Re-enable examples in CI

.github/workflows/test_unit_tests.yml

@@ -113,8 +113,8 @@ jobs:
         ]
         config: [
             unit-tests,
+            examples,
             sitl
-            # examples,
         ]
     steps:
       # git checkout the PR

Tools/autotest/autotest.py

@@ -96,7 +96,7 @@ def build_binaries():
 
 def build_examples(**kwargs):
     """Build examples."""
-    for target in 'Pixhawk1', 'navio', 'linux':
+    for target in 'Pixhawk1', 'navio', 'linux', 'sitl':
         print("Running build.examples for %s" % target)
         try:
             util.build_examples(target, **kwargs)

Tools/autotest/examples.py

@@ -12,36 +12,60 @@
 import signal
 import subprocess
 import time
+import traceback
 
 from pysim import util
 
 
-def run_example(filepath, valgrind=False, gdb=False):
+def run_example(name, filepath, valgrind=False, gdb=False):
     cmd = []
     if valgrind:
         cmd.append("valgrind")
     if gdb:
         cmd.append("gdb")
     cmd.append(filepath)
     print("Running: (%s)" % str(cmd))
-    bob = subprocess.Popen(cmd, stdin=None, close_fds=True)
-    retcode = bob.poll()
-    time.sleep(10)
-    print("pre-kill retcode: %s" % str(retcode))
-    if retcode is not None:
-        raise ValueError("Process exited before I could kill it (%s)" % str(retcode))
-    bob.send_signal(signal.SIGTERM)
-    time.sleep(1)
-    retcode = bob.poll()
-    print("retcode: %s" % str(retcode))
-    if retcode is None:
-        # if we get this far then we're not going to get a gcda file
-        # out of this process for coverage analysis; it has to exit
-        # normally, and it hasn't responded to a TERM.
-        bob.kill()
-        retcode2 = bob.wait()
-        print("retcode2: %s" % str(retcode2))
-    elif retcode == -15:
+    devnull = open("/dev/null", "w")
+    bob = subprocess.Popen(cmd, stdin=devnull, stdout=devnull, stderr=devnull, close_fds=True)
+
+    expect_exit = False
+    timeout = 10
+    if name in [
+            'RCProtocolTest',
+            'Scheduler_test',
+            'TransferFunctionCheck',
+            'XPlane',
+    ]:
+        expect_exit = True
+
+    tstart = time.time()
+    while True:
+        if time.time() - tstart > timeout:
+            break
+        if not expect_exit:
+            retcode = bob.poll()
+            if retcode is not None:
+                raise ValueError("Process exited before I could kill it (%s)" % str(retcode))
+
+    if expect_exit:
+        retcode = bob.wait()
+        if retcode is None:
+            raise ValueError("Expected example to exit, it did not")
+    else:
+        bob.send_signal(signal.SIGTERM)
+        time.sleep(1)
+        retcode = bob.poll()
+        print("retcode: %s" % str(retcode))
+        if retcode is None:
+            # if we get this far then we're not going to get a gcda file
+            # out of this process for coverage analysis; it has to exit
+            # normally, and it hasn't responded to a TERM.
+            bob.kill()
+            retcode2 = bob.wait()
+            print("retcode2: %s" % str(retcode2))
+            return
+
+    if retcode == -15:
         print("process exited with -15, indicating it didn't catch the TERM signal and exit properly")
     elif retcode != 0:
         # note that process could exit with code 0 and we couldn't tell...
@@ -50,6 +74,13 @@ def run_example(filepath, valgrind=False, gdb=False):
     print("Ran: (%s)" % str(cmd))
 
 
+def print_exception_stacktrace(e):
+    print(f"{e}\n")
+    print(''.join(traceback.format_exception(type(e),
+                                             e,
+                                             tb=e.__traceback__)))
+
+
 def run_examples(debug=False, valgrind=False, gdb=False):
     dirpath = util.reltopdir(os.path.join('build', 'sitl', 'examples'))
 
@@ -69,19 +100,44 @@ def run_examples(debug=False, valgrind=False, gdb=False):
     if ex is not None:
         raise ex
 
+    # note that some of the comments on examples here are incorrect -
+    # since we are running on SITL it's not a matter of not having the
+    # hardware, rather the simulation hasn't been set up
+    # appropriately.  We run with a model of "NoVehicle", which
+    # doesn't update the Aircraft base class.
     skip = {
+        "AHRS_Test": "segfault as AP_Logger not instantiated",
+        "AP_FW_Controller_test": "exits with a status code of 1 (failure) for some reason",
         "BARO_generic": "Most linux computers don't have baros...",
-        "RCProtocolDecoder": "This assumes specific hardware is connected",
+        "DSP_test": "exits with an arithmetic exception",
         "FlashTest": "https://github.com/ArduPilot/ardupilot/issues/14168",
+        "INS_generic": "SITL is not available, segfaults",
+        "ModuleTest": "test aborts",
+        "NMEA_Output": "segfault as AP_Logger not instantiated",
+        "RCProtocolDecoder": "This assumes specific hardware is connected",
+        "SlewLimiter": "exits with a status code of 1 (failure) for some reason",
         "UART_chargen": "This nuke the term",
     }
-    for afile in os.listdir(dirpath):
+
+    failures = []
+    for afile in sorted(os.listdir(dirpath)):
         if afile in skip:
             print("Skipping %s: %s" % (afile, skip[afile]))
             continue
         filepath = os.path.join(dirpath, afile)
         if not os.path.isfile(filepath):
             continue
-        run_example(filepath, valgrind=valgrind, gdb=gdb)
+        try:
+            run_example(afile, filepath, valgrind=valgrind, gdb=gdb)
+        except Exception as e:
+            print("Example failed with exception")
+            print_exception_stacktrace(e)
+            failures.append(afile)
+
+    if len(failures):
+        print("Failed examples:")
+        for failure in failures:
+            print(f"    {failure}")
+        return False
 
     return True