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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 unittest
import rospy
import rosbag
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 position_setpoint_triplet
from px4.msg import position_setpoint
from px4.msg import vehicle_local_position_setpoint
from manual_input import ManualInput
from flight_path_assertion import FlightPathAssertion
from px4_test_helper import PX4TestHelper
#
# Tests flying a path in offboard control by directly sending setpoints
# to the position controller (position_setpoint_triplet).
#
# For the test to be successful it needs to stay on the predefined path
# and reach all setpoints in a certain time.
#
class DirectOffboardPosctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.helper = PX4TestHelper("direct_offboard_posctl_test")
self.helper.setUp()
rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
self.sub_vlp = rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
self.pub_spt = rospy.Publisher('position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = vehicle_local_position()
self.control_mode = vehicle_control_mode()
def tearDown(self):
if self.fpa:
self.fpa.stop()
self.helper.tearDown()
#
# General callback functions used in tests
#
def position_callback(self, data):
self.has_pos = True
self.local_position = data
def vehicle_control_mode_callback(self, data):
self.control_mode = data
#
# Helper methods
#
def is_at_position(self, x, y, z, offset):
rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.z))
desired = np.array((x, y, z))
pos = np.array((self.local_position.x, self.local_position.y, self.local_position.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.pub_spt.publish(stp)
self.helper.bag_write('px4/position_setpoint_triplet', 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 position control
#
def test_posctl(self):
man_in = ManualInput()
# arm and go into offboard
man_in.arm()
man_in.offboard()
self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path
positions = (
(0, 0, 0),
(0, 0, -2),
(2, 2, -2),
(2, -2, -2),
(-2, -2, -2),
(2, 2, -2))
# flight path assertion
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?
count = 0
timeout = 50
while count < timeout:
if not self.is_at_position(2, 2, -2, 0.5):
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, 'direct_offboard_posctl_test', DirectOffboardPosctlTest)
#unittest.main()
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