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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
cleaned up direct tests, fixed various lint warnings and removed unused code
This commit is contained in:
Andreas Antener
parent
c4a81f66cb
commit
15a5c0a9be
@ -37,7 +37,6 @@
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#
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PKG = 'px4'
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import sys
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import unittest
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import rospy
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@ -50,14 +49,18 @@ from manual_input import ManualInput
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#
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class ManualInputTest(unittest.TestCase):
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def setUp(self):
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self.actuator_status = actuator_armed()
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self.control_mode = vehicle_control_mode()
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#
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# General callback functions used in tests
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#
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def actuator_armed_callback(self, data):
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self.actuatorStatus = data
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self.actuator_status = data
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def vehicle_control_mode_callback(self, data):
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self.controlMode = data
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self.control_mode = data
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#
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# Test arming
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@ -67,19 +70,19 @@ class ManualInputTest(unittest.TestCase):
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rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
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rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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man = ManualInput()
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man_in = ManualInput()
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# Test arming
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man.arm()
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self.assertEquals(self.actuatorStatus.armed, True, "did not arm")
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man_in.arm()
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self.assertEquals(self.actuator_status.armed, True, "did not arm")
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# Test posctl
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man.posctl()
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self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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man_in.posctl()
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self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# Test offboard
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man.offboard()
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self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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man_in.offboard()
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self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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if __name__ == '__main__':
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@ -37,7 +37,6 @@
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#
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PKG = 'px4'
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import sys
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import unittest
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import rospy
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@ -46,11 +45,8 @@ import numpy as np
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from px4.msg import vehicle_local_position
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from px4.msg import vehicle_control_mode
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from px4.msg import actuator_armed
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from px4.msg import position_setpoint_triplet
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from px4.msg import position_setpoint
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from sensor_msgs.msg import Joy
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from std_msgs.msg import Header
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from manual_input import ManualInput
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from flight_path_assertion import FlightPathAssertion
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@ -68,31 +64,34 @@ class DirectOffboardPosctlTest(unittest.TestCase):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
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self.pubSpt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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self.rate = rospy.Rate(10) # 10hz
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self.has_pos = False
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self.local_position = vehicle_local_position()
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self.control_mode = vehicle_control_mode()
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def tearDown(self):
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if (self.fpa):
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if self.fpa:
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self.fpa.stop()
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#
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# General callback functions used in tests
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#
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def position_callback(self, data):
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self.hasPos = True
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self.localPosition = data
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self.has_pos = True
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self.local_position = data
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def vehicle_control_mode_callback(self, data):
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self.controlMode = data
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self.control_mode = data
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#
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# Helper methods
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#
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def is_at_position(self, x, y, z, offset):
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rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
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rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.z))
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desired = np.array((x, y, z))
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pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
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pos = np.array((self.local_position.x, self.local_position.y, self.local_position.z))
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return linalg.norm(desired - pos) < offset
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def reach_position(self, x, y, z, timeout):
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@ -105,12 +104,12 @@ class DirectOffboardPosctlTest(unittest.TestCase):
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pos.position_valid = True
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stp = position_setpoint_triplet()
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stp.current = pos
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self.pubSpt.publish(stp)
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self.pub_spt.publish(stp)
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# does it reach the position in X seconds?
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count = 0
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while(count < timeout):
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if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
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while count < timeout:
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if self.is_at_position(pos.x, pos.y, pos.z, 0.5):
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break
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count = count + 1
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self.rate.sleep()
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@ -121,22 +120,22 @@ class DirectOffboardPosctlTest(unittest.TestCase):
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# Test offboard position control
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#
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def test_posctl(self):
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manIn = ManualInput()
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man_in = ManualInput()
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# arm and go into offboard
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manIn.arm()
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manIn.offboard()
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self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
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self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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man_in.arm()
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man_in.offboard()
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self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
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self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# prepare flight path
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positions = (
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(0,0,0),
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(2,2,-2),
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(2,-2,-2),
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(-2,-2,-2),
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(2,2,-2))
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(0, 0, 0),
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(2, 2, -2),
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(2, -2, -2),
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(-2, -2, -2),
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(2, 2, -2))
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# flight path assertion
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self.fpa = FlightPathAssertion(positions, 1, 0)
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@ -147,12 +146,10 @@ class DirectOffboardPosctlTest(unittest.TestCase):
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self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
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# does it hold the position for Y seconds?
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positionHeld = True
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count = 0
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timeout = 50
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while(count < timeout):
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if(not self.is_at_position(2, 2, -2, 0.5)):
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positionHeld = False
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while count < timeout:
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if not self.is_at_position(2, 2, -2, 0.5):
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break
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count = count + 1
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self.rate.sleep()
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@ -35,7 +35,6 @@
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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import sys
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import rospy
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import threading
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@ -48,7 +47,6 @@ from geometry_msgs.msg import Twist
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from numpy import linalg
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import numpy as np
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import math
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#
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# Helper to test if vehicle stays on expected flight path.
