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540 lines
21 KiB
Python
Executable File
540 lines
21 KiB
Python
Executable File
#!/usr/bin/env python2
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#***************************************************************************
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#
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# Copyright (c) 2015-2016 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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# The shebang of this file is currently Python2 because some
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# dependencies such as pymavlink don't play well with Python3 yet.
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from __future__ import division
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PKG = 'px4'
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import unittest
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import rospy
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import glob
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import json
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import math
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import os
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import px4tools
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import sys
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from mavros import mavlink
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from mavros.mission import QGroundControlWP
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from pymavlink import mavutil
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from threading import Thread
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from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, Mavlink, \
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State, Waypoint
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from mavros_msgs.srv import CommandBool, SetMode, WaypointPush
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from sensor_msgs.msg import NavSatFix
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def get_last_log():
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try:
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log_path = os.environ['PX4_LOG_DIR']
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except KeyError:
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log_path = os.path.join(os.environ['HOME'],
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'.ros/rootfs/fs/microsd/log')
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last_log_dir = sorted(glob.glob(os.path.join(log_path, '*')))[-1]
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last_log = sorted(glob.glob(os.path.join(last_log_dir, '*.ulg')))[-1]
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return last_log
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def read_new_mission(f):
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d = json.load(f)
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current = True
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for wp in d['items']:
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yield Waypoint(
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is_current=current,
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frame=int(wp['frame']),
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command=int(wp['command']),
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param1=float(wp['param1']),
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param2=float(wp['param2']),
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param3=float(wp['param3']),
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param4=float(wp['param4']),
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x_lat=float(wp['coordinate'][0]),
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y_long=float(wp['coordinate'][1]),
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z_alt=float(wp['coordinate'][2]),
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autocontinue=bool(wp['autoContinue']))
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if current:
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current = False
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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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# dictionaries correspond to mavros ExtendedState msg
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LAND_STATES = {
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0: 'UNDEFINED',
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1: 'ON_GROUND',
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2: 'IN_AIR',
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3: 'TAKEOFF',
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4: 'LANDING'
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}
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VTOL_STATES = {
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0: 'VTOL UNDEFINED',
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1: 'VTOL MC->FW',
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2: 'VTOL FW->MC',
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3: 'VTOL MC',
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4: 'VTOL FW'
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}
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def setUp(self):
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self.rate = rospy.Rate(10) # 10hz
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self.has_global_pos = False
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self.global_position = NavSatFix()
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self.extended_state = ExtendedState()
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self.altitude = Altitude()
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self.state = State()
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self.mc_rad = 5
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self.fw_rad = 60
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self.fw_alt_rad = 10
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self.last_alt_d = None
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self.last_pos_d = None
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self.mission_name = ""
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self.sub_topics_ready = {
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key: False
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for key in ['global_pos', 'home_pos', 'ext_state', 'alt', 'state']
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}
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# setup ROS topics and services
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try:
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rospy.wait_for_service('mavros/mission/push', 30)
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rospy.wait_for_service('mavros/cmd/arming', 30)
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rospy.wait_for_service('mavros/set_mode', 30)
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except rospy.ROSException:
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self.fail("failed to connect to mavros services")
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self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
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WaypointPush)
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self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
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CommandBool)
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self.set_mode_srv = rospy.ServiceProxy('/mavros/set_mode', SetMode)
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self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
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NavSatFix,
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self.global_position_callback)
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self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
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HomePosition,
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self.home_position_callback)
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self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
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ExtendedState,
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self.extended_state_callback)
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self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
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self.altitude_callback)
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self.state_sub = rospy.Subscriber('mavros/state', State,
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self.state_callback)
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self.mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
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# need to simulate heartbeat to prevent datalink loss detection
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self.hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(
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mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
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self.hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
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self.hb_ros_msg = mavlink.convert_to_rosmsg(self.hb_mav_msg)
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self.hb_thread = Thread(target=self.send_heartbeat, args=())
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self.hb_thread.daemon = True
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self.hb_thread.start()
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def tearDown(self):
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pass
