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#!/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 px4.msg import actuator_armed
from manual_input import ManualInput
class ArmTest(unittest.TestCase):
#
# General callback functions used in tests
#
def actuator_armed_callback(self, data):
self.actuatorStatus = data
#
# Test arming
#
def test_arm(self):
rospy.init_node('test_node', anonymous=True)
sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
# method to test
arm = ManualInput()
arm.arm()
self.assertEquals(self.actuatorStatus.armed, True, "not armed")
if __name__ == '__main__':
import rostest
rostest.rosrun(PKG, 'arm_test', ArmTest)
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