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389 lines
14 KiB
389 lines
14 KiB
#!/usr/bin/env python2 |
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#*************************************************************************** |
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# |
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# Copyright (c) 2015-2016 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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# The shebang of this file is currently Python2 because some |
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# dependencies such as pymavlink don't play well with Python3 yet. |
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PKG = 'px4' |
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import unittest |
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import rospy |
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import math |
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import rosbag |
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import sys |
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import os |
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import time |
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import glob |
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import json |
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import mavros |
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from pymavlink import mavutil |
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from mavros import mavlink |
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import px4tools |
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from geometry_msgs.msg import PoseStamped |
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from mavros_msgs.srv import CommandLong, WaypointPush |
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from mavros_msgs.msg import Mavlink, Waypoint, ExtendedState |
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from sensor_msgs.msg import NavSatFix |
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from mavros.mission import QGroundControlWP |
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#from px4_test_helper import PX4TestHelper |
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def get_last_log(): |
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try: |
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log_path = os.environ['PX4_LOG_DIR'] |
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except KeyError: |
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log_path = os.path.join(os.environ['HOME'], 'ros/rootfs/fs/microsd/log') |
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last_log_dir = sorted( |
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glob.glob(os.path.join(log_path, '*')))[-1] |
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last_log = sorted(glob.glob(os.path.join(last_log_dir, '*.ulg')))[-1] |
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return last_log |
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def read_new_mission(f): |
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d = json.load(f) |
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current = True |
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for wp in d['items']: |
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yield Waypoint( |
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is_current = current, |
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frame = int(wp['frame']), |
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command = int(wp['command']), |
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param1 = float(wp['param1']), |
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param2 = float(wp['param2']), |
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param3 = float(wp['param3']), |
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param4 = float(wp['param4']), |
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x_lat = float(wp['coordinate'][0]), |
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y_long = float(wp['coordinate'][1]), |
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z_alt = float(wp['coordinate'][2]), |
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autocontinue = bool(wp['autoContinue'])) |
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if current: |
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current = False |
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class MavrosMissionTest(unittest.TestCase): |
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""" |
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Run a mission |
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""" |
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def setUp(self): |
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rospy.init_node('test_node', anonymous=True) |
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self.rate = rospy.Rate(10) # 10hz |
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self.has_global_pos = False |
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self.local_position = PoseStamped() |
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self.global_position = NavSatFix() |
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self.extended_state = ExtendedState() |
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self.home_alt = 0 |
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self.mc_rad = 5 |
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self.fw_rad = 60 |
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self.fw_alt_rad = 10 |
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self.last_alt_d = 9999 |
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self.last_pos_d = 9999 |
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self.mission_name = "" |
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# need to simulate heartbeat for datalink loss detection |
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rospy.Timer(rospy.Duration(0.5), self.send_heartbeat) |
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rospy.wait_for_service('mavros/cmd/command', 30) |
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self.pub_mavlink = rospy.Publisher('mavlink/to', Mavlink, queue_size=1) |
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self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True) |
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self._srv_wp_push = rospy.ServiceProxy('mavros/mission/push', WaypointPush, persistent=True) |
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rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback) |
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rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback) |
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rospy.Subscriber("mavros/extended_state", ExtendedState, self.extended_state_callback) |
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def tearDown(self): |
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#self.helper.tearDown() |
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pass |
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# |
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# General callback functions used in tests |
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# |
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def position_callback(self, data): |
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self.local_position = data |
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def global_position_callback(self, data): |
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self.global_position = data |
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if not self.has_global_pos: |
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if data.altitude != 0: |
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self.home_alt = data.altitude |
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self.has_global_pos = True |
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def extended_state_callback(self, data): |
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prev_state = self.extended_state.vtol_state; |
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self.extended_state = data |
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if (prev_state != self.extended_state.vtol_state): |
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print("VTOL state change: %d" % self.extended_state.vtol_state); |
