- updated position control test

- added flight path assertion helper

2 files changed, 176 insertions, 29 deletions

diff --git a/integrationtests/demo_tests/flight_path_assertion.py b/integrationtests/demo_tests/flight_path_assertion.py
new file mode 100644
index 000000000..fb78f8929
--- /dev/null
+++ b/integrationtests/demo_tests/flight_path_assertion.py
@@ -0,0 +1,122 @@
+#!/usr/bin/env python
+import sys
+import rospy
+import threading
+
+from px4.msg import vehicle_local_position
+from gazebo_msgs.srv import SpawnModel
+from gazebo_msgs.srv import SetModelState
+from geometry_msgs.msg import Pose
+from geometry_msgs.msg import Twist
+
+from numpy import linalg
+import numpy as np
+import math
+
+#
+# Helper to test if vehicle stays in expected flight path.
+#
+class FlightPathAssertion(threading.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.setModelState = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
+        self.positions = positions
+        self.tunnelRadius = tunnelRadius
+        self.yawOffset = yawOffset
+        self.hasPos = False
+        self.shouldStop = False
+        self.center = positions[0]
+        self.endOfSegment = False
+
+    def position_callback(self, data):
+        self.hasPos = True
+        self.localPosition = data
+
+    def spawn_indicator(self):
+        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(), "")
+
+    def position_indicator(self):
+        state = SetModelState()
+        state.model_name = "indicator"
+        pose = Pose()
+        pose.position.x = self.center[0]
+        pose.position.y = (-1) * self.center[1]
+        pose.position.z = (-1) * self.center[2]
+        state.pose = pose
+        state.twist = Twist()
+        state.reference_frame = ""
+        self.setModelState(state)
+
+    def distance_to_line(self, a, b, pos):
+        v = b - a
+        w = pos - a
+
+        c1 = np.dot(w, v)
+        if c1 <= 0: # before a
+            self.center = a
+            return linalg.norm(pos - a)
+
+        c2 = np.dot(v, v)
+        if c2 <= c1: # after b
+            self.center = b
+            self.endOfSegment = True
+            return linalg.norm(pos - b)
+
+        x = c1 / c2
+        l = a + x * v
+        self.center = l
+        return linalg.norm(pos - l)
+    
+    def stop(self):
+        self.shouldStop = True
+
+    def run(self):
+        rate = rospy.Rate(10) # 10hz
+        self.spawn_indicator()
+
+        current = 0
+
+        while not self.shouldStop:
+            if (self.hasPos):
+                # calculate distance to line segment between first two points
+                # if distances > tunnelRadius
+                #   exit with error
+                # advance current pos if not on the line anymore or distance to next point < tunnelRadius
+                # exit if current pos is now the last position
+
+                self.position_indicator()
+
+                pos = np.array((self.localPosition.x,
+                    self.localPosition.y, 
+                    self.localPosition.z))
+                aPos = np.array((self.positions[current][0],
+                    self.positions[current][1], 
+                    self.positions[current][2]))
+                bPos = np.array((self.positions[current + 1][0],
+                    self.positions[current + 1][1], 
+                    self.positions[current + 1][2]))
+
+                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))
+
+                if (dist > self.tunnelRadius):
+                    rospy.logerr("left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
+                    # FIXME: assertion
+                    break
+
+                if (self.endOfSegment or bDist < self.tunnelRadius):
+                    rospy.loginfo("next segment")
+                    self.endOfSegment = False
+                    current = current + 1
+
+                if (current == len(self.positions) - 1):
+                    rospy.loginfo("no more positions")
+                    break
+
+            rate.sleep()
diff --git a/integrationtests/demo_tests/offboard_posctl_test.py b/integrationtests/demo_tests/offboard_posctl_test.py
index 0d5608245..af8d4b821 100755
--- a/integrationtests/demo_tests/offboard_posctl_test.py
+++ b/integrationtests/demo_tests/offboard_posctl_test.py
@@ -5,6 +5,9 @@ import sys
 import unittest
 import rospy
 
+from numpy import linalg
+import numpy as np
+
 from px4.msg import vehicle_local_position
 from px4.msg import vehicle_control_mode
 from px4.msg import actuator_armed
@@ -14,10 +17,18 @@ from sensor_msgs.msg import Joy
 from std_msgs.msg import Header
 
 from manual_input import ManualInput
+from flight_path_assertion import FlightPathAssertion
 
 
 class OffboardPosctlTest(unittest.TestCase):
 
+	def setUp(self):
+		rospy.init_node('test_node', anonymous=True)
+		rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+		rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
+		self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
+		self.rate = rospy.Rate(10) # 10hz
+
 	#
 	# General callback functions used in tests
 	#
@@ -33,64 +44,78 @@ class OffboardPosctlTest(unittest.TestCase):
 	# Helper methods
 	#
 	def is_at_position(self, x, y, z, offset):
-		rospy.loginfo("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
-		return self.localPosition.z > (z - offset) and self.localPosition.z < (z + offset)
-
-	#
-	# Test offboard POSCTL
-	#
-	def test_posctl(self):
-		rospy.init_node('test_node', anonymous=True)
-		rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-		rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
-		pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
-		rate = rospy.Rate(10) # 10hz
+		rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
+		desired = np.array((x, y, z))
+		pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
+		return linalg.norm(desired - pos) < offset
 
-		manIn = ManualInput()
-
-		# arm and go into offboard
-		manIn.arm()
-		manIn.offboard()
-		self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
-		self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
-		self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
-	
+	def reach_position(self, x, y, z, timeout):
 		# set a position setpoint
 		pos = position_setpoint()
 		pos.valid = True
-		pos.x = 2
-		pos.z = -2
-		pos.y = 2
+		pos.x = x
+		pos.y = y
+		pos.z = z
 		pos.position_valid = True
 		stp = position_setpoint_triplet()
 		stp.current = pos
-		pubSpt.publish(stp)
+		self.pubSpt.publish(stp)
 
 		# does it reach the position in X seconds?
 		count = 0
-		timeout = 120
 		while(count < timeout):
 			if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
 				break
 			count = count + 1
-			rate.sleep()
+			self.rate.sleep()
 
 		self.assertTrue(count < timeout, "took too long to get to position")
+
+	#
+	# Test offboard POSCTL
+	#
+	def test_posctl(self):
+		manIn = ManualInput()
+
+		# arm and go into offboard
+		manIn.arm()
+		manIn.offboard()
+		self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
+		self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
+		self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
+	
+		# prepare flight path assertion
+		fpa = FlightPathAssertion(
+			(
+				(0,0,0),
+				(2,2,-2),
+				(2,-2,-2),
+				(-2,-2,-2),
+				(2,2,-2),
+			), 0.5, 0)
+		fpa.start()
+
+		self.reach_position(2, 2, -2, 120)
+		self.reach_position(2, -2, -2, 120)
+		self.reach_position(-2, -2, -2, 120)
+		self.reach_position(2, 2, -2, 120)
 		
 		# does it hold the position for Y seconds?
 		positionHeld = True
 		count = 0
 		timeout = 50
 		while(count < timeout):
-			if(not self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
+			if(not self.is_at_position(2, 2, -2, 0.5)):
 				positionHeld = False
 				break
 			count = count + 1
-			rate.sleep()
+			self.rate.sleep()
 
 		self.assertTrue(count == timeout, "position could not be held")
+		fpa.stop()
 	
 
 if __name__ == '__main__':
 	import rostest
 	rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
+	#unittest.main()