164 lines
6.3 KiB
Python
164 lines
6.3 KiB
Python
import unittest
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import launch
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import launch_ros
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import launch_ros.actions
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import launch_testing.actions
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import pytest
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import rclpy
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import time
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from drone_services.srv import MovePosition
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from drone_services.msg import FailsafeMsg
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from drone_services.msg import LidarReading
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@pytest.mark.rostest
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def generate_test_description():
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positionchanger_node = launch_ros.actions.Node(
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package='drone_controls', executable='position_changer')
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failsafe_node = launch_ros.actions.Node(
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package='failsafe', executable='failsafe')
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px4_controller_node = launch_ros.actions.Node(
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package='px4_connection', executable='px4_controller')
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heartbeat_node = launch_ros.actions.Node(
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package='px4_connection', executable='heartbeat')
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return (
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launch.LaunchDescription([
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positionchanger_node,
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failsafe_node,
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px4_controller_node,
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heartbeat_node,
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launch_testing.actions.ReadyToTest(),
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]),
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{
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'positionchanger_node': positionchanger_node,
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'failsafe_node': failsafe_node,
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'px4_controller_node': px4_controller_node,
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'heartbeat_node': heartbeat_node
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}
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)
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class TestPositionChanger(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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rclpy.init()
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@classmethod
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def tearDownClass(cls):
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rclpy.shutdown()
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def setUp(self):
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self.node = rclpy.create_node('test_positionchanger')
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self.called_positionchanger_service = False
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self.received_failsafe_callback = False
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def tearDown(self):
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self.node.destroy_node()
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def failsafe_callback(self, msg):
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self.assertTrue(msg.enabled, "Failsafe was not enabled!")
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self.received_failsafe_callback = True
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def move_position_callback(self, future):
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self.assertFalse(future.result(
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).success, "MovePosition service call was successful, but should have failed!")
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self.called_positionchanger_service = True
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def test_positionchanger_no_lidar_data(self, positionchanger_node, proc_output):
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self.received_failsafe_callback = False
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self.called_positionchanger_service = False
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failsafe_subscriber = self.node.create_subscription(
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FailsafeMsg, '/drone/failsafe', self.failsafe_callback, 10)
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move_position_client = self.node.create_client(
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MovePosition, '/drone/move_position')
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while not move_position_client.wait_for_service(timeout_sec=1.0):
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self.node.get_logger().info('move_position service not available, waiting again...')
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request = MovePosition.Request()
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request.front_back = 1.0
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request.left_right = 1.0
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request.up_down = 1.0
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request.angle = 1.0
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end_time = time.time() + 10.0
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try:
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while time.time() < end_time:
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rclpy.spin_once(self.node)
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if not self.called_positionchanger_service:
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future = move_position_client.call_async(request)
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future.add_done_callback(self.move_position_callback)
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elif not self.received_failsafe_callback:
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continue
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else:
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break
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self.assertTrue(self.received_failsafe_callback,
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"Failsafe callback was not received!")
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self.assertTrue(self.called_positionchanger_service,
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"MovePosition service was not called!")
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finally:
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self.node.destroy_client(move_position_client)
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self.node.destroy_subscription(failsafe_subscriber)
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def test_positionchanger_lidar_stops(self, positionchanger_node, proc_output):
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self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_stops")
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self.received_failsafe_callback = False
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self.called_positionchanger_service = False
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failsafe_subscriber = self.node.create_subscription(
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FailsafeMsg, '/drone/failsafe', self.failsafe_callback, 10)
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lidar_publisher = self.node.create_publisher(
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LidarReading, '/drone/object_detection', 10)
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move_position_client = self.node.create_client(
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MovePosition, '/drone/move_position')
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while not move_position_client.wait_for_service(timeout_sec=1.0):
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self.node.get_logger().info('move_position service not available, waiting again...')
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request = MovePosition.Request()
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request.front_back = 1.0
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request.left_right = 1.0
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request.up_down = 1.0
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request.angle = 1.0
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lidar_msg = LidarReading()
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lidar_msg.sensor_1 = 2.0
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lidar_msg.sensor_2 = 2.0
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lidar_msg.sensor_3 = 2.0
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lidar_msg.sensor_4 = 2.0
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lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0]
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sent_lidar_msg = False
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# wait for nodes to become active
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time.sleep(3)
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# wait 5 seconds for the failsafe to trigger
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wait_time = time.time() + 5.0
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end_time = time.time() + 10.0
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try:
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self.node.get_logger().info('STARTING WHILE LOOP')
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while time.time() < end_time:
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rclpy.spin_once(self.node, timeout_sec=0.1)
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if not sent_lidar_msg:
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lidar_publisher.publish(lidar_msg)
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sent_lidar_msg = True
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# wait 5 seconds before sending the move_position request
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if not self.called_positionchanger_service and time.time() > wait_time:
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self.node.get_logger().info('Sending move_position request')
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future = move_position_client.call_async(request)
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future.add_done_callback(self.move_position_callback)
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elif not self.received_failsafe_callback:
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continue
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self.node.get_logger().info('END OF WHILE LOOP')
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self.assertTrue(self.called_positionchanger_service,
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"MovePosition service was not called!")
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self.assertTrue(self.received_failsafe_callback,
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"Failsafe was not activated!")
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finally:
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self.node.get_logger().info('Cleaning up')
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self.node.destroy_client(move_position_client)
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self.node.destroy_subscription(failsafe_subscriber)
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self.node.destroy_publisher(lidar_publisher) |