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mavsdk_tests: add header and fix style

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This commit is contained in:
Julian Oes
2020-03-17 16:15:34 +01:00
committed by Nuno Marques
parent 9b61ce1006
commit b5048a3414
6 changed files with 477 additions and 287 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+151 -114
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@@ -1,3 +1,36 @@
/****************************************************************************
*
* Copyright (c) 2020 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.
*
****************************************************************************/
#include "autopilot_tester.h" #include "autopilot_tester.h"
#include <iostream> #include <iostream>
#include <future> #include <future>
@@ -6,225 +39,229 @@ std::string connection_url {"udp://"};
void AutopilotTester::connect(const std::string uri) void AutopilotTester::connect(const std::string uri)
{ {
ConnectionResult ret = _mavsdk.add_any_connection(uri); ConnectionResult ret = _mavsdk.add_any_connection(uri);
REQUIRE(ret == ConnectionResult::SUCCESS); REQUIRE(ret == ConnectionResult::SUCCESS);
std::cout << "Waiting for system connect" << std::endl; std::cout << "Waiting for system connect" << std::endl;
REQUIRE(poll_condition_with_timeout( REQUIRE(poll_condition_with_timeout(
[this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(25))); [this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(25)));
auto& system = _mavsdk.system(); auto &system = _mavsdk.system();
_telemetry.reset(new Telemetry(system)); _telemetry.reset(new Telemetry(system));
_action.reset(new Action(system)); _action.reset(new Action(system));
_mission.reset(new Mission(system)); _mission.reset(new Mission(system));
_offboard.reset(new Offboard(system)); _offboard.reset(new Offboard(system));
} }
void AutopilotTester::wait_until_ready() void AutopilotTester::wait_until_ready()
{ {
std::cout << "Waiting for system to be ready" << std::endl; std::cout << "Waiting for system to be ready" << std::endl;
CHECK(poll_condition_with_timeout( CHECK(poll_condition_with_timeout(
[this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(20))); [this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(20)));
} }
void AutopilotTester::wait_until_ready_local_position_only() void AutopilotTester::wait_until_ready_local_position_only()
{ {
std::cout << "Waiting for system to be ready" << std::endl; std::cout << "Waiting for system to be ready" << std::endl;
CHECK(poll_condition_with_timeout( CHECK(poll_condition_with_timeout(
[this]() { [this]() {
return return
(_telemetry->health().gyrometer_calibration_ok && (_telemetry->health().gyrometer_calibration_ok &&
_telemetry->health().accelerometer_calibration_ok && _telemetry->health().accelerometer_calibration_ok &&
_telemetry->health().magnetometer_calibration_ok && _telemetry->health().magnetometer_calibration_ok &&
_telemetry->health().level_calibration_ok && _telemetry->health().level_calibration_ok &&
_telemetry->health().local_position_ok); _telemetry->health().local_position_ok);
}, std::chrono::seconds(20))); }, std::chrono::seconds(20)));
} }
void AutopilotTester::store_home() void AutopilotTester::store_home()
{ {
request_ground_truth(); request_ground_truth();
_home = get_ground_truth_position(); _home = get_ground_truth_position();
} }
void AutopilotTester::check_home_within(float acceptance_radius_m) void AutopilotTester::check_home_within(float acceptance_radius_m)
{ {
CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m)); CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m));
} }
void AutopilotTester::set_takeoff_altitude(const float altitude_m) void AutopilotTester::set_takeoff_altitude(const float altitude_m)
{ {
CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(altitude_m)); CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(altitude_m));
