diff options
Diffstat (limited to 'integrationtests/demo_tests/direct_offboard_posctl_test.py')
| -rwxr-xr-x | integrationtests/demo_tests/direct_offboard_posctl_test.py | 160 |
1 files changed, 160 insertions, 0 deletions
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py new file mode 100755 index 000000000..42667757b --- /dev/null +++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py @@ -0,0 +1,160 @@ +#!/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 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 +from px4.msg import position_setpoint_triplet +from px4.msg import position_setpoint +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 + + def tearDown(self): + if (self.fpa): + self.fpa.stop() + + # + # General callback functions used in tests + # + def position_callback(self, data): + self.hasPos = True + self.localPosition = data + + def vehicle_control_mode_callback(self, data): + self.controlMode = data + + + # + # Helper methods + # + def is_at_position(self, x, y, z, offset): + 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 + + def reach_position(self, x, y, z, timeout): + # set a position setpoint + pos = position_setpoint() + pos.valid = True + pos.x = x + pos.y = y + pos.z = z + pos.position_valid = True + stp = position_setpoint_triplet() + stp.current = pos + self.pubSpt.publish(stp) + + # does it reach the position in X seconds? + count = 0 + while(count < timeout): + if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)): + break + count = count + 1 + 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 + positions = ( + (0,0,0), + (2,2,-2), + (2,-2,-2), + (-2,-2,-2), + (2,2,-2)) + + self.fpa = FlightPathAssertion(positions, 1, 0) + self.fpa.start() + + for i in range(0, len(positions)): + self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120) + self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i) + + # does it hold the position for Y seconds? + positionHeld = True + count = 0 + timeout = 50 + while(count < timeout): + if(not self.is_at_position(2, 2, -2, 0.5)): + positionHeld = False + break + count = count + 1 + self.rate.sleep() + + self.assertTrue(count == timeout, "position could not be held") + self.fpa.stop() + + +if __name__ == '__main__': + import rostest + rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest) + #unittest.main() |