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#
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# Callback functions
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#
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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.sub_topics_ready['global_pos']:
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self.sub_topics_ready['global_pos'] = True
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def home_position_callback(self, data):
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# this topic publishing seems to be a better indicator that the sim
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# is ready, it's not actually needed
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self.home_pos_sub.unregister()
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if not self.sub_topics_ready['home_pos']:
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self.sub_topics_ready['home_pos'] = True
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def extended_state_callback(self, data):
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if self.extended_state.vtol_state != data.vtol_state:
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rospy.loginfo("VTOL state changed from {0} to {1}".format(
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self.VTOL_STATES.get(self.extended_state.vtol_state),
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self.VTOL_STATES.get(data.vtol_state)))
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if self.extended_state.landed_state != data.landed_state:
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rospy.loginfo("landed state changed from {0} to {1}".format(
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self.LAND_STATES.get(self.extended_state.landed_state),
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self.LAND_STATES.get(data.landed_state)))
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self.extended_state = data
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if not self.sub_topics_ready['ext_state']:
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self.sub_topics_ready['ext_state'] = True
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def state_callback(self, data):
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if self.state.armed != data.armed:
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rospy.loginfo("armed state changed from {0} to {1}".format(
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self.state.armed, data.armed))
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if self.state.mode != data.mode:
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rospy.loginfo("mode changed from {0} to {1}".format(
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self.state.mode, data.mode))
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self.state = data
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# mavros publishes a disconnected state message on init
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if not self.sub_topics_ready['state'] and data.connected:
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self.sub_topics_ready['state'] = True
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def altitude_callback(self, data):
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self.altitude = data
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# amsl has been observed to be nan while other fields are valid
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if not self.sub_topics_ready['alt'] and not math.isnan(data.amsl):
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self.sub_topics_ready['alt'] = True
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#
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# Helper methods
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#
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def send_heartbeat(self):
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rate = rospy.Rate(2) # Hz
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while not rospy.is_shutdown():
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self.mavlink_pub.publish(self.hb_ros_msg)
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try: # prevent garbage in console output when thread is killed
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rate.sleep()
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except rospy.ROSInterruptException:
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pass
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def set_mode(self, mode, timeout):
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"""mode: PX4 mode string, timeout(int): seconds"""
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old_mode = self.state.mode
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loop_freq = 1 # Hz
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rate = rospy.Rate(loop_freq)
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mode_set = False
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for i in xrange(timeout * loop_freq):
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if self.state.mode == mode:
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mode_set = True
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rospy.loginfo(
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"set mode success | new mode: {0}, old mode: {1} | seconds: {2} of {3}".
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format(mode, old_mode, i / loop_freq, timeout))
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break
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else:
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try:
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res = self.set_mode_srv(0, mode) # 0 is custom mode
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if not res.mode_sent:
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rospy.logerr("failed to send mode command")
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except rospy.ServiceException as e:
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rospy.logerr(e)
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rate.sleep()
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self.assertTrue(mode_set, (
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"failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
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format(mode, old_mode, timeout)))
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def set_arm(self, arm, timeout):
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"""arm: True to arm or False to disarm, timeout(int): seconds"""
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old_arm = self.state.armed
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loop_freq = 1 # Hz
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rate = rospy.Rate(loop_freq)
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arm_set = False
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for i in xrange(timeout * loop_freq):
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if self.state.armed == arm:
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arm_set = True
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rospy.loginfo(
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"set arm success | new arm: {0}, old arm: {1} | seconds: {2} of {3}".
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format(arm, old_arm, i / loop_freq, timeout))
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break
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else:
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try:
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res = self.set_arming_srv(arm)
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if not res.success:
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rospy.logerr("failed to send arm command")
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except rospy.ServiceException as e:
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rospy.logerr(e)
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rate.sleep()
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self.assertTrue(arm_set, (
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"failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
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format(arm, old_arm, timeout)))
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def is_at_position(self, lat, lon, alt, xy_offset, z_offset):
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"""alt(amsl), xy_offset, z_offset: meters"""
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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) + math.cos(rlat1) *
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math.cos(rlat2) * 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.altitude.amsl)
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# remember best distances
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if not self.last_pos_d or self.last_pos_d > d:
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self.last_pos_d = d
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if not self.last_alt_d or self.last_alt_d > alt_d:
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self.last_alt_d = alt_d
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rospy.logdebug("d: {0}, alt_d: {1}".format(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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"""alt(amsl): meters, timeout(int): seconds"""
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# reset best distances
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self.last_alt_d = None
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self.last_pos_d = None
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rospy.loginfo(
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"trying to reach waypoint | lat: {0:13.9f}, lon: {1:13.9f}, alt: {2:6.2f}, index: {3}".
