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fix headers and indentation

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This commit is contained in:
Andreas Antener
2015-02-23 22:02:26 +01:00
committed by Thomas Gubler
parent 952f91738e
commit 638022f7ad
4 changed files with 329 additions and 185 deletions
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integrationtests/demo_tests/direct_arm_test.py
+53 -17
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@@ -1,4 +1,40 @@
#!/usr/bin/env python #!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#***************************************************************************/
#
# @author Andreas Antener <andreas@uaventure.com>
#
PKG = 'px4' PKG = 'px4'
import sys import sys
@@ -10,28 +46,28 @@ from manual_input import ManualInput
class ArmTest(unittest.TestCase): class ArmTest(unittest.TestCase):
# #
# General callback functions used in tests # General callback functions used in tests
# #
def actuator_armed_callback(self, data): def actuator_armed_callback(self, data):
self.actuatorStatus = data self.actuatorStatus = data
# #
# Test arming # Test arming
# #
def test_arm(self): def test_arm(self):
rospy.init_node('test_node', anonymous=True) rospy.init_node('test_node', anonymous=True)
sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback) sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
# method to test # method to test
arm = ManualInput() arm = ManualInput()
arm.arm() arm.arm()
self.assertEquals(self.actuatorStatus.armed, True, "not armed") self.assertEquals(self.actuatorStatus.armed, True, "not armed")
if __name__ == '__main__': if __name__ == '__main__':
import rostest import rostest
rostest.rosrun(PKG, 'arm_test', ArmTest) rostest.rosrun(PKG, 'arm_test', ArmTest)
integrationtests/demo_tests/direct_offboard_posctl_test.py
+118 -82
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@@ -1,4 +1,40 @@
#!/usr/bin/env python #!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#***************************************************************************/
#
# @author Andreas Antener <andreas@uaventure.com>
#
PKG = 'px4' PKG = 'px4'
import sys import sys
@@ -22,103 +58,103 @@ from flight_path_assertion import FlightPathAssertion
class OffboardPosctlTest(unittest.TestCase): class OffboardPosctlTest(unittest.TestCase):
def setUp(self): def setUp(self):
rospy.init_node('test_node', anonymous=True) rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback) rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10) self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz self.rate = rospy.Rate(10) # 10hz
def tearDown(self): def tearDown(self):
if (self.fpa): if (self.fpa):
self.fpa.stop() self.fpa.stop()
# #
# General callback functions used in tests # General callback functions used in tests
# #
def position_callback(self, data): def position_callback(self, data):
self.hasPos = True self.hasPos = True
self.localPosition = data self.localPosition = data
def vehicle_control_mode_callback(self, data): def vehicle_control_mode_callback(self, data):
self.controlMode = data self.controlMode = data
# #
# Helper methods # Helper methods
# #
def is_at_position(self, x, y, z, offset): def is_at_position(self, x, y, z, offset):
rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z)) rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
desired = np.array((x, y, z)) desired = np.array((x, y, z))
pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z)) pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
return linalg.norm(desired - pos) < offset return linalg.norm(desired - pos) < offset
def reach_position(self, x, y, z, timeout): def reach_position(self, x, y, z, timeout):
# set a position setpoint # set a position setpoint
pos = position_setpoint() pos = position_setpoint()
pos.valid = True pos.valid = True
pos.x = x pos.x = x
pos.y = y pos.y = y
pos.z = z pos.z = z
pos.position_valid = True pos.position_valid = True
stp = position_setpoint_triplet() stp = position_setpoint_triplet()
stp.current = pos stp.current = pos
self.pubSpt.publish(stp) self.pubSpt.publish(stp)
# does it reach the position in X seconds? # does it reach the position in X seconds?
count = 0 count = 0
while(count < timeout): while(count < timeout):
if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)): if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
break break
count = count + 1 count = count + 1
self.rate.sleep() self.rate.sleep()
self.assertTrue(count < timeout, "took too long to get to position") self.assertTrue(count < timeout, "took too long to get to position")
# #
# Test offboard POSCTL # Test offboard POSCTL
# #
def test_posctl(self): def test_posctl(self):
manIn = ManualInput() manIn = ManualInput()
# arm and go into offboard # arm and go into offboard
manIn.arm() manIn.arm()
manIn.offboard() manIn.offboard()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set") self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set") self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set") self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path assertion # prepare flight path assertion
positions = ( positions = (
(0,0,0), (0,0,0),
(2,2,-2), (2,2,-2),
(2,-2,-2), (2,-2,-2),
(-2,-2,-2), (-2,-2,-2),
(2,2,-2)) (2,2,-2))
self.fpa = FlightPathAssertion(positions, 1, 0) self.fpa = FlightPathAssertion(positions, 1, 0)
self.fpa.start() self.fpa.start()
for i in range(0, len(positions)): for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120) self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i) self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
