mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-30 12:16:17 +08:00
chore(tests): remove dead integration test utilities with zero references
- integrationtests/python_src/px4_it/util/manual_input.py: last meaningful change 2019, 0 refs - integrationtests/python_src/px4_it/util/px4_test_helper.py: last meaningful change 2016, 0 refs
This commit is contained in:
Jacob Dahl
Ramon Roche
@@ -1,168 +0,0 @@
|
|||||||
#!/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 rospy
|
|
||||||
|
|
||||||
from px4.msg import manual_control_setpoint
|
|
||||||
from px4.msg import offboard_control_mode
|
|
||||||
from mav_msgs.msg import CommandAttitudeThrust
|
|
||||||
from std_msgs.msg import Header
|
|
||||||
|
|
||||||
#
|
|
||||||
# Manual input control helper
|
|
||||||
#
|
|
||||||
class ManualInput(object):
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
rospy.init_node('test_node', anonymous=True)
|
|
||||||
self.pub_mcsp = rospy.Publisher('manual_control_setpoint', manual_control_setpoint, queue_size=10)
|
|
||||||
self.pub_off = rospy.Publisher('offboard_control_mode', offboard_control_mode, queue_size=10)
|
|
||||||
|
|
||||||
def arm(self):
|
|
||||||
rate = rospy.Rate(10) # 10hz
|
|
||||||
|
|
||||||
att = CommandAttitudeThrust()
|
|
||||||
att.header = Header()
|
|
||||||
|
|
||||||
pos = manual_control_setpoint()
|
|
||||||
pos.x = 0
|
|
||||||
pos.z = 0
|
|
||||||
pos.y = 0
|
|
||||||
pos.r = 0
|
|
||||||
pos.mode_switch = 3
|
|
||||||
pos.return_switch = 3
|
|
||||||
pos.posctl_switch = 3
|
|
||||||
pos.loiter_switch = 3
|
|
||||||
pos.acro_switch = 0
|
|
||||||
pos.offboard_switch = 3
|
|
||||||
|
|
||||||
count = 0
|
|
||||||
while not rospy.is_shutdown() and count < 5:
|
|
||||||
rospy.loginfo("zeroing")
|
|
||||||
time = rospy.get_rostime().now()
|
|
||||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
|
||||||
self.pub_mcsp.publish(pos)
|
|
||||||
rate.sleep()
|
|
||||||
count = count + 1
|
|
||||||
|
|
||||||
pos.r = 1
|
|
||||||
count = 0
|
|
||||||
while not rospy.is_shutdown() and count < 5:
|
|
||||||
rospy.loginfo("arming")
|
|
||||||
time = rospy.get_rostime().now()
|
|
||||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
|
||||||
self.pub_mcsp.publish(pos)
|
|
||||||
rate.sleep()
|
|
||||||
count = count + 1
|
|
||||||
|
|
||||||
def posctl(self):
|
|
||||||
rate = rospy.Rate(10) # 10hz
|
|
||||||
|
|
||||||
# triggers posctl
|
|
||||||
pos = manual_control_setpoint()
|
|
||||||
pos.x = 0
|
|
||||||
pos.z = 0
|
|
||||||
pos.y = 0
|
|
||||||
pos.r = 0
|
|
||||||
pos.mode_switch = 2
|
|
||||||
pos.return_switch = 3
|
|
||||||
pos.posctl_switch = 1
|
|
||||||
pos.loiter_switch = 3
|
|
||||||
pos.acro_switch = 0
|
|
||||||
pos.offboard_switch = 3
|
|
||||||
|
|
||||||
count = 0
|
|
||||||
while not rospy.is_shutdown() and count < 5:
|
|
||||||
rospy.loginfo("triggering posctl")
|
|
||||||
time = rospy.get_rostime().now()
|
|
||||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
|
||||||
self.pub_mcsp.publish(pos)
|
|
||||||
rate.sleep()
|
|
||||||
count = count + 1
|
|
||||||
|
|
||||||
|
|
||||||
def offboard_attctl(self):
|
|
||||||
self.offboard(False, False, True, True, True, True)
|
|
||||||
|
|
||||||
def offboard_posctl(self):
|
|
||||||
self.offboard(False, False, True, False, True, True)
|
|
||||||
|
|
||||||
# Trigger offboard and set offboard control mode before
|
|
||||||
def offboard(self, ignore_thrust=False, ignore_attitude=False, ignore_bodyrate=True,
|
|
||||||
ignore_position=False, ignore_velocity=True, ignore_acceleration_force=True):
|
|
||||||
rate = rospy.Rate(10) # 10hz
|
|
||||||
|
|
||||||
mode = offboard_control_mode()
|
|
||||||
mode.ignore_thrust = ignore_thrust
|
|
||||||
mode.ignore_attitude = ignore_attitude
|
|
||||||
mode.ignore_bodyrate_x = ignore_bodyrate
|
|
||||||
mode.ignore_bodyrate_y = ignore_bodyrate
|
|
||||||
mode.ignore_bodyrate_z = ignore_bodyrate
|
|
||||||
mode.ignore_position = ignore_position
|
|
||||||