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format(lat, lon, alt, index))
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# does it reach the position in 'timeout' seconds?
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loop_freq = 10 # Hz
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rate = rospy.Rate(loop_freq)
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reached = False
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for i in xrange(timeout * loop_freq):
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# use MC radius by default
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# FIXME: also check MAV_TYPE from system status, otherwise pure fixed-wing won't work
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xy_radius = self.mc_rad
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z_radius = self.mc_rad
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# use FW radius if in FW or in transition
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if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW
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or self.extended_state.vtol_state ==
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ExtendedState.VTOL_STATE_TRANSITION_TO_MC or
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self.extended_state.vtol_state ==
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ExtendedState.VTOL_STATE_TRANSITION_TO_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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reached = True
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rospy.loginfo(
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"position reached | pos_d: {0:.2f}, alt_d: {1:.2f}, index: {2} | seconds: {3} of {4}".
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format(self.last_pos_d, self.last_alt_d, index, i /
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loop_freq, timeout))
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break
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rate.sleep()
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self.assertTrue(reached, (
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"({0}) took too long to get to position | lat: {1:13.9f}, lon: {2:13.9f}, alt: {3:6.2f}, xy off: {4}, z off: {5}, pos_d: {6:.2f}, alt_d: {7:.2f}, VTOL state: {8}, index: {9} | timeout(seconds): {10}".
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format(self.mission_name, lat, lon, alt, xy_radius, z_radius,
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self.last_pos_d, self.last_alt_d,
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self.VTOL_STATES.get(self.extended_state.vtol_state), index,
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timeout)))
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def wait_for_topics(self, timeout):
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"""wait for simulation to be ready, make sure we're getting topic info
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from all topics by checking dictionary of flag values set in callbacks,
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timeout(int): seconds"""
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rospy.loginfo("waiting for simulation topics to be ready")
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loop_freq = 1 # Hz
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rate = rospy.Rate(loop_freq)
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simulation_ready = False
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for i in xrange(timeout * loop_freq):
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if all(value for value in self.sub_topics_ready.values()):
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simulation_ready = True
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rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
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format(i / loop_freq, timeout))
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break
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rate.sleep()
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self.assertTrue(simulation_ready, (
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"failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
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format(self.sub_topics_ready, timeout)))
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def wait_on_landed_state(self, desired_landed_state, timeout, index):
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rospy.loginfo(
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"waiting for landed state | state: {0}, index: {1}".format(
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self.LAND_STATES.get(desired_landed_state), index))
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loop_freq = 10 # Hz
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rate = rospy.Rate(loop_freq)
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landed_state_confirmed = False
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for i in xrange(timeout * loop_freq):
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if self.extended_state.landed_state == desired_landed_state:
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landed_state_confirmed = True
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rospy.loginfo(
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"landed state confirmed | state: {0}, index: {1}".format(
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self.LAND_STATES.get(desired_landed_state), index))
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break
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rate.sleep()
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self.assertTrue(landed_state_confirmed, (
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"({0}) landed state not detected | desired: {1}, current: {2} | index: {3}, timeout(seconds): {4}".
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format(self.mission_name,
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self.LAND_STATES.get(desired_landed_state),
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self.LAND_STATES.get(self.extended_state.landed_state),
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index, timeout)))
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def wait_on_transition(self, transition, timeout, index):
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"""Wait for VTOL transition, timeout(int): seconds"""
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rospy.loginfo(
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"waiting for VTOL transition | transition: {0}, index: {1}".format(
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self.VTOL_STATES.get(transition), index))
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loop_freq = 10 # Hz
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rate = rospy.Rate(loop_freq)
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transitioned = False
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for i in xrange(timeout * loop_freq):
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if transition == self.extended_state.vtol_state:
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rospy.loginfo(
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"transitioned | index: {0} | seconds: {1} of {2}".format(
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index, i / loop_freq, timeout))
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transitioned = True
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break
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rate.sleep()
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self.assertTrue(transitioned, (
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"({0}) transition not detected | index: {1} | timeout(seconds): {2}, ".