const auto result = _action->get_takeoff_altitude(); const auto result = _action->get_takeoff_altitude();
CHECK(result.first == Action::Result::SUCCESS); CHECK(result.first == Action::Result::SUCCESS);
CHECK(result.second == Approx(altitude_m)); CHECK(result.second == Approx(altitude_m));
} }
void AutopilotTester::arm() void AutopilotTester::arm()
{ {
const auto result = _action->arm(); const auto result = _action->arm();
REQUIRE(result == Action::Result::SUCCESS); REQUIRE(result == Action::Result::SUCCESS);
} }
void AutopilotTester::takeoff() void AutopilotTester::takeoff()
{ {
const auto result = _action->takeoff(); const auto result = _action->takeoff();
REQUIRE(result == Action::Result::SUCCESS); REQUIRE(result == Action::Result::SUCCESS);
} }
void AutopilotTester::land() void AutopilotTester::land()
{ {
const auto result = _action->land(); const auto result = _action->land();
REQUIRE(result == Action::Result::SUCCESS); REQUIRE(result == Action::Result::SUCCESS);
} }
void AutopilotTester::transition_to_fixedwing() void AutopilotTester::transition_to_fixedwing()
{ {
const auto result = _action->transition_to_fixedwing(); const auto result = _action->transition_to_fixedwing();
REQUIRE(result == Action::Result::SUCCESS); REQUIRE(result == Action::Result::SUCCESS);
} }
void AutopilotTester::transition_to_multicopter() void AutopilotTester::transition_to_multicopter()
{ {
const auto result = _action->transition_to_multicopter(); const auto result = _action->transition_to_multicopter();
REQUIRE(result == Action::Result::SUCCESS); REQUIRE(result == Action::Result::SUCCESS);
} }
void AutopilotTester::wait_until_disarmed() void AutopilotTester::wait_until_disarmed()
{ {
REQUIRE(poll_condition_with_timeout( REQUIRE(poll_condition_with_timeout(
[this]() { return !_telemetry->armed(); }, std::chrono::seconds(60))); [this]() { return !_telemetry->armed(); }, std::chrono::seconds(60)));
} }
void AutopilotTester::wait_until_hovering() void AutopilotTester::wait_until_hovering()
{ {
REQUIRE(poll_condition_with_timeout( REQUIRE(poll_condition_with_timeout(
[this]() { return _telemetry->landed_state() == Telemetry::LandedState::IN_AIR; }, std::chrono::seconds(20))); [this]() { return _telemetry->landed_state() == Telemetry::LandedState::IN_AIR; }, std::chrono::seconds(20)));
} }
void AutopilotTester::prepare_square_mission(MissionOptions mission_options) void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
{ {
const auto ct = get_coordinate_transformation(); const auto ct = get_coordinate_transformation();
std::vector<std::shared_ptr<MissionItem>> mission_items {}; std::vector<std::shared_ptr<MissionItem>> mission_items {};
mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct)); mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, mission_options, ct)); mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m},
mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct)); mission_options, ct));
mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end); _mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
std::promise<void> prom; std::promise<void> prom;
auto fut = prom.get_future(); auto fut = prom.get_future();
_mission->upload_mission_async(mission_items, [&prom](Mission::Result result) { _mission->upload_mission_async(mission_items, [&prom](Mission::Result result) {
REQUIRE(Mission::Result::SUCCESS == result); REQUIRE(Mission::Result::SUCCESS == result);
prom.set_value(); prom.set_value();
}); });
REQUIRE(fut.wait_for(std::chrono::seconds(2)) == std::future_status::ready); REQUIRE(fut.wait_for(std::chrono::seconds(2)) == std::future_status::ready);
} }
void AutopilotTester::execute_mission() void AutopilotTester::execute_mission()
{ {
std::promise<void> prom; std::promise<void> prom;
auto fut = prom.get_future(); auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) { _mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::SUCCESS == result); REQUIRE(Mission::Result::SUCCESS == result);