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# |
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# Helper methods |
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# |
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def is_at_position(self, lat, lon, alt, xy_offset, z_offset): |
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R = 6371000 # metres |
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rlat1 = math.radians(lat) |
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rlat2 = math.radians(self.global_position.latitude) |
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rlat_d = math.radians(self.global_position.latitude - lat) |
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rlon_d = math.radians(self.global_position.longitude - lon) |
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a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) + |
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math.cos(rlat1) * math.cos(rlat2) * |
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math.sin(rlon_d / 2) * math.sin(rlon_d / 2)) |
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c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a)) |
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d = R * c |
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alt_d = abs(alt - self.global_position.altitude) |
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#rospy.loginfo("d: %f, alt_d: %f", d, alt_d) |
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# remember best distances |
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if self.last_pos_d > d: |
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self.last_pos_d = d |
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if self.last_alt_d > alt_d: |
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self.last_alt_d = alt_d |
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return d < xy_offset and alt_d < z_offset |
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def reach_position(self, lat, lon, alt, timeout, index): |
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# reset best distances |
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self.last_alt_d = 9999 |
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self.last_pos_d = 9999 |
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rospy.loginfo("trying to reach waypoint " + |
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"lat: %13.9f, lon: %13.9f, alt: %6.2f, timeout: %d, index: %d" % |
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(lat, lon, alt, timeout, index)) |
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# does it reach the position in X seconds? |
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count = 0 |
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while count < timeout: |
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# use MC radius by default |
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# FIXME: also check MAV_TYPE from system status, otherwise pure fixed-wing won't work |
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xy_radius = self.mc_rad |
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z_radius = self.mc_rad |
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# use FW radius if in FW or in transition |
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if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW or |
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self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC or |
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self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW): |
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xy_radius = self.fw_rad |
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z_radius = self.fw_alt_rad |
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if self.is_at_position(lat, lon, alt, xy_radius, z_radius): |
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rospy.loginfo("position reached, index: %d, count: %d, pos_d: %f, alt_d: %f" % |
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(index, count, self.last_pos_d, self.last_alt_d)) |
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break |
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count = count + 1 |
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self.rate.sleep() |
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vtol_state_string = "VTOL undefined" |
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if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC): |
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vtol_state_string = "VTOL MC" |
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if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW): |
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vtol_state_string = "VTOL FW" |
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if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC): |
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vtol_state_string = "VTOL FW->MC" |
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if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW): |
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vtol_state_string = "VTOL MC->FW" |
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self.assertTrue(count < timeout, (("(%s) took too long to get to position " + |
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"lat: %13.9f, lon: %13.9f, alt: %6.2f, xy off: %f, z off: %f, timeout: %d, index: %d, pos_d: %f, alt_d: %f, VTOL state: %s") % |
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(self.mission_name, lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d, vtol_state_string))) |
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def run_mission(self): |
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"""switch mode: auto and arm""" |
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self._srv_cmd_long(False, 176, False, |
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# custom, auto, mission |
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1, 4, 4, 0, 0, 0, 0) |
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# make sure the first command doesn't get lost |
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time.sleep(1) |
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self._srv_cmd_long(False, 400, False, |
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# arm |
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1, 0, 0, 0, 0, 0, 0) |
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def wait_until_ready(self): |
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"""FIXME: hack to wait for simulation to be ready""" |
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while not self.has_global_pos: |
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self.rate.sleep() |
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def wait_on_landing(self, timeout, index): |
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"""Wait for landed state""" |
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rospy.loginfo("waiting for landing " + |
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"timeout: %d, index: %d" % |
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(timeout, index)) |
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count = 0 |
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while count < timeout: |
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if self.extended_state.landed_state == ExtendedState.LANDED_STATE_ON_GROUND: |
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break |
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count = count + 1 |
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self.rate.sleep() |
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self.assertTrue(count < timeout, ("(%s) landing not detected after landing WP " + |
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"timeout: %d, index: %d") % |
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(self.mission_name, timeout, index)) |
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def wait_on_transition(self, transition, timeout, index): |
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"""Wait for VTOL transition""" |
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rospy.loginfo("waiting for VTOL transition " + |
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"transition: %d, timeout: %d, index: %d" % |