# does it hold the position for Y seconds? # does it hold the position for Y seconds?
positionHeld = True positionHeld = True
count = 0 count = 0
timeout = 50 timeout = 50
while(count < timeout): while(count < timeout):
if(not self.is_at_position(2, 2, -2, 0.5)): if(not self.is_at_position(2, 2, -2, 0.5)):
positionHeld = False positionHeld = False
break break
count = count + 1 count = count + 1
self.rate.sleep() self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held") self.assertTrue(count == timeout, "position could not be held")
self.fpa.stop() self.fpa.stop()
if __name__ == '__main__': if __name__ == '__main__':
import rostest import rostest
rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest) rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
#unittest.main() #unittest.main()
integrationtests/demo_tests/flight_path_assertion.py
+36
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@@ -1,4 +1,40 @@
#!/usr/bin/env python #!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#***************************************************************************/
#
# @author Andreas Antener <andreas@uaventure.com>
#
import sys import sys
import rospy import rospy
import threading import threading
integrationtests/demo_tests/manual_input.py
+118 -82
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@@ -1,4 +1,40 @@
#!/usr/bin/env python #!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#***************************************************************************/
#
# @author Andreas Antener <andreas@uaventure.com>
#
import sys import sys
import rospy import rospy
@@ -14,97 +50,97 @@ from std_msgs.msg import Header
# #
class ManualInput: class ManualInput:
def __init__(self): def __init__(self):
rospy.init_node('test_node', anonymous=True) rospy.init_node('test_node', anonymous=True)
self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10) self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10)
self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10) self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
def arm(self): def arm(self):
rate = rospy.Rate(10) # 10hz rate = rospy.Rate(10) # 10hz
att = CommandAttitudeThrust() att = CommandAttitudeThrust()
att.header = Header() att.header = Header()
pos = manual_control_setpoint() pos = manual_control_setpoint()
pos.x = 0 pos.x = 0
pos.z = 0 pos.z = 0
pos.y = 0 pos.y = 0
pos.r = 0 pos.r = 0
pos.mode_switch = 3 pos.mode_switch = 3
pos.return_switch = 3 pos.return_switch = 3
pos.posctl_switch = 3 pos.posctl_switch = 3
pos.loiter_switch = 3 pos.loiter_switch = 3
pos.acro_switch = 0 pos.acro_switch = 0
pos.offboard_switch = 3 pos.offboard_switch = 3
count = 0 count = 0
while not rospy.is_shutdown() and count < 10: while not rospy.is_shutdown() and count < 10:
rospy.loginfo("zeroing") rospy.loginfo("zeroing")
time = rospy.get_rostime().now() time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000 pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos) self.pubMcsp.publish(pos)
# Fake input to iris commander # Fake input to iris commander
self.pubAtt.publish(att) self.pubAtt.publish(att)
rate.sleep() rate.sleep()
count = count + 1 count = count + 1
pos.r = 1 pos.r = 1
count = 0 count = 0
while not rospy.is_shutdown() and count < 10: while not rospy.is_shutdown() and count < 10:
rospy.loginfo("arming") rospy.loginfo("arming")
time = rospy.get_rostime().now() time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000 pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos) self.pubMcsp.publish(pos)
rate.sleep() rate.sleep()
count = count + 1 count = count + 1
def posctl(self): def posctl(self):
rate = rospy.Rate(10) # 10hz rate = rospy.Rate(10) # 10hz
# triggers posctl # triggers posctl
pos = manual_control_setpoint() pos = manual_control_setpoint()
pos.x = 0 pos.x = 0
pos.z = 0 pos.z = 0
pos.y = 0 pos.y = 0
pos.r = 0 pos.r = 0
pos.mode_switch = 2 pos.mode_switch = 2
pos.return_switch = 3 pos.return_switch = 3
pos.posctl_switch = 1 pos.posctl_switch = 1
pos.loiter_switch = 3 pos.loiter_switch = 3
pos.acro_switch = 0 pos.acro_switch = 0
pos.offboard_switch = 3 pos.offboard_switch = 3
count = 0 count = 0
while not rospy.is_shutdown() and count < 10: while not rospy.is_shutdown() and count < 10:
rospy.loginfo("triggering posctl") rospy.loginfo("triggering posctl")
time = rospy.get_rostime().now() time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000 pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos) self.pubMcsp.publish(pos)
rate.sleep() rate.sleep()
count = count + 1 count = count + 1
def offboard(self): def offboard(self):
rate = rospy.Rate(10) # 10hz rate = rospy.Rate(10) # 10hz
# triggers posctl # triggers posctl
pos = manual_control_setpoint() pos = manual_control_setpoint()
pos.x = 0 pos.x = 0
pos.z = 0 pos.z = 0
pos.y = 0 pos.y = 0
pos.r = 0 pos.r = 0
pos.mode_switch = 3 pos.mode_switch = 3
pos.return_switch = 3 pos.return_switch = 3
pos.posctl_switch = 3 pos.posctl_switch = 3
pos.loiter_switch = 3 pos.loiter_switch = 3
pos.acro_switch = 0 pos.acro_switch = 0
pos.offboard_switch = 1 pos.offboard_switch = 1
count = 0 count = 0
while not rospy.is_shutdown() and count < 10: while not rospy.is_shutdown() and count < 10:
rospy.loginfo("triggering posctl") rospy.loginfo("triggering posctl")
time = rospy.get_rostime().now() time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000 pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos) self.pubMcsp.publish(pos)
rate.sleep() rate.sleep()
count = count + 1 count = count + 1