prom.set_value(); prom.set_value();
}); });
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc. // TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
REQUIRE(poll_condition_with_timeout( REQUIRE(poll_condition_with_timeout(
[this]() { return _mission->mission_finished(); }, std::chrono::seconds(60))); [this]() { return _mission->mission_finished(); }, std::chrono::seconds(60)));
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready); REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
} }
CoordinateTransformation AutopilotTester::get_coordinate_transformation() CoordinateTransformation AutopilotTester::get_coordinate_transformation()
{ {
const auto home = _telemetry->home_position(); const auto home = _telemetry->home_position();
CHECK(std::isfinite(home.latitude_deg)); CHECK(std::isfinite(home.latitude_deg));
CHECK(std::isfinite(home.longitude_deg)); CHECK(std::isfinite(home.longitude_deg));
return CoordinateTransformation({home.latitude_deg, home.longitude_deg}); return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
} }
std::shared_ptr<MissionItem> AutopilotTester::create_mission_item( std::shared_ptr<MissionItem> AutopilotTester::create_mission_item(
const CoordinateTransformation::LocalCoordinate& local_coordinate, const CoordinateTransformation::LocalCoordinate &local_coordinate,
const MissionOptions& mission_options, const MissionOptions &mission_options,
const CoordinateTransformation& ct) const CoordinateTransformation &ct)
{ {
auto mission_item = std::make_shared<MissionItem>(); auto mission_item = std::make_shared<MissionItem>();
const auto pos_north = ct.global_from_local(local_coordinate); const auto pos_north = ct.global_from_local(local_coordinate);
mission_item->set_position(pos_north.latitude_deg, pos_north.longitude_deg); mission_item->set_position(pos_north.latitude_deg, pos_north.longitude_deg);
mission_item->set_relative_altitude(mission_options.relative_altitude_m); mission_item->set_relative_altitude(mission_options.relative_altitude_m);
return mission_item; return mission_item;
} }
void AutopilotTester::execute_rtl() void AutopilotTester::execute_rtl()
{ {
REQUIRE(Action::Result::SUCCESS == _action->return_to_launch()); REQUIRE(Action::Result::SUCCESS == _action->return_to_launch());
} }
void AutopilotTester::offboard_goto(const Offboard::PositionNEDYaw& target, float acceptance_radius_m, std::chrono::seconds timeout_duration) void AutopilotTester::offboard_goto(const Offboard::PositionNEDYaw &target, float acceptance_radius_m,
std::chrono::seconds timeout_duration)
{ {
_offboard->set_position_ned(target); _offboard->set_position_ned(target);
REQUIRE(_offboard->start() == Offboard::Result::SUCCESS); REQUIRE(_offboard->start() == Offboard::Result::SUCCESS);
CHECK(poll_condition_with_timeout( CHECK(poll_condition_with_timeout(
[=]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration)); [ = ]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration));
std::cout << "Target position reached" << std::endl; std::cout << "Target position reached" << std::endl;
} }
void AutopilotTester::offboard_land() void AutopilotTester::offboard_land()
{ {
Offboard::VelocityNEDYaw land_velocity; Offboard::VelocityNEDYaw land_velocity;
land_velocity.north_m_s = 0.0f; land_velocity.north_m_s = 0.0f;
land_velocity.east_m_s = 0.0f; land_velocity.east_m_s = 0.0f;
land_velocity.down_m_s = 1.0f; land_velocity.down_m_s = 1.0f;
land_velocity.yaw_deg = 0.0f; land_velocity.yaw_deg = 0.0f;
_offboard->set_velocity_ned(land_velocity); _offboard->set_velocity_ned(land_velocity);
} }
bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m) bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m)
{ {
Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position; Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position;
return sq(est_pos.north_m - target_pos.north_m) + return sq(est_pos.north_m - target_pos.north_m) +
sq(est_pos.east_m - target_pos.east_m) + sq(est_pos.east_m - target_pos.east_m) +
