sem/5g_drone_ROS2
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Sem van der Hoeven
2023-06-09 19:32:01 +02:00
parent 2aff2bcf12
commit 2f9d45c79d
1 changed files with 5 additions and 0 deletions
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src/api_communication/test/test_api_listener.py
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@@ -12,6 +12,7 @@ import rclpy
from px4_msgs.msg import BatteryStatus from px4_msgs.msg import BatteryStatus
from drone_services.msg import FailsafeMsg from drone_services.msg import FailsafeMsg
from drone_services.msg import DroneStatus
@pytest.mark.rostest @pytest.mark.rostest
def generate_test_description(): def generate_test_description():
@@ -81,9 +82,13 @@ class ApiListenerTest(unittest.TestCase):
self.assertTrue("Battery level too low! Failsafe enabled to prevent damage to battery" in msg.msg, "Failsafe message was not correct!") self.assertTrue("Battery level too low! Failsafe enabled to prevent damage to battery" in msg.msg, "Failsafe message was not correct!")
self.received_failsafe_callback = True self.received_failsafe_callback = True
def status_callback(self,msg):
self.node.get_logger().info("Received status callback " + str(msg))
def test_api_listener_battery(self, api_listener_node, proc_output): def test_api_listener_battery(self, api_listener_node, proc_output):
battery_publisher = self.node.create_publisher(BatteryStatus, '/fmu/out/battery_status',10) battery_publisher = self.node.create_publisher(BatteryStatus, '/fmu/out/battery_status',10)
failsafe_subscriber = self.node.create_subscription(FailsafeMsg, '/drone/failsafe', self.failsafe_callback, 10) failsafe_subscriber = self.node.create_subscription(FailsafeMsg, '/drone/failsafe', self.failsafe_callback, 10)
drone_status_subscriber = self.node.create_subscription(DroneStatus, '/drone/status', self.status_callback, 10)
msg = BatteryStatus() msg = BatteryStatus()
msg.remaining = 0.10 msg.remaining = 0.10