write more bags, use helper class to log default topics

1 files changed, 111 insertions, 0 deletions

diff --git a/integrationtests/demo_tests/px4_test_helper.py b/integrationtests/demo_tests/px4_test_helper.py
new file mode 100644
index 000000000..4dc886634
--- /dev/null
+++ b/integrationtests/demo_tests/px4_test_helper.py
@@ -0,0 +1,111 @@
+#!/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()
+