mode.ignore_velocity = ignore_velocity
|
|
||||||
mode.ignore_acceleration_force = ignore_acceleration_force
|
|
||||||
|
|
||||||
count = 0
|
|
||||||
while not rospy.is_shutdown() and count < 5:
|
|
||||||
rospy.loginfo("setting offboard mode")
|
|
||||||
time = rospy.get_rostime().now()
|
|
||||||
mode.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
|
||||||
self.pub_off.publish(mode)
|
|
||||||
rate.sleep()
|
|
||||||
count = count + 1
|
|
||||||
|
|
||||||
# triggers offboard
|
|
||||||
pos = manual_control_setpoint()
|
|
||||||
pos.x = 0
|
|
||||||
pos.z = 0
|
|
||||||
pos.y = 0
|
|
||||||
pos.r = 0
|
|
||||||
pos.mode_switch = 3
|
|
||||||
pos.return_switch = 3
|
|
||||||
pos.posctl_switch = 3
|
|
||||||
pos.loiter_switch = 3
|
|
||||||
pos.acro_switch = 0
|
|
||||||
pos.offboard_switch = 1
|
|
||||||
|
|
||||||
count = 0
|
|
||||||
while not rospy.is_shutdown() and count < 5:
|
|
||||||
rospy.loginfo("triggering offboard")
|
|
||||||
time = rospy.get_rostime().now()
|
|
||||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
|
||||||
self.pub_mcsp.publish(pos)
|
|
||||||
rate.sleep()
|
|
||||||
count = count + 1
|
|
||||||
@@ -1,110 +0,0 @@
|
|||||||
#!/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'
|
|
||||||
|
|
||||||
import unittest
|
|
||||||
import rospy
|
|
||||||
import rosbag
|
|
||||||
|
|
||||||
from px4.msg import vehicle_local_position
|
|
||||||
from px4.msg import vehicle_attitude_setpoint
|
|
||||||
from px4.msg import vehicle_attitude
|
|
||||||
from px4.msg import vehicle_local_position_setpoint
|
|
||||||
|
|
||||||
from threading import Condition
|
|
||||||
|
|
||||||
#
|
|
||||||
# Test helper
|
|
||||||
#
|
|
||||||
class PX4TestHelper(object):
|
|
||||||
|
|
||||||
def __init__(self, test_name):
|
|
||||||
self.test_name = test_name
|
|
||||||
|
|
||||||
def setUp(self):
|
|
||||||
self.condition = Condition()
|
|
||||||
self.closed = False
|
|
||||||
|
|
||||||
rospy.init_node('test_node', anonymous=True)
|
|
||||||
self.bag = rosbag.Bag(self.test_name + '.bag', 'w', compression="lz4")
|
|
||||||
|
|
||||||
self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position",
|
|
||||||
vehicle_local_position, self.vehicle_position_callback)
|
|
||||||
self.sub_vasp = rospy.Subscriber("iris/vehicle_attitude_setpoint",
|
|
||||||
vehicle_attitude_setpoint, self.vehicle_attitude_setpoint_callback)
|
|
||||||
self.sub_va = rospy.Subscriber("iris/vehicle_attitude",
|
|
||||||
vehicle_attitude, self.vehicle_attitude_callback)
|
|
||||||
self.sub_vlps = rospy.Subscriber("iris/vehicle_local_position_setpoint",
|
|
||||||
vehicle_local_position_setpoint, self.vehicle_local_position_setpoint_callback)
|
|
||||||
|
|
||||||
|
|
||||||
def tearDown(self):
|
|
||||||
try:
|
|
||||||
self.condition.acquire()
|
|
||||||
self.closed = True
|
|
||||||
|
|
||||||
self.sub_vlp.unregister()
|
|
||||||
self.sub_vasp.unregister()
|
|
||||||
self.sub_va.unregister()
|
|
||||||
self.sub_vlps.unregister()
|
|
||||||
self.bag.close()
|
|
||||||
|
|
||||||
finally:
|
|
||||||
self.condition.release()
|
|
||||||
|
|
||||||
def vehicle_position_callback(self, data):
|
|
||||||
self.bag_write('px4/vehicle_local_position', data)
|
|
||||||
|
|
||||||
def vehicle_attitude_setpoint_callback(self, data):
|
|
||||||
self.bag_write('px4/vehicle_attitude_setpoint', data)
|
|
||||||
|
|
||||||
def vehicle_attitude_callback(self, data):
|
|
||||||
self.bag_write('px4/vehicle_attitude', data)
|
|
||||||
|
|
||||||
def vehicle_local_position_setpoint_callback(self, data):
|
|
||||||
self.bag_write('px4/vehicle_local_position_setpoint', data)
|
|
||||||
|
|
||||||
def bag_write(self, topic, data):
|
|
||||||
try:
|
|
||||||
self.condition.acquire()
|
|
||||||
if not self.closed:
|
|
||||||
self.bag.write(topic, data)
|
|
||||||
else:
|
|
||||||
rospy.logwarn("Trying to write to bag but it's already closed")
|
|
||||||
finally:
|
|
||||||
self.condition.release()
|
|
||||||
Reference in New Issue
Block a user