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cleaned up direct tests, fixed various lint warnings and removed unused code

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This commit is contained in:
Andreas Antener
2015-03-15 16:12:17 +01:00
parent c4a81f66cb
commit 15a5c0a9be
3 changed files with 99 additions and 79 deletions
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integrationtests/demo_tests/direct_manual_input_test.py
+13 -10
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@@ -37,7 +37,6 @@
# #
PKG = 'px4' PKG = 'px4'
import sys
import unittest import unittest
import rospy import rospy
@@ -50,14 +49,18 @@ from manual_input import ManualInput
# #
class ManualInputTest(unittest.TestCase): class ManualInputTest(unittest.TestCase):
def setUp(self):
self.actuator_status = actuator_armed()
self.control_mode = vehicle_control_mode()
# #
# General callback functions used in tests # General callback functions used in tests
# #
def actuator_armed_callback(self, data): def actuator_armed_callback(self, data):
self.actuatorStatus = data self.actuator_status = data
def vehicle_control_mode_callback(self, data): def vehicle_control_mode_callback(self, data):
self.controlMode = data self.control_mode = data
# #
# Test arming # Test arming
@@ -67,19 +70,19 @@ class ManualInputTest(unittest.TestCase):
rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback) rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
man = ManualInput() man_in = ManualInput()
# Test arming # Test arming
man.arm() man_in.arm()
self.assertEquals(self.actuatorStatus.armed, True, "did not arm") self.assertEquals(self.actuator_status.armed, True, "did not arm")
# Test posctl # Test posctl
man.posctl() man_in.posctl()
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set") self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# Test offboard # Test offboard
man.offboard() man_in.offboard()
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set") self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
if __name__ == '__main__': if __name__ == '__main__':
integrationtests/demo_tests/direct_offboard_posctl_test.py
+26 -29
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@@ -37,7 +37,6 @@
# #
PKG = 'px4' PKG = 'px4'
import sys
import unittest import unittest
import rospy import rospy
@@ -46,11 +45,8 @@ import numpy as np
from px4.msg import vehicle_local_position from px4.msg import vehicle_local_position
from px4.msg import vehicle_control_mode from px4.msg import vehicle_control_mode
from px4.msg import actuator_armed
from px4.msg import position_setpoint_triplet from px4.msg import position_setpoint_triplet
from px4.msg import position_setpoint from px4.msg import position_setpoint
from sensor_msgs.msg import Joy
from std_msgs.msg import Header
from manual_input import ManualInput from manual_input import ManualInput
from flight_path_assertion import FlightPathAssertion from flight_path_assertion import FlightPathAssertion
@@ -68,31 +64,34 @@ class DirectOffboardPosctlTest(unittest.TestCase):
rospy.init_node('test_node', anonymous=True) rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback) rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
self.pubSpt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10) self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = vehicle_local_position()
self.control_mode = vehicle_control_mode()
def tearDown(self): def tearDown(self):
if (self.fpa): if self.fpa:
self.fpa.stop() self.fpa.stop()
# #
# General callback functions used in tests # General callback functions used in tests
# #
def position_callback(self, data): def position_callback(self, data):
self.hasPos = True self.has_pos = True
self.localPosition = data self.local_position = data
def vehicle_control_mode_callback(self, data): def vehicle_control_mode_callback(self, data):
self.controlMode = data self.control_mode = data
# #
# Helper methods # Helper methods
# #
def is_at_position(self, x, y, z, offset): def is_at_position(self, x, y, z, offset):
rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z)) rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.z))
desired = np.array((x, y, z)) desired = np.array((x, y, z))
pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z)) pos = np.array((self.local_position.x, self.local_position.y, self.local_position.z))
return linalg.norm(desired - pos) < offset return linalg.norm(desired - pos) < offset
def reach_position(self, x, y, z, timeout): def reach_position(self, x, y, z, timeout):
@@ -105,12 +104,12 @@ class DirectOffboardPosctlTest(unittest.TestCase):
pos.position_valid = True pos.position_valid = True
stp = position_setpoint_triplet() stp = position_setpoint_triplet()
stp.current = pos stp.current = pos
self.pubSpt.publish(stp) self.pub_spt.publish(stp)
