From 9b05ac0fa0813aa6ba6f3388a901fe35474ab17a Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Wed, 7 Jun 2023 16:25:58 +0200 Subject: [PATCH] add test file for px4controller --- src/failsafe/test/test_failsafe.py | 3 +-- src/px4_connection/CMakeLists.txt | 6 ++++++ src/px4_connection/test/test_failsafe_enabled.py | 0 3 files changed, 7 insertions(+), 2 deletions(-) create mode 100644 src/px4_connection/test/test_failsafe_enabled.py diff --git a/src/failsafe/test/test_failsafe.py b/src/failsafe/test/test_failsafe.py index e25b28f3..33ec673a 100644 --- a/src/failsafe/test/test_failsafe.py +++ b/src/failsafe/test/test_failsafe.py @@ -66,8 +66,7 @@ class FailsafeUnitTest(unittest.TestCase): request.message = "test" try: - end_time = time.time() + 10.0 - while time.time() < end_time: + while True: rclpy.spin_once(self.node, timeout_sec=0.1) if (not self.service_called): future = failsafe_client.call_async(request) diff --git a/src/px4_connection/CMakeLists.txt b/src/px4_connection/CMakeLists.txt index f41b9cb8..89ed9a35 100644 --- a/src/px4_connection/CMakeLists.txt +++ b/src/px4_connection/CMakeLists.txt @@ -60,6 +60,10 @@ install( DESTINATION share/${PROJECT_NAME} ) +install(FILES + test/test_failsafe_enabled.py + DESTINATION lib/${PROJECT_NAME}) + if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) @@ -70,6 +74,8 @@ if(BUILD_TESTING) # uncomment the line when this package is not in a git repo # set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() + find_package(launch_testing_ament_cmake REQUIRED) + add_launch_test(test/test_failsafe_enabled.py) endif() ament_package() diff --git a/src/px4_connection/test/test_failsafe_enabled.py b/src/px4_connection/test/test_failsafe_enabled.py new file mode 100644 index 00000000..e69de29b