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Optical Flow: add unit testes for only using downward distance sensor (#23266)

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* Test for Optical Flow checks correct camera position

* Formatting fixed

* Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* For test GIVEN/WHEN/THEN added

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
PavloZMN 2025-01-22 12:58:07 +02:00 committed by GitHub
parent caaae6ed51
commit ee150a15b4
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4 changed files with 161 additions and 2 deletions
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4
src/modules/sensors/vehicle_optical_flow/CMakeLists.txt
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@ -36,3 +36,7 @@ px4_add_library(vehicle_optical_flow
VehicleOpticalFlow.hpp
)
target_link_libraries(vehicle_optical_flow PRIVATE px4_work_queue)
if(BUILD_TESTING)
add_subdirectory(test)
endif()

6
src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp
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@ -73,9 +73,12 @@ public:
void PrintStatus();
protected:
void UpdateDistanceSensor();
int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations
private:
void ClearAccumulatedData();
void UpdateDistanceSensor();
void UpdateSensorGyro();
void Run() override;
@ -117,7 +120,6 @@ private:
uint16_t _quality_sum{0};
uint8_t _accumulated_count{0};
int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations
hrt_abstime _last_range_sensor_update{0};
bool _delta_angle_available{false};

35
src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt Normal file
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@ -0,0 +1,35 @@
############################################################################
#
# Copyright (c) 2024 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_functional_gtest(SRC VehicleOpticalFlowTest.cpp LINKLIBS vehicle_optical_flow uORB sensor_calibration)

118
src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp Normal file
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@ -0,0 +1,118 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Test for VehicleOpticalFlow
*/
#include <gtest/gtest.h>
#include "../VehicleOpticalFlow.hpp"
#include <uORB/uORBManager.hpp>
#include <uORB/topics/distance_sensor.h>
distance_sensor_s createDistanceSensorMessage(uint16_t orientation)
{
distance_sensor_s message;
message.timestamp = hrt_absolute_time();
message.min_distance = 1.f;
message.max_distance = 100.f;
message.current_distance = 1.1f;
message.variance = 0.1f;
message.signal_quality = 100;
message.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
message.orientation = orientation;
message.h_fov = math::radians(50.f);
message.v_fov = math::radians(30.f);
return message;
}
class VehicleOpticalFlowTest : public ::testing::Test
{
public:
class VehicleOpticalFlowTestable : public sensors::VehicleOpticalFlow
{
public:
void UpdateDistanceSensorPublic()
{
VehicleOpticalFlow::UpdateDistanceSensor();
}
bool IsDistanceSensorSelected()
{
return _distance_sensor_selected >= 0;
}
};
void SetUp() override
{
uORB::Manager::initialize();
}
void TearDown() override
{
uORB::Manager::terminate();
}
};
TEST_F(VehicleOpticalFlowTest, CameraFacingDown)
{
// GIVEN: message with sensor camera facing down
distance_sensor_s message = createDistanceSensorMessage(distance_sensor_s::ROTATION_DOWNWARD_FACING);
orb_advertise(ORB_ID(distance_sensor), &message);
// WHEN: update distance sensor
VehicleOpticalFlowTest::VehicleOpticalFlowTestable testable;
testable.UpdateDistanceSensorPublic();
// THEN: sensor selected
EXPECT_TRUE(testable.IsDistanceSensorSelected());
}
TEST_F(VehicleOpticalFlowTest, CameraFacingForward)
{
// GIVEN: message with sensor camera facing forward
distance_sensor_s message = createDistanceSensorMessage(distance_sensor_s::ROTATION_FORWARD_FACING);
orb_advertise(ORB_ID(distance_sensor), &message);
// WHEN: update distance sensor
VehicleOpticalFlowTest::VehicleOpticalFlowTestable testable;
testable.UpdateDistanceSensorPublic();
// THEN: sensor is not selected
EXPECT_FALSE(testable.IsDistanceSensorSelected());
}