sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

add validate output?

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-06-12 11:49:52 +02:00
parent 2155e4a8e0
commit 100c19db79
1 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
src/drone_controls/test/test_positionchanger_lidar.py
View File

@@ -65,7 +65,10 @@ class TestPositionChanger(unittest.TestCase):
def move_position_callback(self, future): def move_position_callback(self, future):
self.called_positionchanger_service = True self.called_positionchanger_service = True
def test_positionchanger_lidar_moves_away(self, positionchanger_node, px4_controller_node, proc_output): def validate_output(self, output):
assert len(output) > 0, 'Output is empty'
def test_positionchanger_lidar_moves_away(self, px4_controller_node, proc_output):
self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_moves_away") self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_moves_away")
lidar_publisher = self.node.create_publisher( lidar_publisher = self.node.create_publisher(
LidarReading, '/drone/object_detection', 10) LidarReading, '/drone/object_detection', 10)
@@ -87,7 +90,6 @@ class TestPositionChanger(unittest.TestCase):
lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0] lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0]
end_time = time.time() + 10.0 end_time = time.time() + 10.0
proc_output.assertWaitFor(expected_output='0.5',process=px4_controller_node)
self.node.get_logger().info("STARTING while loop test") self.node.get_logger().info("STARTING while loop test")
try: try:
@@ -97,6 +99,7 @@ class TestPositionChanger(unittest.TestCase):
if not self.called_positionchanger_service: if not self.called_positionchanger_service:
future = move_position_client.call_async(request) future = move_position_client.call_async(request)
future.add_done_callback(self.move_position_callback) future.add_done_callback(self.move_position_callback)
launch_pytest.tools.assert_stderr_sync(proc_output, px4_controller_node, self.validate_output, timeout=5)
finally: finally:
self.node.destroy_client(move_position_client) self.node.destroy_client(move_position_client)
self.node.destroy_publisher(lidar_publisher) self.node.destroy_publisher(lidar_publisher)