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111 lines
4.0 KiB
111 lines
4.0 KiB
#!/usr/bin/env python |
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#*************************************************************************** |
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# |
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# Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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#***************************************************************************/ |
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# |
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# @author Andreas Antener <andreas@uaventure.com> |
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# |
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PKG = 'px4' |
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import unittest |
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import rospy |
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import rosbag |
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from px4.msg import vehicle_local_position |
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from px4.msg import vehicle_attitude_setpoint |
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from px4.msg import vehicle_attitude |
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from px4.msg import vehicle_local_position_setpoint |
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from threading import Condition |
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# |
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# Test helper |
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# |
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class PX4TestHelper(object): |
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def __init__(self, test_name): |
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self.test_name = test_name |
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def setUp(self): |
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self.condition = Condition() |
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self.closed = False |
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rospy.init_node('test_node', anonymous=True) |
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self.bag = rosbag.Bag(self.test_name + '.bag', 'w', compression="lz4") |
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self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", |
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vehicle_local_position, self.vehicle_position_callback) |
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self.sub_vasp = rospy.Subscriber("iris/vehicle_attitude_setpoint", |
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vehicle_attitude_setpoint, self.vehicle_attitude_setpoint_callback) |
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self.sub_va = rospy.Subscriber("iris/vehicle_attitude", |
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vehicle_attitude, self.vehicle_attitude_callback) |
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self.sub_vlps = rospy.Subscriber("iris/vehicle_local_position_setpoint", |
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vehicle_local_position_setpoint, self.vehicle_local_position_setpoint_callback) |
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def tearDown(self): |
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try: |
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self.condition.acquire() |
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self.closed = True |
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self.sub_vlp.unregister() |
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self.sub_vasp.unregister() |
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self.sub_va.unregister() |
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self.sub_vlps.unregister() |
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self.bag.close() |
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finally: |
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self.condition.release() |
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def vehicle_position_callback(self, data): |
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self.bag_write('px4/vehicle_local_position', data) |
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def vehicle_attitude_setpoint_callback(self, data): |
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self.bag_write('px4/vehicle_attitude_setpoint', data) |
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def vehicle_attitude_callback(self, data): |
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self.bag_write('px4/vehicle_attitude', data) |
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def vehicle_local_position_setpoint_callback(self, data): |
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self.bag_write('px4/vehicle_local_position_setpoint', data) |
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def bag_write(self, topic, data): |
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try: |
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self.condition.acquire() |
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if not self.closed: |
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self.bag.write(topic, data) |
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else: |
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rospy.logwarn("Trying to write to bag but it's already closed") |
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finally: |
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self.condition.release() |
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