# does it reach the position in X seconds? # does it reach the position in X seconds?
count = 0 count = 0
while(count < timeout): while count < timeout:
if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)): if self.is_at_position(pos.x, pos.y, pos.z, 0.5):
break break
count = count + 1 count = count + 1
self.rate.sleep() self.rate.sleep()
@@ -121,22 +120,22 @@ class DirectOffboardPosctlTest(unittest.TestCase):
# Test offboard position control # Test offboard position control
# #
def test_posctl(self): def test_posctl(self):
manIn = ManualInput() man_in = ManualInput()
# arm and go into offboard # arm and go into offboard
manIn.arm() man_in.arm()
manIn.offboard() man_in.offboard()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set") self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set") self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set") self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path # prepare flight path
positions = ( positions = (
(0,0,0), (0, 0, 0),
(2,2,-2), (2, 2, -2),
(2,-2,-2), (2, -2, -2),
(-2,-2,-2), (-2, -2, -2),
(2,2,-2)) (2, 2, -2))
# flight path assertion # flight path assertion
self.fpa = FlightPathAssertion(positions, 1, 0) self.fpa = FlightPathAssertion(positions, 1, 0)
@@ -147,12 +146,10 @@ class DirectOffboardPosctlTest(unittest.TestCase):
self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i) self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
# does it hold the position for Y seconds? # does it hold the position for Y seconds?
positionHeld = True
count = 0 count = 0
timeout = 50 timeout = 50
while(count < timeout): while count < timeout:
if(not self.is_at_position(2, 2, -2, 0.5)): if not self.is_at_position(2, 2, -2, 0.5):
positionHeld = False
break break
count = count + 1 count = count + 1
self.rate.sleep() self.rate.sleep()
integrationtests/demo_tests/flight_path_assertion.py
+60 -40
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@@ -35,7 +35,6 @@
# #
# @author Andreas Antener <andreas@uaventure.com> # @author Andreas Antener <andreas@uaventure.com>
# #
import sys
import rospy import rospy
import threading import threading
@@ -48,7 +47,6 @@ from geometry_msgs.msg import Twist
from numpy import linalg from numpy import linalg
import numpy as np import numpy as np
import math
# #
# Helper to test if vehicle stays on expected flight path. # Helper to test if vehicle stays on expected flight path.
@@ -62,30 +60,52 @@ class FlightPathAssertion(threading.Thread):
# TODO: yaw validation # TODO: yaw validation
# TODO: fail main test thread # TODO: fail main test thread
# #
def __init__(self, positions, tunnelRadius = 1, yawOffset = 0.2): def __init__(self, positions, tunnelRadius=1, yaw_offset=0.2):
threading.Thread.__init__(self) threading.Thread.__init__(self)
rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback) rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
self.spawnModel = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel) self.spawn_model = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
self.setModelState = rospy.ServiceProxy('gazebo/set_model_state', SetModelState) self.set_model_state = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
self.deleteModel = rospy.ServiceProxy('gazebo/delete_model', DeleteModel) self.delete_model = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
self.positions = positions self.positions = positions
self.tunnelRadius = tunnelRadius self.tunnel_radius = tunnelRadius
self.yawOffset = yawOffset self.yaw_offset = yaw_offset
self.hasPos = False self.has_pos = False
self.shouldStop = False self.should_stop = False
self.center = positions[0] self.center = positions[0]
self.endOfSegment = False self.end_of_segment = False
self.failed = False self.failed = False
self.local_position = vehicle_local_position
def position_callback(self, data): def position_callback(self, data):
