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check only front

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Sem van der Hoeven
2023-06-12 16:38:17 +02:00
parent 6074fb52c1
commit f3e84d5382
1 changed files with 15 additions and 7 deletions
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22
src/drone_controls/test/test_positionchanger_lidar.py
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@@ -43,11 +43,6 @@ def generate_test_description():
} }
) )
#define LIDAR_SENSOR_FR 0 // front right
#define LIDAR_SENSOR_FL 1 // front left
#define LIDAR_SENSOR_RL 2 // rear left
#define LIDAR_SENSOR_RR 3 // rear right
class TestPositionChanger(unittest.TestCase): class TestPositionChanger(unittest.TestCase):
@classmethod @classmethod
@@ -83,7 +78,7 @@ class TestPositionChanger(unittest.TestCase):
self.node.get_logger().info("Callback called") self.node.get_logger().info("Callback called")
self.called_positionchanger_service = True self.called_positionchanger_service = True
def test_positionchanger_lidar_moves_away_front(self, px4_controller_node, 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 TEST test_positionchanger_lidar_moves_away")
self.request.front_back = 1.0 self.request.front_back = 1.0
self.request.left_right = 0.0 self.request.left_right = 0.0
@@ -113,4 +108,17 @@ class TestPositionChanger(unittest.TestCase):
future = self.move_position_client.call_async(self.request) future = self.move_position_client.call_async(self.request)
future.add_done_callback(self.move_position_callback) future.add_done_callback(self.move_position_callback)
launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front: -0.5", 'position_changer-1') launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front: -0.5", 'position_changer-1')
launch_testing.asserts.assertInStderr(proc_output, "Collision prevention left: 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):
self.assertTrue(False, "Not implemented yet")
def test_positionchanger_lidar_moves_away_left(self, proc_output):
self.assertTrue(False, "Not implemented yet")
def test_positionchanger_lidar_moves_away_back(self, proc_output):
self.assertTrue(False, "Not implemented yet")
def test_positionchanger_lidar_moves_away_still(self, proc_output):
self.assertTrue(False, "Not implemented yet")