+    CRAZYSWARM_PATH environment variable and a path to a YAML file defining
+    a swarm in CRAZYSWARM_YAML return a list of BCDevice.
+    '''
+    devices = list()
+
+    try:
+        crazyswarm_path = os.environ['CRAZYSWARM_PATH']
+        sys.path.append(os.path.join(
+            crazyswarm_path,
+            'ros_ws/src/crazyswarm/scripts'
+        ))
+        sys.path.append(os.path.join(
+            crazyswarm_path,
+            'ros_ws/src/crazyflie_ros'
+        ))
+        from pycrazyswarm import Crazyswarm
+
+        crazyflies_yaml = os.path.join(
+            os.path.dirname(os.path.realpath(__file__)),
+            'swarms',
+            os.environ['CRAZYSWARM_YAML']
+        )
+        cs = Crazyswarm(crazyflies_yaml=crazyflies_yaml)
+
+        for cf in cs.allcfs.crazyflies:
+            address = 'E7E7E7E7{:X}'.format(cf.id)
+
+            # get URI from address using scan
+            found = cflib.crtp.scan_interfaces(int(address, 16))
+            if not found:
+                raise Exception(f'No device found @ {address}!')
+
+            dev = BCDevice(
+                name=f'swarm-{cf.id}',
+                device={
+                    'radio': found[0][0],
+                    'bootloader_radio': None,
+                }
+            )
+            devices.append(dev)
+    except KeyError as err:
+        print('CRAZYSWARM_PATH or CRAZYSWARM_YAML not set', file=sys.stderr)
+        raise err
+    except ImportError as err:
+        print('Failed to import pycrazyswarm', file=sys.stderr)
+        raise err
+
+    return devices
+
+
 class Requirements(dict):
     _instance = None
 

management/bootloader_addresses.py

@@ -11,15 +11,9 @@
 #
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <http://www.gnu.org/licenses/>.
-import binascii
-import cflib
 import logging
 import os
-import struct
 import sys
-import time
-
-from cflib.crtp.crtpstack import CRTPPacket
 
 #
 # This is to make it possible to import from conftest
@@ -28,47 +22,11 @@
 parentdir = os.path.join(currentdir, '..')
 sys.path.append(parentdir)
 
-from conftest import BCDevice, get_devices  # noqa
+from conftest import BCDevice, get_devices, get_bl_address  # noqa
 
 logger = logging.getLogger(__name__)
 
 
-def get_bl_address(dev: BCDevice) -> str:
-    '''
-    Send the BOOTLOADER_CMD_RESET_INIT command to the NRF firmware
-    and receive the bootloader radio address in the response
-    '''
-    address = None
-    link = cflib.crtp.get_link_driver(dev.link_uri)
-    if link is None:
-        return None
-
-    # 0xFF => BOOTLOADER CMD
-    # 0xFE => To the NRF firmware
-    # 0xFF => BOOTLOADER_CMD_RESET_INIT (to get bl address)
-    pk = CRTPPacket(0xFF, [0xFE, 0xFF])
-    link.send_packet(pk)
-
-    timeout = 5  # seconds
-    ts = time.time()
-    while time.time() - ts < timeout:
-        pk = link.receive_packet(2)
-        if pk is None:
-            continue
-
-        # Header 0xFF means port is 0xF ((header & 0xF0) >> 4)) and channel
-        # is 0x3 (header & 0x03).
-        if pk.port == 0xF and pk.channel == 0x3 and len(pk.data) > 3:
-            # 0xFE is NRF target id, 0xFF is BOOTLOADER_CMD_RESET_INIT
-            if struct.unpack('<BB', pk.data[0:2]) != (0xFE, 0xFF):
-                continue
-            address = 'B1' + binascii.hexlify(pk.data[2:6][::-1]).upper().decode('utf8')
-            break
-
-    link.close()
-    return address
-
-
 def list_addresses():
     for dev in get_devices():
         address = get_bl_address(dev)

management/program_swarm.py

@@ -0,0 +1,64 @@
+# Copyright (C) 2021 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, in version 3.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+import logging
+import os
+import sys
+import traceback
+
+from pathlib import Path
+
+import cflib.crtp
+
+# Initiate the low level drivers
+cflib.crtp.init_drivers()
+
+#
+# This is to make it possible to import from conftest
+#
+currentdir = os.path.dirname(os.path.realpath(__file__))
+parentdir = os.path.join(currentdir, '..')
+sys.path.append(parentdir)
+
+from conftest import get_swarm  # noqa
+
+logger = logging.getLogger(__name__)
+
+current_frame = 0
+
+
+def progress_cb(msg: str, percent: int):
+    global current_frame
+    frames = ['◢', '◣', '◤', '◥']
+    frame = frames[current_frame % 4]
+
+    print('{} {}% {}'.format(frame, percent, msg), end='\r')
+    current_frame += 1
+
+
+def program_swarm(fw_file: Path) -> bool:
+    for dev in get_swarm():
+        try:
+            print('Programming device: {}'.format(dev))
+            dev.flash(fw_file, progress_cb)
+        except Exception as err:
+            print('Programming failed: {}'.format(str(err)), file=sys.stderr)
+            traceback.print_exc()
+            return False
+
+    return True
+
+
+if __name__ == "__main__":
+    if not program_swarm(sys.argv[1]):
+        sys.exit(1)