self.hasPos = True self.has_pos = True
self.localPosition = data self.local_position = data
def spawn_indicator(self): def spawn_indicator(self):
self.deleteModel("indicator") self.delete_model("indicator")
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 xml = (
self.spawnModel("indicator", xml, "", Pose(), "") "<?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.tunnel_radius)
self.spawn_model("indicator", xml, "", Pose(), "")
def position_indicator(self): def position_indicator(self):
state = SetModelState() state = SetModelState()
@@ -97,7 +117,7 @@ class FlightPathAssertion(threading.Thread):
state.pose = pose state.pose = pose
state.twist = Twist() state.twist = Twist()
state.reference_frame = "" state.reference_frame = ""
self.setModelState(state) self.set_model_state(state)
def distance_to_line(self, a, b, pos): def distance_to_line(self, a, b, pos):
v = b - a v = b - a
@@ -111,7 +131,7 @@ class FlightPathAssertion(threading.Thread):
c2 = np.dot(v, v) c2 = np.dot(v, v)
if c2 <= c1: # after b if c2 <= c1: # after b
self.center = b self.center = b
self.endOfSegment = True self.end_of_segment = True
return linalg.norm(pos - b) return linalg.norm(pos - b)
x = c1 / c2 x = c1 / c2
@@ -120,7 +140,7 @@ class FlightPathAssertion(threading.Thread):
return linalg.norm(pos - l) return linalg.norm(pos - l)
def stop(self): def stop(self):
self.shouldStop = True self.should_stop = True
def run(self): def run(self):
rate = rospy.Rate(10) # 10hz rate = rospy.Rate(10) # 10hz
@@ -128,43 +148,43 @@ class FlightPathAssertion(threading.Thread):
current = 0 current = 0
while not self.shouldStop: while not self.should_stop:
if (self.hasPos): if self.has_pos:
# calculate distance to line segment between first two points # calculate distance to line segment between first two points
# if distances > tunnelRadius # if distances > tunnel_radius
# exit with error # exit with error
# advance current pos if not on the line anymore or distance to next point < tunnelRadius # advance current pos if not on the line anymore or distance to next point < tunnel_radius
# exit if current pos is now the last position # exit if current pos is now the last position
self.position_indicator() self.position_indicator()
pos = np.array((self.localPosition.x, pos = np.array((self.local_position.x,
self.localPosition.y, self.local_position.y,
self.localPosition.z)) self.local_position.z))
aPos = np.array((self.positions[current][0], a_pos = np.array((self.positions[current][0],
self.positions[current][1], self.positions[current][1],
self.positions[current][2])) self.positions[current][2]))
bPos = np.array((self.positions[current + 1][0], b_pos = np.array((self.positions[current + 1][0],
self.positions[current + 1][1], self.positions[current + 1][1],
self.positions[current + 1][2])) self.positions[current + 1][2]))
dist = self.distance_to_line(aPos, bPos, pos) dist = self.distance_to_line(a_pos, b_pos, pos)
bDist = linalg.norm(pos - bPos) b_dist = linalg.norm(pos - b_pos)
rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, bDist)) rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, b_dist))
if (dist > self.tunnelRadius): if dist > self.tunnel_radius:
msg = "left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z) msg = "left tunnel at position (%f, %f, %f)" % (self.local_position.x, self.local_position.y, self.local_position.z)
rospy.logerr(msg) rospy.logerr(msg)
self.failed = True self.failed = True
break break
if (self.endOfSegment or bDist < self.tunnelRadius): if self.end_of_segment or b_dist < self.tunnel_radius:
rospy.loginfo("next segment") rospy.loginfo("next segment")
self.endOfSegment = False self.end_of_segment = False
current = current + 1 current = current + 1
if (current == len(self.positions) - 1): if current == len(self.positions) - 1:
rospy.loginfo("no more positions") rospy.loginfo("no more positions")
break break