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add right test

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Sem van der Hoeven
2023-06-12 16:40:38 +02:00
parent f3e84d5382
commit ac3c6860ce
1 changed files with 29 additions and 4 deletions
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33
src/drone_controls/test/test_positionchanger_lidar.py
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@@ -79,7 +79,7 @@ class TestPositionChanger(unittest.TestCase):
self.called_positionchanger_service = True self.called_positionchanger_service = True
def test_positionchanger_lidar_moves_away_front(self, proc_output): def test_positionchanger_lidar_moves_away_front(self, proc_output):
self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_moves_away") self.node.get_logger().info("starting front test")
self.request.front_back = 1.0 self.request.front_back = 1.0
self.request.left_right = 0.0 self.request.left_right = 0.0
self.request.up_down = 0.0 self.request.up_down = 0.0
@@ -95,8 +95,6 @@ class TestPositionChanger(unittest.TestCase):
lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0] lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0]
end_time = time.time() + 10.0 end_time = time.time() + 10.0
self.node.get_logger().info("STARTING while loop test")
while time.time() < end_time: while time.time() < end_time:
rclpy.spin_once(self.node, timeout_sec=0.1) rclpy.spin_once(self.node, timeout_sec=0.1)
self.lidar_publisher.publish(lidar_msg) self.lidar_publisher.publish(lidar_msg)
@@ -111,7 +109,34 @@ class TestPositionChanger(unittest.TestCase):
launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front: -0.7", 'position_changer-1') launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front: -0.7", 'position_changer-1')
def test_positionchanger_lidar_moves_away_right(self, proc_output): def test_positionchanger_lidar_moves_away_right(self, proc_output):
self.assertTrue(False, "Not implemented yet") self.node.get_logger().info("starting right test")
self.request.front_back = 0.0
self.request.left_right = 1.0
self.request.up_down = 0.0
self.request.angle = 0.0
lidar_msgs_sent = 0
lidar_msg = LidarReading()
lidar_msg.sensor_1 = 0.4 # front right
lidar_msg.sensor_2 = 2.0 # front left
lidar_msg.sensor_3 = 2.0 # rear left
lidar_msg.sensor_4 = 2.0 # rear right
lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0]
end_time = time.time() + 10.0
while time.time() < end_time:
rclpy.spin_once(self.node, timeout_sec=0.1)
self.lidar_publisher.publish(lidar_msg)
lidar_msgs_sent += 1
if (lidar_msgs_sent == 10):
lidar_msg.sensor_1 = 2.0
lidar_msg.sensor_4 = 0.29
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 right: 0.6", 'position_changer-1')
launch_testing.asserts.assertInStderr(proc_output, "Collision prevention right: 0.71", 'position_changer-1')
def test_positionchanger_lidar_moves_away_left(self, proc_output): def test_positionchanger_lidar_moves_away_left(self, proc_output):
self.assertTrue(False, "Not implemented yet") self.assertTrue(False, "Not implemented yet")