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Sem van der Hoeven
2023-06-12 16:13:16 +02:00
parent 6dcaaef638
commit 3629424089
1 changed files with 8 additions and 27 deletions
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35
src/drone_controls/test/test_positionchanger_lidar.py
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@@ -82,7 +82,7 @@ class TestPositionChanger(unittest.TestCase):
def validate_output(self, output): def validate_output(self, output):
assert len(output) > 0, 'Output is empty' 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.node.get_logger().info("STARTING TEST test_positionchanger_lidar_moves_away")
self.request.front_back = 1.0 self.request.front_back = 1.0
self.request.left_right = 0.0 self.request.left_right = 0.0
@@ -107,33 +107,14 @@ class TestPositionChanger(unittest.TestCase):
lidar_msgs_sent += 1 lidar_msgs_sent += 1
if (lidar_msgs_sent == 10): if (lidar_msgs_sent == 10):
lidar_msg.sensor_2 = 0.3 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: if not self.called_positionchanger_service:
future = self.move_position_client.call_async(self.request) future = self.move_position_client.call_async(self.request)
future.add_done_callback(self.move_position_callback) 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 front: -0.5", 'position_changer-1')
launch_testing.asserts.assertInStderr(proc_output, "Collision prevention left: -0.7", 'position_changer-1') 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')
def test_positionchanger_lidar_moves_away_back(self, px4_controller_node, proc_output): launch_testing.asserts.assertInStderr(proc_output, "Collision prevention back: 0.21", 'position_changer-1')
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')