From 362942408981a1c6c21354a1b465eb313b0698d6 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 12 Jun 2023 16:13:16 +0200 Subject: [PATCH] check all directions --- .../test/test_positionchanger_lidar.py | 35 +++++-------------- 1 file changed, 8 insertions(+), 27 deletions(-) diff --git a/src/drone_controls/test/test_positionchanger_lidar.py b/src/drone_controls/test/test_positionchanger_lidar.py index 5e8d7189..1f012435 100644 --- a/src/drone_controls/test/test_positionchanger_lidar.py +++ b/src/drone_controls/test/test_positionchanger_lidar.py @@ -82,7 +82,7 @@ class TestPositionChanger(unittest.TestCase): def validate_output(self, output): assert len(output) > 0, 'Output is empty' - def test_positionchanger_lidar_moves_away_front(self, px4_controller_node, proc_output): + def test_positionchanger_lidar_moves_away_all(self, px4_controller_node, proc_output): self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_moves_away") self.request.front_back = 1.0 self.request.left_right = 0.0 @@ -107,33 +107,14 @@ class TestPositionChanger(unittest.TestCase): lidar_msgs_sent += 1 if (lidar_msgs_sent == 10): lidar_msg.sensor_2 = 0.3 + elif (lidar_msgs_sent == 20): + lidar_msg.sensor_4 = 0.66 + elif (lidar_msgs_sent == 30): + lidar_msg.sensor_3 = 0.79 if not self.called_positionchanger_service: future = self.move_position_client.call_async(self.request) future.add_done_callback(self.move_position_callback) launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front: -0.5", 'position_changer-1') - launch_testing.asserts.assertInStderr(proc_output, "Collision prevention left: -0.7", 'position_changer-1') - - def test_positionchanger_lidar_moves_away_back(self, px4_controller_node, proc_output): - self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_moves_away") - self.request.front_back = -1.0 - self.request.left_right = 0.0 - self.request.up_down = 0.0 - self.request.angle = 0.0 - - lidar_msg = LidarReading() - lidar_msg.sensor_1 = 2.0 - lidar_msg.sensor_2 = 2.0 - lidar_msg.sensor_3 = 0.5 - lidar_msg.sensor_4 = 2.0 - lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0] - end_time = time.time() + 10.0 - - self.node.get_logger().info("STARTING while loop test") - - while time.time() < end_time: - rclpy.spin_once(self.node, timeout_sec=0.1) - self.lidar_publisher.publish(lidar_msg) - if not self.called_positionchanger_service: - future = self.move_position_client.call_async(self.request) - future.add_done_callback(self.move_position_callback) - launch_testing.asserts.assertInStderr(proc_output, "Collision prevention back: 0.5", 'position_changer-1') \ No newline at end of file + launch_testing.asserts.assertInStderr(proc_output, "Collision prevention left: 0.7", 'position_changer-1') + launch_testing.asserts.assertInStderr(proc_output, "Collision prevention right: -0.34", 'position_changer-1') + launch_testing.asserts.assertInStderr(proc_output, "Collision prevention back: 0.21", 'position_changer-1') \ No newline at end of file