From 68eb523bebdedff12a2c694a18d3dcd74a19f026 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Aug 2026 19:29:40 +0300
Subject: [PATCH] Add tests to ci Test pyflix and simulation using pytest. Fix
 running the sim in non-tty environment. Test presence of some essential files
 in the docs.

---
 .github/workflows/build.yml | 11 +++++----
 .github/workflows/docs.yml  |  5 ++++
 gazebo/Arduino.h            |  3 ++-
 tools/requirements.txt      |  1 +
 tools/test.py               | 47 +++++++++++++++++++++++++++++++++++++
 5 files changed, 61 insertions(+), 6 deletions(-)
 create mode 100755 tools/test.py

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 743662c..0618eca 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -84,15 +84,16 @@ jobs:
       run: sudo apt-get install -y libsdl2-dev
     - name: Build simulator
       run: make build_simulator
-    - name: Run simulator
+    - name: Install Python requirements
+      run: sudo apt install -y python3-pip && pip3 install -r tools/requirements.txt && pip3 install pytest
+    - name: Run simulator and tests
       env:
         GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models
         GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
+        GAZEBO_MODEL_DATABASE_URI: '' # disable downloading models
       run: |
-        OUT=$(timeout -k 10s 120s gzserver --verbose gazebo/flix.world 2>&1 | tee /dev/stderr)
-        if echo "$OUT" | grep -Pq "\[Err\](?! \[RenderEngine)"; then
-          exit 1
-        fi
+        gzserver --verbose gazebo/flix.world &
+        pytest --capture=no --verbose tools/test.py
     - uses: actions/upload-artifact@v7
       with:
         name: gazebo-plugin-binary
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 67dcbfa..4e3178d 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -83,6 +83,11 @@ jobs:
           ln -s "$FQBN/flix.ino.bin" "flix.$BOARD.bin"
           ln -s "$FQBN/flix.ino.bootloader.bin" "flix.$BOARD.bootloader.bin"
         done
+    - name: Test build artifacts
+      working-directory: docs/build
+      run: |
+        ls; ls index.html gyro.html geometry.html firmware.html flix.esp32.merged.bin flix.esp32c3.merged.bin \
+        flix.esp32s3.merged.bin flix.esp32s3.opi.merged.bin flix.esp32s3.qspi.merged.bin flix.flix2.merged.bin
     - name: Upload artifact
       uses: actions/upload-pages-artifact@v5
       with:
diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h
index 6122225..862d243 100644
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -134,8 +134,9 @@ public:
 
 	int available() {
 		// to implement for Windows, see https://stackoverflow.com/a/71992965/6850197
+		if (!isatty(STDIN_FILENO)) return 0;
 		struct pollfd pfd = { .fd = STDIN_FILENO, .events = POLLIN };
-		return poll(&pfd, 1, 0) > 0;
+		return poll(&pfd, 1, 0) > 0 && (pfd.revents & POLLIN);
 	}
 
 	int read() {
diff --git a/tools/requirements.txt b/tools/requirements.txt
index 6b3338b..adff73d 100644
--- a/tools/requirements.txt
+++ b/tools/requirements.txt
@@ -1,3 +1,4 @@
+pymavlink
 docopt
 matplotlib
 mcap
diff --git a/tools/test.py b/tools/test.py
new file mode 100755
index 0000000..c23e4c4
--- /dev/null
+++ b/tools/test.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+# Script for testing pyflix and the simulation.
+
+from pytest import approx
+from math import isnan, isfinite
+import time
+from pyflix import Flix
+
+def test():
+    print('=== Connect...')
+    flix = Flix(timeout=20)
+
+    print('=== Check initial state')
+    time.sleep(1)  # give more time for initial state
+    assert flix.connected
+    assert flix.mode == 'STAB'
+    assert not flix.armed
+    assert flix.landed
+    assert isnan(flix.voltage) or flix.voltage == approx(4.2)
+    assert flix.rates == approx((0, 0, 0), abs=0.01)
+    assert flix.attitude == approx((1, 0, 0, 0), abs=0.01)
+    assert flix.attitude_euler == approx((0, 0, 0), abs=0.01)
+    assert all(m == 0 for m in flix.motors)
+    assert flix.acc == approx((0, 0, 9.81), abs=0.1)
+    assert flix.gyro == approx((0, 0, 0), abs=0.01)
+    assert all(ch == 0 for ch in flix.channels)
+
+    print('=== Check console commands')
+    assert 'Time: ' in flix.cli('time')
+    assert 'landed: 1' in flix.cli('imu')
+
+    print('=== Check parameters')
+    assert isfinite(flix.get_param('CTL_ATT_P_P'))
+    flix.set_param('CTL_ATT_P_P', 10.0)
+
+    print('=== Additional checks')
+    assert flix.wait('gyro') == approx((0, 0, 0), abs=0.01)
+    flix.wait('armed', False)
+    flix.wait('mode', 'STAB')
+    flix.wait('motors', lambda motors: not any(motors))
+    flix.set_armed(True)
+    flix.wait('armed', True)
+    flix.set_mode('ACRO')
+    flix.wait('mode', 'ACRO')
+    flix.set_mode('AUTO')
+    flix.wait('mode', 'AUTO')