sq(est_pos.down_m - target_pos.down_m) < sq(acceptance_radius_m); sq(est_pos.down_m - target_pos.down_m) < sq(acceptance_radius_m);
} }
bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m) bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw &target_pos,
float acceptance_radius_m)
{ {
Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position; Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position;
return sq(est_pos.north_m - target_pos.north_m) + return sq(est_pos.north_m - target_pos.north_m) +
sq(est_pos.east_m - target_pos.east_m) < sq(acceptance_radius_m); sq(est_pos.east_m - target_pos.east_m) < sq(acceptance_radius_m);
} }
void AutopilotTester::request_ground_truth() void AutopilotTester::request_ground_truth()
{ {
CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::SUCCESS); CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::SUCCESS);
std::this_thread::sleep_for(std::chrono::milliseconds(100)); std::this_thread::sleep_for(std::chrono::milliseconds(100));
} }
Telemetry::GroundTruth AutopilotTester::get_ground_truth_position() Telemetry::GroundTruth AutopilotTester::get_ground_truth_position()
{ {
return _telemetry->ground_truth(); return _telemetry->ground_truth();
} }
bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m) bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos,
float acceptance_radius_m)
{ {
CHECK(std::isfinite(target_pos.latitude_deg)); CHECK(std::isfinite(target_pos.latitude_deg));
CHECK(std::isfinite(target_pos.longitude_deg)); CHECK(std::isfinite(target_pos.longitude_deg));
using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate; using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate;
using LocalCoordinate = CoordinateTransformation::LocalCoordinate; using LocalCoordinate = CoordinateTransformation::LocalCoordinate;
CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg}); CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg});
Telemetry::GroundTruth current_pos = _telemetry->ground_truth(); Telemetry::GroundTruth current_pos = _telemetry->ground_truth();
CHECK(std::isfinite(current_pos.latitude_deg)); CHECK(std::isfinite(current_pos.latitude_deg));
CHECK(std::isfinite(current_pos.longitude_deg)); CHECK(std::isfinite(current_pos.longitude_deg));
LocalCoordinate local_pos= ct.local_from_global(GlobalCoordinate{current_pos.latitude_deg, current_pos.longitude_deg}); LocalCoordinate local_pos = ct.local_from_global(GlobalCoordinate{current_pos.latitude_deg, current_pos.longitude_deg});
return sq(local_pos.north_m) + sq(local_pos.east_m) < sq(acceptance_radius_m); return sq(local_pos.north_m) + sq(local_pos.east_m) < sq(acceptance_radius_m);
} }
test/mavsdk_tests/autopilot_tester.h
+89 -52
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@@ -1,3 +1,36 @@
/****************************************************************************
*
* Copyright (c) 2020 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.
*
****************************************************************************/
#pragma once #pragma once
#include <mavsdk/mavsdk.h> #include <mavsdk/mavsdk.h>
@@ -16,72 +49,76 @@ extern std::string connection_url;
using namespace mavsdk; using namespace mavsdk;
using namespace mavsdk::geometry; using namespace mavsdk::geometry;
class AutopilotTester { class AutopilotTester
{
public: public:
struct MissionOptions { struct MissionOptions {
double leg_length_m {20.0}; double leg_length_m {20.0};
double relative_altitude_m {10.0}; double relative_altitude_m {10.0};
bool rtl_at_end {false}; bool rtl_at_end {false};
}; };
void connect(const std::string uri); void connect(const std::string uri);
void wait_until_ready(); void wait_until_ready();
void wait_until_ready_local_position_only(); void wait_until_ready_local_position_only();
void store_home(); void store_home();
void check_home_within(float acceptance_radius_m); void check_home_within(float acceptance_radius_m);
