153 lines
5.6 KiB
Python
153 lines
5.6 KiB
Python
import os
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import sys
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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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file_path = os.path.dirname(__file__)
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# device under test
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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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self.lidar_publisher = self.node.create_publisher(
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LidarReading, '/drone/object_detection', 10)
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self.move_position_client = self.node.create_client(
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MovePosition, '/drone/move_position')
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while not self.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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self.request = MovePosition.Request()
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def tearDown(self):
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self.node.destroy_client(self.move_position_client)
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self.node.destroy_publisher(self.lidar_publisher)
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self.node.destroy_node()
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def toRadians(self, degrees) -> float:
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return degrees * 3.14159265359 / 180
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def move_position_callback(self, future):
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self.node.get_logger().info("Callback called")
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self.called_positionchanger_service = True
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def test_positionchanger_lidar_moves_away_front(self, proc_output):
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self.node.get_logger().info("starting front test")
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self.request.front_back = 1.0
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self.request.left_right = 0.0
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self.request.up_down = 0.0
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self.request.angle = 0.0
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lidar_msgs_sent = 0
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lidar_msg = LidarReading()
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lidar_msg.sensor_1 = 0.5 # front right
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lidar_msg.sensor_2 = 2.0 # front left
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lidar_msg.sensor_3 = 2.0 # rear left
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lidar_msg.sensor_4 = 2.0 # rear right
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lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0]
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end_time = time.time() + 10.0
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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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self.lidar_publisher.publish(lidar_msg)
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lidar_msgs_sent += 1
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if (lidar_msgs_sent == 10):
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lidar_msg.sensor_1 = 1.0
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lidar_msg.sensor_2 = 0.3
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elif (lidar_msgs_sent == 20):
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break
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if not self.called_positionchanger_service:
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future = self.move_position_client.call_async(self.request)
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future.add_done_callback(self.move_position_callback)
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launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front: -0.5", 'position_changer-1')
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launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front: -0.7", 'position_changer-1')
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def test_positionchanger_lidar_moves_away_right(self, proc_output):
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self.node.get_logger().info("starting right test")
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self.request.front_back = 0.0
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self.request.left_right = 1.0
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self.request.up_down = 0.0
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self.request.angle = 0.0
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lidar_msgs_sent = 0
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lidar_msg = LidarReading()
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lidar_msg.sensor_1 = 0.4 # front right
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lidar_msg.sensor_2 = 2.0 # front left
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lidar_msg.sensor_3 = 2.0 # rear left
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lidar_msg.sensor_4 = 2.0 # rear right
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lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0]
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end_time = time.time() + 10.0
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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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self.lidar_publisher.publish(lidar_msg)
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lidar_msgs_sent += 1
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if (lidar_msgs_sent == 10):
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lidar_msg.sensor_1 = 2.0
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lidar_msg.sensor_4 = 0.29
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elif (lidar_msgs_sent == 20):
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break
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if not self.called_positionchanger_service:
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future = self.move_position_client.call_async(self.request)
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future.add_done_callback(self.move_position_callback)
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launch_testing.asserts.assertInStderr(proc_output, "Collision prevention right: 0.6", 'position_changer-1')
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launch_testing.asserts.assertInStderr(proc_output, "Collision prevention right: -0.71", 'position_changer-1')
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def test_positionchanger_lidar_moves_away_left(self, proc_output):
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self.assertTrue(False, "Not implemented yet")
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def test_positionchanger_lidar_moves_away_back(self, proc_output):
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self.assertTrue(False, "Not implemented yet")
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def test_positionchanger_lidar_moves_away_still(self, proc_output):
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self.assertTrue(False, "Not implemented yet")
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