sem/5g_drone_ROS2
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fix other bug

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Sem van der Hoeven
2023-06-07 23:57:34 +02:00
parent 4686a90e0a
commit 39929b6d58
1 changed files with 7 additions and 3 deletions
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10
src/drone_controls/test/test_positionchanger.py
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@@ -112,7 +112,8 @@ class TestPositionChanger(unittest.TestCase):
def test_positionchanger_lidar_stops(self,positionchanger_node,proc_output): def test_positionchanger_lidar_stops(self,positionchanger_node,proc_output):
self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_stops")
self.received_failsafe_callback = False self.received_failsafe_callback = False
self.called_positionchanger_service = False self.called_positionchanger_service = False
failsafe_subscriber = self.node.create_subscription(FailsafeMsg,'/drone/failsafe',self.failsafe_callback_timeout,10) failsafe_subscriber = self.node.create_subscription(FailsafeMsg,'/drone/failsafe',self.failsafe_callback_timeout,10)
@@ -138,11 +139,14 @@ class TestPositionChanger(unittest.TestCase):
# wait for nodes to become active # wait for nodes to become active
time.sleep(3) time.sleep(3)
self.node.get_logger().info('STARTING WHILE LOOP')
# wait 5 seconds for the failsafe to trigger # wait 5 seconds for the failsafe to trigger
wait_time = time.time() + 5.0 wait_time = time.time() + 5.0
end_time = time.time() + 10.0 end_time = time.time() + 10.0
try: try:
while time.time() < end_time: while time.time() < end_time:
print("yeet")
rclpy.spin_once(self.node) rclpy.spin_once(self.node)
# send 5 lidar messages and after that stop # send 5 lidar messages and after that stop
if (lidar_messages_published < 5): if (lidar_messages_published < 5):
@@ -156,12 +160,12 @@ class TestPositionChanger(unittest.TestCase):
future.add_done_callback(self.move_position_callback) future.add_done_callback(self.move_position_callback)
elif not self.received_failsafe_callback: elif not self.received_failsafe_callback:
continue continue
else: self.node.get_logger().info('END OF WHILE LOOP')
break
self.assertTrue(self.called_positionchanger_service, "MovePosition service was not called!") self.assertTrue(self.called_positionchanger_service, "MovePosition service was not called!")
self.assertTrue(self.received_failsafe_callback, "Failsafe was not activated!") self.assertTrue(self.received_failsafe_callback, "Failsafe was not activated!")
finally: finally:
self.node.get_logger().info('Cleaning up')
self.node.destroy_client(move_position_client) self.node.destroy_client(move_position_client)
self.node.destroy_subscription(failsafe_subscriber) self.node.destroy_subscription(failsafe_subscriber)
self.node.destroy_publisher(lidar_publisher) self.node.destroy_publisher(lidar_publisher)