void set_takeoff_altitude(const float altitude_m); void set_takeoff_altitude(const float altitude_m);
void arm(); void arm();
void takeoff(); void takeoff();
void land(); void land();
void transition_to_fixedwing(); void transition_to_fixedwing();
void transition_to_multicopter(); void transition_to_multicopter();
void wait_until_disarmed(); void wait_until_disarmed();
void wait_until_hovering(); void wait_until_hovering();
void prepare_square_mission(MissionOptions mission_options); void prepare_square_mission(MissionOptions mission_options);
void execute_mission(); void execute_mission();
void execute_rtl(); void execute_rtl();
void offboard_goto(const Offboard::PositionNEDYaw& target, float acceptance_radius_m = 0.3f, void offboard_goto(const Offboard::PositionNEDYaw &target, float acceptance_radius_m = 0.3f,
std::chrono::seconds timeout_duration = std::chrono::seconds(60)); std::chrono::seconds timeout_duration = std::chrono::seconds(60));
void offboard_land(); void offboard_land();
void request_ground_truth(); void request_ground_truth();
private: private:
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation(); mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
std::shared_ptr<mavsdk::MissionItem> create_mission_item( std::shared_ptr<mavsdk::MissionItem> create_mission_item(
const mavsdk::geometry::CoordinateTransformation::LocalCoordinate& local_coordinate, const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate,
const MissionOptions& mission_options, const MissionOptions &mission_options,
const mavsdk::geometry::CoordinateTransformation& ct); const mavsdk::geometry::CoordinateTransformation &ct);
Telemetry::GroundTruth get_ground_truth_position(); Telemetry::GroundTruth get_ground_truth_position();
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m); bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
bool estimated_position_close_to(const Offboard::PositionNEDYaw& target_position, float acceptance_radius_m); bool estimated_position_close_to(const Offboard::PositionNEDYaw &target_position, float acceptance_radius_m);
bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m); bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m);
mavsdk::Mavsdk _mavsdk{}; mavsdk::Mavsdk _mavsdk{};
std::unique_ptr<mavsdk::Telemetry> _telemetry{}; std::unique_ptr<mavsdk::Telemetry> _telemetry{};
std::unique_ptr<mavsdk::Action> _action{}; std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Mission> _mission{}; std::unique_ptr<mavsdk::Mission> _mission{};
std::unique_ptr<mavsdk::Offboard> _offboard{}; std::unique_ptr<mavsdk::Offboard> _offboard{};
Telemetry::GroundTruth _home{NAN, NAN, NAN}; Telemetry::GroundTruth _home{NAN, NAN, NAN};
}; };
template<typename Rep, typename Period> template<typename Rep, typename Period>
bool poll_condition_with_timeout( bool poll_condition_with_timeout(
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration) std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
{ {
// We need millisecond resolution for sleeping. // We need millisecond resolution for sleeping.
const std::chrono::milliseconds duration_ms(duration); const std::chrono::milliseconds duration_ms(duration);
unsigned iteration = 0; unsigned iteration = 0;
while (!fun()) {
std::this_thread::sleep_for(duration_ms / 10); while (!fun()) {
if (iteration++ >= 10) { std::this_thread::sleep_for(duration_ms / 10);
return false;
} if (iteration++ >= 10) {
} return false;
return true; }
}
return true;
} }
inline float sq(float x) { return x * x; }; inline float sq(float x) { return x * x; };
test/mavsdk_tests/test_main.cpp
+76 -44
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@@ -1,7 +1,35 @@
// /****************************************************************************
// Multicopter mission test. *
// * Copyright (c) 2020 PX4 Development Team. All rights reserved.
// Author: Julian Oes <julian@oes.ch> *
* 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.