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@ -62,30 +60,52 @@ class FlightPathAssertion(threading.Thread):
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# TODO: yaw validation
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# TODO: fail main test thread
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#
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def __init__(self, positions, tunnelRadius = 1, yawOffset = 0.2):
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def __init__(self, positions, tunnelRadius=1, yaw_offset=0.2):
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threading.Thread.__init__(self)
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rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
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self.spawnModel = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
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self.setModelState = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
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self.deleteModel = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
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self.spawn_model = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
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self.set_model_state = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
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self.delete_model = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
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self.positions = positions
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self.tunnelRadius = tunnelRadius
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self.yawOffset = yawOffset
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self.hasPos = False
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self.shouldStop = False
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self.tunnel_radius = tunnelRadius
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self.yaw_offset = yaw_offset
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self.has_pos = False
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self.should_stop = False
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self.center = positions[0]
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self.endOfSegment = False
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self.end_of_segment = False
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self.failed = False
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self.local_position = vehicle_local_position
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def position_callback(self, data):
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self.hasPos = True
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self.localPosition = data
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self.has_pos = True
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self.local_position = data
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def spawn_indicator(self):
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self.deleteModel("indicator")
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xml = "<?xml version='1.0'?><sdf version='1.4'><model name='indicator'><static>true</static><link name='link'><visual name='visual'><transparency>0.7</transparency><geometry><sphere><radius>%f</radius></sphere></geometry><material><ambient>1 0 0 0.5</ambient><diffuse>1 0 0 0.5</diffuse></material></visual></link></model></sdf>" % self.tunnelRadius
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self.spawnModel("indicator", xml, "", Pose(), "")
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self.delete_model("indicator")
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xml = (
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"<?xml version='1.0'?>" +
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"<sdf version='1.4'>" +
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"<model name='indicator'>" +
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"<static>true</static>" +
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"<link name='link'>" +
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"<visual name='visual'>" +
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"<transparency>0.7</transparency>" +
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"<geometry>" +
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"<sphere>" +
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"<radius>%f</radius>" +
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"</sphere>" +
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"</geometry>" +
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"<material>" +
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"<ambient>1 0 0 0.5</ambient>" +
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"<diffuse>1 0 0 0.5</diffuse>" +
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"</material>" +
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"</visual>" +
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"</link>" +
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"</model>" +
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"</sdf>" % self.tunnel_radius)
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self.spawn_model("indicator", xml, "", Pose(), "")
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def position_indicator(self):
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state = SetModelState()
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@ -97,7 +117,7 @@ class FlightPathAssertion(threading.Thread):
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state.pose = pose
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state.twist = Twist()
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state.reference_frame = ""
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self.setModelState(state)
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self.set_model_state(state)
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def distance_to_line(self, a, b, pos):
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v = b - a
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@ -111,7 +131,7 @@ class FlightPathAssertion(threading.Thread):
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c2 = np.dot(v, v)
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if c2 <= c1: # after b
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self.center = b
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self.endOfSegment = True
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self.end_of_segment = True
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return linalg.norm(pos - b)
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x = c1 / c2
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@ -120,7 +140,7 @@ class FlightPathAssertion(threading.Thread):
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return linalg.norm(pos - l)
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def stop(self):
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self.shouldStop = True
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self.should_stop = True
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def run(self):
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rate = rospy.Rate(10) # 10hz
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@ -128,43 +148,43 @@ class FlightPathAssertion(threading.Thread):
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current = 0
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while not self.shouldStop:
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if (self.hasPos):
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while not self.should_stop:
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if self.has_pos:
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# calculate distance to line segment between first two points
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# if distances > tunnelRadius
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# if distances > tunnel_radius
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# exit with error
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# advance current pos if not on the line anymore or distance to next point < tunnelRadius
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# advance current pos if not on the line anymore or distance to next point < tunnel_radius
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# exit if current pos is now the last position
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self.position_indicator()
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pos = np.array((self.localPosition.x,
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self.localPosition.y,
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self.localPosition.z))
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aPos = np.array((self.positions[current][0],
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self.positions[current][1],
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self.positions[current][2]))
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bPos = np.array((self.positions[current + 1][0],
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self.positions[current + 1][1],
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self.positions[current + 1][2]))
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pos = np.array((self.local_position.x,
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self.local_position.y,
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self.local_position.z))
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a_pos = np.array((self.positions[current][0],
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self.positions[current][1],
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self.positions[current][2]))
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b_pos = np.array((self.positions[current + 1][0],
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self.positions[current + 1][1],
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self.positions[current + 1][2]))
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dist = self.distance_to_line(aPos, bPos, pos)
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bDist = linalg.norm(pos - bPos)
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dist = self.distance_to_line(a_pos, b_pos, pos)
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b_dist = linalg.norm(pos - b_pos)
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rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, bDist))
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rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, b_dist))
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if (dist > self.tunnelRadius):
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msg = "left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z)
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if dist > self.tunnel_radius:
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msg = "left tunnel at position (%f, %f, %f)" % (self.local_position.x, self.local_position.y, self.local_position.z)
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rospy.logerr(msg)
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self.failed = True
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break
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if (self.endOfSegment or bDist < self.tunnelRadius):
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if self.end_of_segment or b_dist < self.tunnel_radius:
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rospy.loginfo("next segment")
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self.endOfSegment = False
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self.end_of_segment = False
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current = current + 1
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if (current == len(self.positions) - 1):
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if current == len(self.positions) - 1:
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rospy.loginfo("no more positions")
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break
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