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Unit tests for Obstacle Avoidance interface (#12816)
* FlighTask: remove legacy definition of empty_trajectory_wapoint * add unit tests for the ObstacleAvoidance interface
This commit is contained in:
Martina Rivizzigno
committed by
Julian Kent
Julian Kent
parent
39451b811a
commit
78279f6587
@@ -157,12 +157,6 @@ public:
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*/
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static const landing_gear_s empty_landing_gear_default_keep;
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/**
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* Empty desired waypoints.
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* All waypoints are set to NAN.
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*/
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static const vehicle_trajectory_waypoint_s empty_trajectory_waypoint;
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/**
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* Call this whenever a parameter update notification is received (parameter_update uORB message)
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*/
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@@ -39,7 +39,8 @@ px4_add_library(FlightTaskUtility
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VelocitySmoothing.cpp
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)
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target_link_libraries(FlightTaskUtility PUBLIC FlightTask)
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target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis)
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target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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px4_add_unit_gtest(SRC VelocitySmoothingTest.cpp LINKLIBS FlightTaskUtility)
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px4_add_functional_gtest(SRC ObstacleAvoidanceTest.cpp LINKLIBS FlightTaskUtility)
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@@ -46,15 +46,6 @@ static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500_ms;
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static constexpr uint64_t TIME_BEFORE_FAILSAFE = 500_ms;
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static constexpr uint64_t Z_PROGRESS_TIMEOUT_US = 2_s;
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const vehicle_trajectory_waypoint_s empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
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{ {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
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{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
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{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
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{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
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{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}}
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}
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};
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ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
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ModuleParams(parent)
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{
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@@ -60,6 +60,15 @@
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#include <SubscriptionArray.hpp>
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const vehicle_trajectory_waypoint_s empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
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{ {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
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{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
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{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
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{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
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{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}}
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}
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};
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class ObstacleAvoidance : public ModuleParams
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{
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public:
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@@ -108,15 +117,11 @@ public:
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void checkAvoidanceProgress(const matrix::Vector3f &pos, const matrix::Vector3f &prev_wp,
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float target_acceptance_radius, const matrix::Vector2f &closest_pt);
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private:
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protected:
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uORB::SubscriptionPollable<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
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uORB::SubscriptionPollable<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::NAV_MC_ALT_RAD>) _param_nav_mc_alt_rad /**< Acceptance radius for multicopter altitude */
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);
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vehicle_trajectory_waypoint_s _desired_waypoint{}; /**< desired vehicle trajectory waypoint to be sent to OA */
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uORB::Publication<vehicle_trajectory_waypoint_s> _pub_traj_wp_avoidance_desired{ORB_ID(vehicle_trajectory_waypoint_desired)}; /**< trajectory waypoint desired publication */
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@@ -139,4 +144,8 @@ private:
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*/
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void _publishVehicleCmdDoLoiter();
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::NAV_MC_ALT_RAD>) _param_nav_mc_alt_rad /**< Acceptance radius for multicopter altitude */
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);
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};
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@@ -0,0 +1,207 @@
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/****************************************************************************
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*
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* Copyright (C) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <ObstacleAvoidance.hpp>
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#include <uORB/Subscription.hpp>
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using namespace matrix;
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// to run: make tests TESTFILTER=CollisionPrevention
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class ObstacleAvoidanceTest : public ::testing::Test
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{
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public:
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SubscriptionArray subscription_array;
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Vector3f pos_sp;
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Vector3f vel_sp;
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float yaw_sp = 0.123f;
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float yaw_speed_sp = NAN;
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void SetUp() override
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{
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param_reset_all();
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pos_sp = Vector3f(1.f, 1.2f, 0.1f);
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vel_sp = Vector3f(0.3f, 0.4f, 0.1f);
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}
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};
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class TestObstacleAvoidance : public ::ObstacleAvoidance
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{
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public:
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TestObstacleAvoidance() : ObstacleAvoidance(nullptr) {}
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void paramsChanged() {ObstacleAvoidance::updateParamsImpl();}
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void test_setPosition(Vector3f &pos) {_position = pos;}
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};
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TEST_F(ObstacleAvoidanceTest, instantiation) { ObstacleAvoidance oa(nullptr); }
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TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy)
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{
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// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message coming
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// from offboard
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TestObstacleAvoidance oa;
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oa.initializeSubscriptions(subscription_array);
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vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint;
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message.timestamp = hrt_absolute_time();
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message.type = vehicle_trajectory_waypoint_s::MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS;
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message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0] = 2.6f;
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message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1] = 2.4f;
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message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2] = 2.7f;
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message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw = 0.23f;
