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add left and back tests

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Sem van der Hoeven
2023-06-12 16:46:07 +02:00
parent b377155baa
commit e55a2cf53a
1 changed files with 60 additions and 2 deletions
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62
src/drone_controls/test/test_positionchanger_lidar.py
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@@ -143,10 +143,68 @@ class TestPositionChanger(unittest.TestCase):
launch_testing.asserts.assertInStderr(proc_output, "Collision prevention right: -0.71", 'position_changer-1')
def test_positionchanger_lidar_moves_away_left(self, proc_output):
self.assertTrue(False, "Not implemented yet")
self.node.get_logger().info("starting left 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 = 2.0 # front right
lidar_msg.sensor_2 = 0.11 # 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_2 = 2.0
lidar_msg.sensor_3 = 0.78
elif (lidar_msgs_sent == 20):
break
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 left: 0.89", 'position_changer-1')
launch_testing.asserts.assertInStderr(proc_output, "Collision prevention left: 0.22", 'position_changer-1')
def test_positionchanger_lidar_moves_away_back(self, proc_output):
self.assertTrue(False, "Not implemented yet")
self.node.get_logger().info("starting back test")
self.request.front_back = -1.0
self.request.left_right = 0.0
self.request.up_down = 0.0
self.request.angle = 0.0
lidar_msgs_sent = 0
lidar_msg = LidarReading()
lidar_msg.sensor_1 = 2.0 # front right
lidar_msg.sensor_2 = 2.0 # front left
lidar_msg.sensor_3 = 0.36 # 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_3 = 2.0
lidar_msg.sensor_4 = 0.12
elif (lidar_msgs_sent == 20):
break
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 left: 0.64", 'position_changer-1')
launch_testing.asserts.assertInStderr(proc_output, "Collision prevention left: 0.88", 'position_changer-1')
def test_positionchanger_lidar_moves_away_still(self, proc_output):
self.assertTrue(False, "Not implemented yet")