def build_examples():
    '''run the build_examples.sh script'''
    print("Running build_examples.sh")
    if util.run_cmd(util.reltopdir('Tools/scripts/build_examples.sh'), dir=util.reltopdir('.')) != 0:
        print("Failed build_examples.sh")
        return False
    return True

def build_examples():
    """run the build_examples.sh script"""
    print("Running build_examples.sh")
    if util.run_cmd(util.reltopdir("Tools/scripts/build_examples.sh"), dir=util.reltopdir(".")) != 0:
        print("Failed build_examples.sh")
        return False
    return True

def drive_APMrover2(viewerip=None):
    '''drive APMrover2 in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the mission in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip

    sil = util.start_SIL('APMrover2', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=50 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)

    runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Starting at lat')

    sil = util.start_SIL('APMrover2')
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/APMrover2-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def write_XMLresults(atype, results):
    '''write XML JUnit results'''
    from pymavlink.generator import mavtemplate
    t = mavtemplate.MAVTemplate()
    for x in glob.glob(util.reltopdir('Tools/autotest/junit.xml')):
        junit_xml = util.loadfile(x)
        f = open(util.reltopdir("../buildlogs/%s-%s" % (atype, os.path.basename(x))), mode='w')
        t.write(f, junit_xml, results)
        f.close()

def fly_ArduCopter_scripted(testname):
    '''fly ArduCopter in SIL

    '''
    global homeloc

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += ' --wind=6,45,.3'

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'

    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

    util.expect_setup_callback(mavproxy, arducopter.expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def write_webresults(results):
    '''write webpage results'''
    from pymavlink.generator import mavtemplate
    t = mavtemplate.MAVTemplate()
    for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
        html = util.loadfile(h)
        f = open("buildlogs/%s" % os.path.basename(h), mode='w')
        t.write(f, html, results)
        f.close()
    for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
        shutil.copy(f, 'buildlogs/%s' % os.path.basename(f))

def convert_gpx():
    '''convert any mavlog files to GPX and KML'''
    import glob
    mavlog = glob.glob(util.reltopdir("../buildlogs/*.mavlog"))
    for m in mavlog:
        util.run_cmd(util.reltopdir("../mavlink/pymavlink/examples/mavtogpx.py") + " --nofixcheck " + m)
        gpx = m + '.gpx'
        kml = m + '.kml'
        util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False)
        util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False)
    return True

def build_all():
    '''run the build_all.sh script'''
    print("Running build_all.sh")
    flags = ""
    if opts.incremental == True:
        print("Building for incremental")
        flags = "-i"
    if util.run_cmd(util.reltopdir('Tools/scripts/build_all.sh') + " " + flags , dir=util.reltopdir('.')) != 0:
        print("Failed build_all.sh")
        return False
    return True

def write_webresults(results):
    '''write webpage results'''
    sys.path.insert(0, os.path.join(util.reltopdir("../mavlink/pymavlink/generator")))
    import mavtemplate
    t = mavtemplate.MAVTemplate()
    for h in glob.glob(util.reltopdir('Tools/autotest/web/*.html')):
        html = util.loadfile(h)
        f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)), mode='w')
        t.write(f, html, results)
        f.close()
    for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
        shutil.copy(f, util.reltopdir('../buildlogs/%s' % os.path.basename(f)))

def write_webresults(results):
    """write webpage results"""
    from pymavlink.generator import mavtemplate

    t = mavtemplate.MAVTemplate()
    for h in glob.glob(util.reltopdir("Tools/autotest/web/*.html")):
        html = util.loadfile(h)
        f = open(util.reltopdir("../buildlogs/%s" % os.path.basename(h)), mode="w")
        t.write(f, html, results)
        f.close()
    for f in glob.glob(util.reltopdir("Tools/autotest/web/*.png")):
        shutil.copy(f, util.reltopdir("../buildlogs/%s" % os.path.basename(f)))

def test_prerequesites():
    '''check we have the right directories and tools to run tests'''
    print("Testing prerequesites")
    util.mkdir_p(util.reltopdir('../buildlogs'))
    if not os.path.exists(util.reltopdir('../HILTest/hil_quad.py')):
        print('''
You need to install HILTest in %s

You can get it from git://git.samba.org/tridge/UAV/HILTest.git

        ''' % util.reltopdir('../HILTest'))
        return False
    return True

def convert_gpx():
    """convert any tlog files to GPX and KML"""
    import glob

    mavlog = glob.glob(util.reltopdir("../buildlogs/*.tlog"))
    for m in mavlog:
        util.run_cmd(util.reltopdir("modules/mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m)
        gpx = m + ".gpx"
        kml = m + ".kml"
        util.run_cmd("gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s" % (gpx, kml), checkfail=False)
        util.run_cmd("zip %s.kmz %s.kml" % (m, m), checkfail=False)
        util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m, m))
    return True

def build_devrelease():
    '''run the build_devrelease.sh script'''
    print("Running build_devrelease.sh")
    import shutil
    # copy the script as it changes git branch, which can change the script while running
    orig=util.reltopdir('Tools/scripts/build_devrelease.sh')
    copy=util.reltopdir('./build_devrelease.sh')
    shutil.copyfile(orig, copy)
    shutil.copymode(orig, copy)
    if util.run_cmd(copy, dir=util.reltopdir('.')) != 0:
        print("Failed build_devrelease.sh")
        return False
    return True