*
****************************************************************************/
#define CATCH_CONFIG_RUNNER #define CATCH_CONFIG_RUNNER
#include "catch2/catch.hpp" #include "catch2/catch.hpp"
@@ -12,55 +40,59 @@
#include "autopilot_tester.h" #include "autopilot_tester.h"
static void usage(const std::string& bin_name); static void usage(const std::string &bin_name);
static void remove_argv(int& argc, char** argv, int pos); static void remove_argv(int &argc, char **argv, int pos);
int main(int argc, char** argv) int main(int argc, char **argv)
{ {
for (int i = 0; i < argc; ++i) { for (int i = 0; i < argc; ++i) {
const std::string argv_string(argv[i]); const std::string argv_string(argv[i]);
if (argv_string == "-h") { if (argv_string == "-h") {
usage(argv[0]); usage(argv[0]);
} }
if (argv_string == "--url") { if (argv_string == "--url") {
if (argc > i + 1) { if (argc > i + 1) {
connection_url = argv[i+1]; connection_url = argv[i + 1];
remove_argv(argc, argv, i); remove_argv(argc, argv, i);
remove_argv(argc, argv, i); remove_argv(argc, argv, i);
} else {
std::cerr << "No connection URL supplied" << std::endl;
usage(argv[0]);
return -1;
}
}
}
Catch::Session session; } else {
const int catch_ret = session.applyCommandLine(argc, argv); std::cerr << "No connection URL supplied" << std::endl;
if (catch_ret != 0) { usage(argv[0]);
return catch_ret; return -1;
} }
return session.run(); }
}
Catch::Session session;
const int catch_ret = session.applyCommandLine(argc, argv);
if (catch_ret != 0) {
return catch_ret;
}
return session.run();
} }
void usage(const std::string& bin_name) void usage(const std::string &bin_name)
{ {
std::cout << std::endl std::cout << std::endl
<< "Usage : " << bin_name << " [--url CONNECTION_URL] [catch2 arguments]" << std::endl << "Usage : " << bin_name << " [--url CONNECTION_URL] [catch2 arguments]" << std::endl
<< "Connection URL format should be :" << std::endl << "Connection URL format should be :" << std::endl
<< " For TCP : tcp://[server_host][:server_port]" << std::endl << " For TCP : tcp://[server_host][:server_port]" << std::endl
<< " For UDP : udp://[bind_host][:bind_port]" << std::endl << " For UDP : udp://[bind_host][:bind_port]" << std::endl
<< " For Serial : serial:///path/to/serial/dev[:baudrate]" << std::endl << " For Serial : serial:///path/to/serial/dev[:baudrate]" << std::endl
<< "For example, to connect to the simulator use URL: udp://:14540" << std::endl << "For example, to connect to the simulator use URL: udp://:14540" << std::endl
<< std::endl; << std::endl;
} }
void remove_argv(int& argc, char** argv, int pos) void remove_argv(int &argc, char **argv, int pos)
{ {
for (int i = pos; i+1 < argc; ++i) { for (int i = pos; i + 1 < argc; ++i) {
argv[i] = argv[i+1]; argv[i] = argv[i + 1];
} }
argv[--argc] = nullptr;
argv[--argc] = nullptr;
} }
test/mavsdk_tests/test_mission_multicopter.cpp
+61 -33
View File
@@ -1,7 +1,35 @@
// /****************************************************************************
// Multicopter mission test. *
// * Copyright (c) 2020 PX4 Development Team. All rights reserved.
// Author: Julian Oes <julian@oes.ch> *
* 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.
*
****************************************************************************/
#include <mavsdk/mavsdk.h> #include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h> #include <mavsdk/plugins/action/action.h>
@@ -13,39 +41,39 @@
TEST_CASE("Takeoff and Land", "[multicopter][vtol]") TEST_CASE("Takeoff and Land", "[multicopter][vtol]")
{ {
AutopilotTester tester; AutopilotTester tester;
tester.connect(connection_url); tester.connect(connection_url);
tester.wait_until_ready(); tester.wait_until_ready();
tester.arm(); tester.arm();
tester.takeoff(); tester.takeoff();
tester.wait_until_hovering(); tester.wait_until_hovering();
tester.land(); tester.land();
tester.wait_until_disarmed(); tester.wait_until_disarmed();
} }
TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]") TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]")
{ {
AutopilotTester tester; AutopilotTester tester;
tester.connect(connection_url); tester.connect(connection_url);
tester.wait_until_ready(); tester.wait_until_ready();
SECTION("Mission including RTL") { SECTION("Mission including RTL") {
AutopilotTester::MissionOptions mission_options; AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = true; mission_options.rtl_at_end = true;
tester.prepare_square_mission(mission_options); tester.prepare_square_mission(mission_options);
tester.arm(); tester.arm();
tester.execute_mission(); tester.execute_mission();
tester.wait_until_disarmed(); tester.wait_until_disarmed();
} }
SECTION("Mission with manual RTL") { SECTION("Mission with manual RTL") {
AutopilotTester::MissionOptions mission_options; AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = false; mission_options.rtl_at_end = false;
tester.prepare_square_mission(mission_options); tester.prepare_square_mission(mission_options);
tester.arm(); tester.arm();
tester.execute_mission(); tester.execute_mission();
tester.wait_until_hovering(); tester.wait_until_hovering();
tester.execute_rtl(); tester.execute_rtl();
tester.wait_until_disarmed(); tester.wait_until_disarmed();
} }
} }
test/mavsdk_tests/test_mission_vtol.cpp
+41 -13
View File
@@ -1,7 +1,35 @@
// /****************************************************************************
// VTOL mission test. *
// * Copyright (c) 2020 PX4 Development Team. All rights reserved.
