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update flight path assertion and error handling

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This commit is contained in:
Andreas Antener
2015-02-28 18:25:36 +01:00
committed by Thomas Gubler
parent 85ac3e3515
commit 952f91738e
2 changed files with 37 additions and 21 deletions
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integrationtests/demo_tests/flight_path_assertion.py
+18 -5
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@@ -6,6 +6,7 @@ import threading
from px4.msg import vehicle_local_position
from gazebo_msgs.srv import SpawnModel
from gazebo_msgs.srv import SetModelState
from gazebo_msgs.srv import DeleteModel
from geometry_msgs.msg import Pose
from geometry_msgs.msg import Twist
@@ -18,11 +19,20 @@ import math
#
class FlightPathAssertion(threading.Thread):
#
# Arguments
# - positions: tuple of tuples in the form (x, y, z, heading)
#
# TODO: yaw validation
# TODO: fail main test thread
#
def __init__(self, positions, tunnelRadius = 1, yawOffset = 0.2):
threading.Thread.__init__(self)
rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
self.spawn = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
self.spawnModel = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
self.setModelState = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
self.deleteModel = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
self.positions = positions
self.tunnelRadius = tunnelRadius
self.yawOffset = yawOffset
@@ -30,14 +40,16 @@ class FlightPathAssertion(threading.Thread):
self.shouldStop = False
self.center = positions[0]
self.endOfSegment = False
self.failed = False
def position_callback(self, data):
self.hasPos = True
self.localPosition = data
def spawn_indicator(self):
self.deleteModel("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
self.spawn("indicator", xml, "", Pose(), "")
self.spawnModel("indicator", xml, "", Pose(), "")
def position_indicator(self):
state = SetModelState()
@@ -103,11 +115,12 @@ class FlightPathAssertion(threading.Thread):
dist = self.distance_to_line(aPos, bPos, pos)
bDist = linalg.norm(pos - bPos)
rospy.loginfo("distance to line: %f, distance to end: %f" % (dist, bDist))
rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, bDist))
if (dist > self.tunnelRadius):
rospy.logerr("left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
# FIXME: assertion
msg = "left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z)
rospy.logerr(msg)
self.failed = True
break
if (self.endOfSegment or bDist < self.tunnelRadius):