def convert_gpx():
    print( "===== Converting buildlogs/*.tlog ====" )
    '''convert any tlog files to GPX and KML'''
    import glob
    mavlog = glob.glob(util.reltopdir("../buildlogs/*.tlog"))
    for m in mavlog:
        util.run_cmd(util.reltopdir("../mavlink/pymavlink/tools/mavtogpx.py") + " --nofixcheck " + m)
        gpx = m + '.gpx'
        kml = m + '.kml'
        util.run_cmd('gpsbabel -i gpx -f %s -o kml,units=m,floating=1,extrude=1 -F %s' % (gpx, kml), checkfail=False)
        util.run_cmd('zip %s.kmz %s.kml' % (m, m), checkfail=False)
        util.run_cmd("mavflightview.py --imagefile=%s.png %s" % (m,m))
    return True

def build_binaries():
    """run the build_binaries.sh script"""
    print("Running build_binaries.sh")
    import shutil

    # copy the script as it changes git branch, which can change the script while running
    orig = util.reltopdir("Tools/scripts/build_binaries.sh")
    copy = util.reltopdir("./build_binaries.sh")
    shutil.copyfile(orig, copy)
    shutil.copymode(orig, copy)
    if util.run_cmd(copy, dir=util.reltopdir(".")) != 0:
        print("Failed build_binaries.sh")
        return False
    return True

def build_parameters():
    """run the param_parse.py script"""
    print("Running param_parse.py")
    if util.run_cmd(util.reltopdir("Tools/autotest/param_metadata/param_parse.py"), dir=util.reltopdir(".")) != 0:
        print("Failed param_parse.py")
        return False
    return True

def binary_path(step, debug=False):
    if step.find("ArduCopter") != -1:
        binary_name = "arducopter-quad"
    elif step.find("ArduPlane") != -1:
        binary_name = "arduplane"
    elif step.find("APMrover2") != -1:
        binary_name = "ardurover"
    elif step.find("AntennaTracker") != -1:
        binary_name = "antennatracker"
    elif step.find("CopterAVC") != -1:
        binary_name = "arducopter-heli"
    elif step.find("QuadPlane") != -1:
        binary_name = "arduplane"
    else:
        # cope with builds that don't have a specific binary
        return None

    if debug:
        binary_basedir = "sitl-debug"
    else:
        binary_basedir = "sitl"

    binary = util.reltopdir(os.path.join('build', binary_basedir, 'bin', binary_name))
    if not os.path.exists(binary):
        if os.path.exists(binary + ".exe"):
            binary_path += ".exe"
        else:
            raise ValueError("Binary (%s) does not exist" % (binary,))

    return binary

def get_default_params(atype, binary):
    '''get default parameters'''

    # use rover simulator so SITL is not starved of input
    from pymavlink import mavutil
    HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
    if binary.find("plane") != -1 or binary.find("rover") != -1:
        frame = "rover"
    else:
        frame = "+"

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL(binary, wipe=True, model=frame, home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL(atype)
    print("Dumping defaults")
    idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
    if idx == 0:
        # we need to restart it after eeprom erase
        util.pexpect_close(mavproxy)
        util.pexpect_close(sil)
        sil = util.start_SIL(binary, model=frame, home=home, speedup=10)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = util.reltopdir('../buildlogs/%s-defaults.parm' % atype)
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True

def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False, gdb=False):
    """fly ArduCopter in SIL for AVC2013 mission
    """
    global homeloc

    home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    sil = util.start_SIL(binary, wipe=True, model="heli", home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options="--sitl=127.0.0.1:5501 --out=127.0.0.1:19550")
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/Helicopter.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")
    mavproxy.send("param set LOG_REPLAY 1\n")
    mavproxy.send("param set LOG_DISARMED 1\n")
    time.sleep(3)

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL(binary, model="heli", home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
    options = "--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += " --map"
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options=options)
    mavproxy.expect("Telemetry log: (\S+)")
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    if map:
        mavproxy.send("map icon 40.072467969730496 -105.2314389590174\n")
        mavproxy.send("map icon 40.072600990533829 -105.23146100342274\n")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection("127.0.0.1:19550", robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def dump_logs(atype):
    '''dump DataFlash logs'''
    print("Dumping logs for %s" % atype)
    sil = util.start_SIL(atype)
    logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
    log = open(logfile, mode='w')
    mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
    mavproxy.send('\n\n\n')
    print("navigating menus")
    mavproxy.expect(']')
    mavproxy.send("logs\n")
    mavproxy.expect("logs enabled:")
    lognums = []
    i = mavproxy.expect(["No logs", "(\d+) logs"])
    if i == 0:
        numlogs = 0
    else:
        numlogs = int(mavproxy.match.group(1))
    for i in range(numlogs):
        mavproxy.expect("Log (\d+),")
        lognums.append(int(mavproxy.match.group(1)))
    mavproxy.expect("Log]")
    for i in range(numlogs):
        print("Dumping log %u (i=%u)" % (lognums[i], i))
        mavproxy.send("dump %u\n" % lognums[i])
        mavproxy.expect("logs enabled:", timeout=120)
        mavproxy.expect("Log]")
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    log.close()
    print("Saved log for %s to %s" % (atype, logfile))
    return True