You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
90 lines
3.2 KiB
90 lines
3.2 KiB
#!/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 |
|
|
|
from px4.msg import actuator_armed |
|
from px4.msg import vehicle_control_mode |
|
from manual_input import ManualInput |
|
|
|
# |
|
# Tests if commander reacts to manual input and sets control flags accordingly |
|
# |
|
class ManualInputTest(unittest.TestCase): |
|
|
|
def setUp(self): |
|
self.actuator_status = actuator_armed() |
|
self.control_mode = vehicle_control_mode() |
|
|
|
# |
|
# General callback functions used in tests |
|
# |
|
def actuator_armed_callback(self, data): |
|
self.actuator_status = data |
|
|
|
def vehicle_control_mode_callback(self, data): |
|
self.control_mode = data |
|
|
|
# |
|
# Test arming |
|
# |
|
def test_manual_input(self): |
|
rospy.init_node('test_node', anonymous=True) |
|
rospy.Subscriber('actuator_armed', actuator_armed, self.actuator_armed_callback) |
|
rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) |
|
|
|
man_in = ManualInput() |
|
|
|
# Test arming |
|
man_in.arm() |
|
self.assertEquals(self.actuator_status.armed, True, "did not arm") |
|
|
|
# Test posctl |
|
man_in.posctl() |
|
self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set") |
|
|
|
# Test offboard |
|
man_in.offboard() |
|
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set") |
|
|
|
|
|
if __name__ == '__main__': |
|
import rostest |
|
rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)
|
|
|