add API battery test

src/api_communication/test/test_api_listener.py

@@ -0,0 +1,99 @@
+import os
+import sys
+import unittest
+import time
+
+import launch
+import launch_ros
+import launch_ros.actions
+import launch_testing.actions
+import pytest
+import rclpy
+
+from px4_msgs.msg import BatteryStatus
+from drone_services.msg import FailsafeMsg
+
+@pytest.mark.rostest
+def generate_test_description():
+    file_path = os.path.dirname(__file__)
+    api_listener_node = launch_ros.actions.Node(
+        executable=sys.executable,
+        arguments=[os.path.join(
+            file_path, '..', 'api_communication', 'api_listener.py')],
+        additional_env={'PYTHONUNBUFFERED': '1'}
+    )
+    failsafe_node = launch_ros.actions.Node(
+        package='failsafe', executable='failsafe')
+    camera_node = launch_ros.actions.Node(
+        package='camera', executable='camera_controller')
+    position_changer_node = launch_ros.actions.Node(
+        package='drone_controls', executable='position_changer')
+    px4_controller_node = launch_ros.actions.Node(
+        package='px4_connection', executable='px4_controller')
+    drone_status_node = launch_ros.actions.Node(
+        package='drone_status', executable='drone_status')
+
+    return (
+        launch.LaunchDescription([
+            api_listener_node,
+            failsafe_node,
+            camera_node,
+            position_changer_node,
+            px4_controller_node,
+            drone_status_node,
+            launch_testing.actions.ReadyToTest(),
+        ]),
+        {
+            'api_listener_node': api_listener_node,
+            'failsafe_node': failsafe_node,
+            'camera_node': camera_node,
+            'position_changer_node': position_changer_node,
+            'px4_controller_node': px4_controller_node,
+            'drone_status_node': drone_status_node
+        }
+    )
+
+
+class ApiListenerTest(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
+
+    def setUp(self):
+        self.node = rclpy.create_node('test_api_listener')
+        self.published_battery_status = False
+        self.received_failsafe_callback = False
+
+    def tearDown(self):
+        self.node.destroy_node()
+
+    def failsafe_callback(self,msg):
+        self.assertTrue(msg.enabled, "Failsafe was not enabled!")
+        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
+
+    def test_api_listener_battery(self, api_listener_node, proc_output):
+        battery_publisher = self.node.create_publisher(BatteryStatus, '/fmu/out/battery_status')
+        failsafe_subscriber = self.node.create_subscription(FailsafeMsg, '/drone/failsafe', self.failsafe_callback, 10)
+
+        end_time = time.time() + 10.0
+
+        try:
+            while time.time() < end_time:
+                rclpy.spin_once(self.node, timeout_sec=0.1)
+                if not self.published_battery_status:
+                    self.published_battery_status = True
+                    msg = BatteryStatus()
+                    msg.remaining = 0.10
+                    battery_publisher.publish(msg)
+                if self.received_failsafe_callback:
+                    break
+            self.assertTrue(self.received_failsafe_callback, "Failsafe was not enabled!")
+        finally:
+            self.node.destroy_subscription(failsafe_subscriber)
+            self.node.destroy_publisher(battery_publisher)

src/api_communication/test/test_copyright.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'

src/api_communication/test/test_flake8.py

@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)

src/api_communication/test/test_pep257.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'