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message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid = true;
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// GIVEN: and we publish the vehicle_trajectory_waypoint message and vehicle status message
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orb_advert_t vehicle_trajectory_waypoint_pub = orb_advertise(ORB_ID(vehicle_trajectory_waypoint), &message);
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orb_publish(ORB_ID(vehicle_trajectory_waypoint), vehicle_trajectory_waypoint_pub, &message);
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vehicle_status_s vehicle_status{};
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vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
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orb_advert_t vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &vehicle_status);
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orb_publish(ORB_ID(vehicle_status), vehicle_status_pub, &vehicle_status);
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subscription_array.update();
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// WHEN: we inject the vehicle_trajectory_waypoint in the interface
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oa.injectAvoidanceSetpoints(pos_sp, vel_sp, yaw_sp, yaw_speed_sp);
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// THEN: the setpoints should be injected
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EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0], pos_sp(0));
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EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1], pos_sp(1));
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EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2], pos_sp(2));
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EXPECT_TRUE(vel_sp.isAllNan());
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EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw, yaw_sp);
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EXPECT_FALSE(PX4_ISFINITE(yaw_speed_sp));
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}
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TEST_F(ObstacleAvoidanceTest, oa_enabled_not_healthy)
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{
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// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message
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TestObstacleAvoidance oa;
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oa.initializeSubscriptions(subscription_array);
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vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint;
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Vector3f pos(3.1f, 4.7f, 5.2f);
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oa.test_setPosition(pos);
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// GIVEN: and we publish the vehicle_trajectory_waypoint message and vehicle_status
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orb_advert_t vehicle_trajectory_waypoint_pub = orb_advertise(ORB_ID(vehicle_trajectory_waypoint), &message);
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orb_publish(ORB_ID(vehicle_trajectory_waypoint), vehicle_trajectory_waypoint_pub, &message);
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vehicle_status_s vehicle_status{};
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vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
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orb_advert_t vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &vehicle_status);
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orb_publish(ORB_ID(vehicle_status), vehicle_status_pub, &vehicle_status);
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subscription_array.update();
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// WHEN: we inject the vehicle_trajectory_waypoint in the interface
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oa.injectAvoidanceSetpoints(pos_sp, vel_sp, yaw_sp, yaw_speed_sp);
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// THEN: the setpoints shouldn't be injected
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EXPECT_FLOAT_EQ(pos(0), pos_sp(0));
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EXPECT_FLOAT_EQ(pos(1), pos_sp(1));
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EXPECT_FLOAT_EQ(pos(2), pos_sp(2));
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EXPECT_TRUE(vel_sp.isAllNan());
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EXPECT_FALSE(PX4_ISFINITE(yaw_sp));
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EXPECT_FALSE(PX4_ISFINITE(yaw_speed_sp));
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}
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TEST_F(ObstacleAvoidanceTest, oa_desired)
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{
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// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and the waypoints from FLightTaskAuto
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TestObstacleAvoidance oa;
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oa.initializeSubscriptions(subscription_array);
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pos_sp = Vector3f(1.f, 1.2f, NAN);
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vel_sp = Vector3f(NAN, NAN, 0.7f);
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int type = 4;
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Vector3f curr_wp(1.f, 1.2f, 5.0f);
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float curr_yaw = 1.02f;
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float curr_yawspeed = NAN;
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Vector3f next_wp(11.f, 1.2f, 5.0f);
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float next_yaw = 0.82f;
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float next_yawspeed = NAN;
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bool ext_yaw_active = false;
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// WHEN: we inject the setpoints and waypoints in the interface
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oa.updateAvoidanceDesiredWaypoints(curr_wp, curr_yaw, curr_yawspeed, next_wp, next_yaw, next_yawspeed, ext_yaw_active,
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type);
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oa.updateAvoidanceDesiredSetpoints(pos_sp, vel_sp, type);
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// WHEN: we subscribe to the uORB message out of the interface
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uORB::SubscriptionData<vehicle_trajectory_waypoint_s> _sub_traj_wp_avoidance_desired{ORB_ID(vehicle_trajectory_waypoint_desired)};
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_sub_traj_wp_avoidance_desired.update();
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// THEN: we expect the setpoints in POINT_0 and waypoints in POINT_1 and POINT_2
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EXPECT_FLOAT_EQ(pos_sp(0),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0]);
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EXPECT_FLOAT_EQ(pos_sp(1),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1]);
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EXPECT_FALSE(PX4_ISFINITE(
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2]));
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EXPECT_FALSE(PX4_ISFINITE(
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[0]));
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EXPECT_FALSE(PX4_ISFINITE(
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[1]));
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EXPECT_FLOAT_EQ(vel_sp(2),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[2]);
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EXPECT_EQ(type, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].type);
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EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid);
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EXPECT_FLOAT_EQ(curr_wp(0),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[0]);
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EXPECT_FLOAT_EQ(curr_wp(1),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[1]);
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EXPECT_FLOAT_EQ(curr_wp(2),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[2]);
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EXPECT_FLOAT_EQ(curr_yaw, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw);
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EXPECT_FALSE(PX4_ISFINITE(
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw_speed));
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EXPECT_EQ(type, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].type);
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EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].point_valid);
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EXPECT_FLOAT_EQ(next_wp(0),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[0]);
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EXPECT_FLOAT_EQ(next_wp(1),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[1]);
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EXPECT_FLOAT_EQ(next_wp(2),
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[2]);
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EXPECT_FLOAT_EQ(next_yaw, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].yaw);
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EXPECT_FALSE(PX4_ISFINITE(
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_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].yaw_speed));
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EXPECT_EQ(UINT8_MAX, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].type);
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EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid);
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}
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