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235 lines
8.2 KiB
Python
Executable File
235 lines
8.2 KiB
Python
Executable File
#!/usr/bin/env python
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#***************************************************************************
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#
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# Copyright (c) 2015 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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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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PKG = 'px4'
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import unittest
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import rospy
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import math
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import rosbag
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import sys
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import os
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import mavros
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from pymavlink import mavutil
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from mavros import mavlink
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from geometry_msgs.msg import PoseStamped
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from mavros_msgs.srv import CommandLong, WaypointPush
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from mavros_msgs.msg import Mavlink, Waypoint, ExtendedState
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from sensor_msgs.msg import NavSatFix
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from mavros.mission import QGroundControlWP
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#from px4_test_helper import PX4TestHelper
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class MavrosMissionTest(unittest.TestCase):
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"""
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Run a mission
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"""
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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#self.helper = PX4TestHelper("mavros_offboard_posctl_test")
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#self.helper.setUp()
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self.rate = rospy.Rate(10) # 10hz
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self.has_global_pos = False
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self.local_position = PoseStamped()
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self.global_position = NavSatFix()
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self.extended_state = ExtendedState()
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self.home_alt = 0
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self.mc_rad = 5
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self.fw_rad = 50
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self.fw_alt_rad = 10
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self.last_alt_d = 9999
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self.last_pos_d = 9999
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# need to simulate heartbeat for datalink loss detection
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rospy.Timer(rospy.Duration(0.5), self.send_heartbeat)
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rospy.wait_for_service('mavros/cmd/command', 30)
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self.pub_mavlink = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
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self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
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self._srv_wp_push = rospy.ServiceProxy('mavros/mission/push', WaypointPush, persistent=True)
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rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
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rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
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rospy.Subscriber("mavros/extended_state", ExtendedState, self.extended_state_callback)
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def tearDown(self):
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#self.helper.tearDown()
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pass
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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.local_position = data
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def global_position_callback(self, data):
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self.global_position = data
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if not self.has_global_pos:
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self.home_alt = data.altitude
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self.has_global_pos = True
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def extended_state_callback(self, data):
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self.extended_state = data
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#
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# Helper methods
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#
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def is_at_position(self, lat, lon, alt, xy_offset, z_offset):
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R = 6371000 # metres
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rlat1 = math.radians(lat)
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rlat2 = math.radians(self.global_position.latitude)
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rlat_d = math.radians(self.global_position.latitude - lat)
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rlon_d = math.radians(self.global_position.longitude - lon)
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a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) +
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math.cos(rlat1) * math.cos(rlat2) *
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math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
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c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
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d = R * c
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alt_d = abs(alt - self.global_position.altitude)
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#rospy.loginfo("d: %f, alt_d: %f", d, alt_d)
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# remember best distances
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if self.last_pos_d > d:
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self.last_pos_d = d
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if self.last_alt_d > alt_d:
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self.last_alt_d = alt_d
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return d < xy_offset and alt_d < z_offset
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def reach_position(self, lat, lon, alt, timeout, index):
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# reset best distances
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self.last_alt_d = 9999
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self.last_pos_d = 9999
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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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# use different radius matching vehicle state
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xy_radius = self.mc_rad
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z_radius = self.mc_rad
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if self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW:
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xy_radius = self.fw_rad
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z_radius = self.fw_alt_rad
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if self.is_at_position(lat, lon, alt, xy_radius, z_radius):
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rospy.loginfo("position reached, index: %d, count: %d, pos_d: %f, alt_d: %f" %
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(index, count, self.last_pos_d, self.last_alt_d))
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break
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count = count + 1
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self.rate.sleep()
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self.assertTrue(count < timeout, ("took too long to get to position " +
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"lat: %f, lon: %f, alt: %f, xy off: %f, z off: %f, timeout: %d, index: %d, pos_d: %f, alt_d: %f" %
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(lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d)))
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def run_mission(self):
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"""switch mode: armed | auto"""
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self._srv_cmd_long(False, 176, False,
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# arm | custom, auto, mission
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128 | 1, 4, 4, 0, 0, 0, 0)
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def wait_until_ready(self):
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"""FIXME: hack to wait for simulation to be ready"""
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while not self.has_global_pos:
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self.rate.sleep()
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def send_heartbeat(self, event=None):
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# mav type gcs
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mavmsg = mavutil.mavlink.MAVLink_heartbeat_message(6, 0, 0, 0, 0, 0)
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# XXX: hack: using header object to set mav properties
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mavmsg.pack(mavutil.mavlink.MAVLink_header(0, 0, 0, 2, 1))
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rosmsg = mavlink.convert_to_rosmsg(mavmsg)
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self.pub_mavlink.publish(rosmsg)
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def test_mission(self):
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"""Test mission"""
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if len(sys.argv) < 2:
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self.fail("usage: mission_test.py mission_file")
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return
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file = os.path.dirname(os.path.realpath(__file__)) + "/" + sys.argv[1]
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rospy.loginfo("reading mission %s", file)
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mission = QGroundControlWP()
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wps = []
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for wp in mission.read(open(file, 'r')):
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wps.append(wp)
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rospy.logdebug(wp)
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rospy.loginfo("wait until ready")
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self.wait_until_ready()
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rospy.loginfo("send mission")
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res = self._srv_wp_push(wps)
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rospy.loginfo(res)
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self.assertTrue(res.success, "mission could not be transfered")
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rospy.loginfo("run mission")
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self.run_mission()
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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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index = 0
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for wp in wps:
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# only check position waypoints
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if wp.frame == Waypoint.FRAME_GLOBAL_REL_ALT or wp.frame == Waypoint.FRAME_GLOBAL:
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alt = wp.z_alt
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if wp.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
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alt += self.home_alt
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self.reach_position(wp.x_lat, wp.y_long, alt, 600, index)
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index += 1
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'mavros_mission_test', MavrosMissionTest)
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