// Author: Lorenz Meier <lorenz@px4.io> *
* 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.
*
****************************************************************************/
#include <mavsdk/mavsdk.h> #include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h> #include <mavsdk/plugins/action/action.h>
@@ -13,13 +41,13 @@
TEST_CASE("Takeoff and transition and RTL", "[vtol]") TEST_CASE("Takeoff and transition and RTL", "[vtol]")
{ {
AutopilotTester tester; AutopilotTester tester;
tester.connect(connection_url); tester.connect(connection_url);
tester.wait_until_ready(); tester.wait_until_ready();
tester.arm(); tester.arm();
tester.takeoff(); tester.takeoff();
tester.wait_until_hovering(); tester.wait_until_hovering();
tester.transition_to_fixedwing(); tester.transition_to_fixedwing();
tester.execute_rtl(); tester.execute_rtl();
tester.wait_until_disarmed(); tester.wait_until_disarmed();
} }
test/mavsdk_tests/test_multicopter_offboard.cpp
+59 -31
View File
@@ -1,7 +1,35 @@
// /****************************************************************************
// Multicopter mission test. *
// * Copyright (c) 2020 PX4 Development Team. All rights reserved.
// Author: Julian Oes <julian@oes.ch> *
* 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.
*
****************************************************************************/
#include <mavsdk/mavsdk.h> #include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h> #include <mavsdk/plugins/action/action.h>
@@ -13,35 +41,35 @@
TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]") TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
{ {
AutopilotTester tester; AutopilotTester tester;
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f}; Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
tester.connect(connection_url); tester.connect(connection_url);
tester.wait_until_ready_local_position_only(); tester.wait_until_ready_local_position_only();
tester.store_home(); tester.store_home();
tester.arm(); tester.arm();
tester.offboard_goto(takeoff_position, 0.5f); tester.offboard_goto(takeoff_position, 0.5f);
tester.offboard_land(); tester.offboard_land();
tester.wait_until_disarmed(); tester.wait_until_disarmed();
tester.check_home_within(0.5f); tester.check_home_within(0.5f);
} }
TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]") TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
{ {
AutopilotTester tester; AutopilotTester tester;
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f}; Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f}; Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f}; Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f}; Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
tester.connect(connection_url); tester.connect(connection_url);
tester.wait_until_ready_local_position_only(); tester.wait_until_ready_local_position_only();
tester.store_home(); tester.store_home();
tester.arm(); tester.arm();
tester.offboard_goto(takeoff_position, 0.5f); tester.offboard_goto(takeoff_position, 0.5f);
tester.offboard_goto(setpoint_1, 1.0f); tester.offboard_goto(setpoint_1, 1.0f);
tester.offboard_goto(setpoint_2, 1.0f); tester.offboard_goto(setpoint_2, 1.0f);
tester.offboard_goto(setpoint_3, 1.0f); tester.offboard_goto(setpoint_3, 1.0f);
tester.offboard_goto(takeoff_position, 0.2f); tester.offboard_goto(takeoff_position, 0.2f);
tester.offboard_land(); tester.offboard_land();
tester.wait_until_disarmed(); tester.wait_until_disarmed();
tester.check_home_within(1.0f); tester.check_home_within(1.0f);
} }