From 7018ff298ea3174d6764a1e35196521ee31f4dd3 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Sun, 15 Mar 2015 12:07:35 +0100
Subject: removing manual input and unused code from posctl test

---
 .../demo_tests/mavros_offboard_posctl_test.py      | 71 +++++++++-------------
 1 file changed, 29 insertions(+), 42 deletions(-)

(limited to 'integrationtests/demo_tests')

diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
index 6d26015e7..568c2cbd8 100755
--- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
@@ -37,7 +37,6 @@
 #
 PKG = 'px4'
 
-import sys
 import unittest
 import rospy
 import math
@@ -49,9 +48,6 @@ from px4.msg import vehicle_control_mode
 from std_msgs.msg import Header
 from geometry_msgs.msg import PoseStamped, Quaternion
 from tf.transformations import quaternion_from_euler
-from mavros.srv import CommandBool
-
-from manual_input import ManualInput
 
 #
 # Tests flying a path in offboard control by sending position setpoints
@@ -64,37 +60,41 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('iris/mavros/cmd/arming', 30)
         rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
         rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
-        self.pubSpt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
-        self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
+        self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
-        self.rateSec = rospy.Rate(1)
-        self.hasPos = False
-        self.controlMode = vehicle_control_mode()
+        self.has_pos = False
+        self.local_position = PoseStamped()
+        self.control_mode = vehicle_control_mode()
 
     #
     # General callback functions used in tests
     #
     def position_callback(self, data):
-        self.hasPos = True
-        self.localPosition = data
+        self.has_pos = True
+        self.local_position = data
 
     def vehicle_control_mode_callback(self, data):
-        self.controlMode = data
+        self.control_mode = data
 
 
     #
     # Helper methods
     #
     def is_at_position(self, x, y, z, offset):
-        if(not self.hasPos):
+        if not self.has_pos:
             return False
 
-        rospy.logdebug("current position %f, %f, %f" % (self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
+        rospy.logdebug("current position %f, %f, %f" %
+                        (self.local_position.pose.position.x,
+                        self.local_position.pose.position.y,
+                        self.local_position.pose.position.z))
+
         desired = np.array((x, y, z))
-        pos = np.array((self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
+        pos = np.array((self.local_position.pose.position.x,
+                        self.local_position.pose.position.y,
+                        self.local_position.pose.position.z))
         return linalg.norm(desired - pos) < offset
 
     def reach_position(self, x, y, z, timeout):
@@ -114,57 +114,44 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
         # does it reach the position in X seconds?
         count = 0
-        while(count < timeout):
+        while count < timeout:
             # update timestamp for each published SP
             pos.header.stamp = rospy.Time.now()
-            self.pubSpt.publish(pos)
+            self.pub_spt.publish(pos)
 
-            if(self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5)):
+            if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5):
                 break
             count = count + 1
             self.rate.sleep()
 
         self.assertTrue(count < timeout, "took too long to get to position")
 
-    def arm(self):
-        return self.cmdArm(value=True)
-
     #
     # Test offboard position control
     #
     def test_posctl(self):
-        # FIXME: this must go ASAP when arming is implemented
-        manIn = ManualInput()
-        manIn.arm()
-        manIn.offboard_posctl()
-
-        self.assertTrue(self.arm(), "Could not arm")
-        self.rateSec.sleep()
-        self.rateSec.sleep()
-        self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
-
         # prepare flight path
         positions = (
-            (0,0,0),
-            (2,2,2),
-            (2,-2,2),
-            (-2,-2,2),
-            (2,2,2))
+            (0, 0, 0),
+            (2, 2, 2),
+            (2, -2, 2),
+            (-2, -2, 2),
+            (2, 2, 2))
 
         for i in range(0, len(positions)):
             self.reach_position(positions[i][0], positions[i][1], positions[i][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(2, 2, 2, 0.5)):
-                positionHeld = False
+        while count < timeout:
+            if not self.is_at_position(2, 2, 2, 0.5):
                 break
             count = count + 1
             self.rate.sleep()
 
+        self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
+        self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
+        self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
         self.assertTrue(count == timeout, "position could not be held")
 
 
-- 
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