1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
|
#!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 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.
#
#***************************************************************************/
#
# @author Andreas Antener <andreas@uaventure.com>
#
PKG = 'px4'
import unittest
import rospy
import rosbag
from px4.msg import vehicle_local_position
from px4.msg import vehicle_attitude_setpoint
from px4.msg import vehicle_attitude
from px4.msg import vehicle_local_position_setpoint
from threading import Condition
#
# Test helper
#
class PX4TestHelper(object):
def __init__(self, test_name):
self.test_name = test_name
def setUp(self):
self.condition = Condition()
self.closed = False
rospy.init_node('test_node', anonymous=True)
self.bag = rosbag.Bag(self.test_name + '.bag', 'w', compression="lz4")
self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position",
vehicle_local_position, self.vehicle_position_callback)
self.sub_vasp = rospy.Subscriber("iris/vehicle_attitude_setpoint",
vehicle_attitude_setpoint, self.vehicle_attitude_setpoint_callback)
self.sub_va = rospy.Subscriber("iris/vehicle_attitude",
vehicle_attitude, self.vehicle_attitude_callback)
self.sub_vlps = rospy.Subscriber("iris/vehicle_local_position_setpoint",
vehicle_local_position_setpoint, self.vehicle_local_position_setpoint_callback)
def tearDown(self):
try:
self.condition.acquire()
self.closed = True
self.sub_vlp.unregister()
self.sub_vasp.unregister()
self.sub_va.unregister()
self.sub_vlps.unregister()
self.bag.close()
finally:
self.condition.release()
def vehicle_position_callback(self, data):
self.bag_write('px4/vehicle_local_position', data)
def vehicle_attitude_setpoint_callback(self, data):
self.bag_write('px4/vehicle_attitude_setpoint', data)
def vehicle_attitude_callback(self, data):
self.bag_write('px4/vehicle_attitude', data)
def vehicle_local_position_setpoint_callback(self, data):
self.bag_write('px4/vehicle_local_position_setpoint', data)
def bag_write(self, topic, data):
try:
self.condition.acquire()
if not self.closed:
self.bag.write(topic, data)
else:
rospy.logwarn("Trying to write to bag but it's already closed")
finally:
self.condition.release()
|