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format(self.mission_name, index, timeout)))
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#
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# Test method
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#
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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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self.mission_name = sys.argv[1]
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mission_file = os.path.dirname(
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os.path.realpath(__file__)) + "/" + sys.argv[1]
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rospy.loginfo("reading mission {0}".format(mission_file))
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wps = []
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with open(mission_file, 'r') as f:
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mission_ext = os.path.splitext(mission_file)[1]
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if mission_ext == '.mission':
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rospy.loginfo("new style mission file detected")
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for waypoint in read_new_mission(f):
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wps.append(waypoint)
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rospy.logdebug(waypoint)
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elif mission_ext == '.txt':
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rospy.loginfo("old style mission file detected")
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mission = QGroundControlWP()
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for waypoint in mission.read(f):
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|
wps.append(waypoint)
|
|
rospy.logdebug(waypoint)
|
|
else:
|
|
raise IOError('unknown mission file extension', mission_ext)
|
|
|
|
# delay starting the mission
|
|
self.wait_for_topics(30)
|
|
|
|
rospy.loginfo("send mission")
|
|
result = False
|
|
try:
|
|
res = self.wp_push_srv(start_index=0, waypoints=wps)
|
|
result = res.success
|
|
except rospy.ServiceException as e:
|
|
rospy.logerr(e)
|
|
self.assertTrue(
|
|
result,
|
|
"({0}) mission could not be transfered".format(self.mission_name))
|
|
|
|
# make sure the simulation is ready to start the mission
|
|
self.wait_on_landed_state(ExtendedState.LANDED_STATE_ON_GROUND, 10, -1)
|
|
|
|
rospy.loginfo("seting mission mode")
|
|
self.set_mode("AUTO.MISSION", 5)
|
|
rospy.loginfo("arming")
|
|
self.set_arm(True, 5)
|
|
|
|
rospy.loginfo("run mission")
|
|
for index, waypoint in enumerate(wps):
|
|
# only check position for waypoints where this makes sense
|
|
if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or waypoint.frame == Waypoint.FRAME_GLOBAL:
|
|
alt = waypoint.z_alt
|
|
if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
|
|
alt += self.altitude.amsl - self.altitude.relative
|
|
|
|
self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 60,
|
|
index)
|
|
|
|
# check if VTOL transition happens if applicable
|
|
if waypoint.command == 84 or waypoint.command == 85 or waypoint.command == 3000:
|
|
transition = waypoint.param1
|
|
|
|
if waypoint.command == 84: # VTOL takeoff implies transition to FW
|
|
transition = ExtendedState.VTOL_STATE_FW
|
|
|
|
if waypoint.command == 85: # VTOL takeoff implies transition to MC
|
|
transition = ExtendedState.VTOL_STATE_MC
|
|
|
|
self.wait_on_transition(transition, 60, index)
|
|
|
|
# after reaching position, wait for landing detection if applicable
|
|
if waypoint.command == 85 or waypoint.command == 21:
|
|
self.wait_on_landed_state(ExtendedState.LANDED_STATE_ON_GROUND,
|
|
60, index)
|
|
|
|
rospy.loginfo("disarming")
|
|
self.set_arm(False, 5)
|
|
|
|
rospy.loginfo("mission done, calculating performance metrics")
|
|
last_log = get_last_log()
|
|
rospy.loginfo("log file {0}".format(last_log))
|
|
data = px4tools.read_ulog(last_log).concat(dt=0.1)
|
|
data = px4tools.compute_data(data)
|
|
res = px4tools.estimator_analysis(data, False)
|
|
|
|
# enforce performance
|
|
self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res))
|
|
self.assertTrue(abs(res['pitch_error_mean']) < 5.0, str(res))
|
|
self.assertTrue(abs(res['yaw_error_mean']) < 5.0, str(res))
|
|
self.assertTrue(res['roll_error_std'] < 5.0, str(res))
|
|
self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
|
|
self.assertTrue(res['yaw_error_std'] < 5.0, str(res))
|
|
|
|
|
|
if __name__ == '__main__':
|
|
import rostest
|
|
rospy.init_node('test_node', anonymous=True)
|
|
|
|
name = "mavros_mission_test"
|
|
if len(sys.argv) > 1:
|
|
name += "-%s" % sys.argv[1]
|
|
rostest.rosrun(PKG, name, MavrosMissionTest)
|