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(transition, timeout, index)) |
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count = 0 |
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while count < timeout: |
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# transition to MC |
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if (transition == ExtendedState.VTOL_STATE_MC and |
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self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC): |
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break |
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# transition to FW |
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if (transition == ExtendedState.VTOL_STATE_FW and |
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self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW): |
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break |
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count = count + 1 |
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self.rate.sleep() |
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self.assertTrue(count < timeout, ("(%s) transition not detected " + |
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"timeout: %d, index: %d") % |
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(self.mission_name, timeout, index)) |
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def send_heartbeat(self, event=None): |
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# mav type gcs |
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mavmsg = mavutil.mavlink.MAVLink_heartbeat_message(6, 0, 0, 0, 0, 0) |
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# XXX: hack: using header object to set mav properties |
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mavmsg.pack(mavutil.mavlink.MAVLink_header(0, 0, 0, 2, 1)) |
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rosmsg = mavlink.convert_to_rosmsg(mavmsg) |
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self.pub_mavlink.publish(rosmsg) |
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def test_mission(self): |
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"""Test mission""" |
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if len(sys.argv) < 2: |
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self.fail("usage: mission_test.py mission_file") |
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return |
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self.mission_name = sys.argv[1] |
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mission_file = os.path.dirname(os.path.realpath(__file__)) + "/" + sys.argv[1] |
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rospy.loginfo("reading mission %s", mission_file) |
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wps = [] |
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with open(mission_file, 'r') as f: |
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mission_ext = os.path.splitext(mission_file)[1] |
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if mission_ext == '.mission': |
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rospy.loginfo("new style mission file detected") |
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for waypoint in read_new_mission(f): |
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wps.append(waypoint) |
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rospy.logdebug(waypoint) |
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elif mission_ext == '.txt': |
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rospy.loginfo("old style mission file detected") |
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mission = QGroundControlWP() |
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for waypoint in mission.read(f): |
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wps.append(waypoint) |
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rospy.logdebug(waypoint) |
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else: |
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raise IOError('unknown mission file extension', mission_ext) |
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rospy.loginfo("wait until ready") |
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self.wait_until_ready() |
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rospy.loginfo("send mission") |
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res = self._srv_wp_push(wps) |
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rospy.loginfo(res) |
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self.assertTrue(res.success, "(%s) mission could not be transfered" % self.mission_name) |
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rospy.loginfo("run mission") |
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self.run_mission() |
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index = 0 |
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for waypoint in wps: |
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# only check position for waypoints where this makes sense |
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if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or waypoint.frame == Waypoint.FRAME_GLOBAL: |
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alt = waypoint.z_alt |
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if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT: |
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alt += self.home_alt |
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self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 600, index) |
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# check if VTOL transition happens if applicable |
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if waypoint.command == 84 or waypoint.command == 85 or waypoint.command == 3000: |
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transition = waypoint.param1 |
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if waypoint.command == 84: # VTOL takeoff implies transition to FW |
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transition = ExtendedState.VTOL_STATE_FW |
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if waypoint.command == 85: # VTOL takeoff implies transition to MC |
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transition = ExtendedState.VTOL_STATE_MC |
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self.wait_on_transition(transition, 600, index) |
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# after reaching position, wait for landing detection if applicable |
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if waypoint.command == 85 or waypoint.command == 21: |
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self.wait_on_landing(600, index) |
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index += 1 |
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rospy.loginfo("mission done, calculating performance metrics") |
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last_log = get_last_log() |
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rospy.loginfo("log file %s", last_log) |
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data = px4tools.ulog.read_ulog(last_log).concat(dt=0.1) |
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data = px4tools.ulog.compute_data(data) |
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res = px4tools.estimator_analysis(data, False) |
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# enforce performance |
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self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res)) |
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self.assertTrue(abs(res['pitch_error_mean']) < 5.0, str(res)) |
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self.assertTrue(abs(res['yaw_error_mean']) < 5.0, str(res)) |
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self.assertTrue(res['roll_error_std'] < 5.0, str(res)) |
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self.assertTrue(res['pitch_error_std'] < 5.0, str(res)) |
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self.assertTrue(res['yaw_error_std'] < 5.0, str(res)) |
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if __name__ == '__main__': |
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import rostest |
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name = "mavros_mission_test" |
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if len(sys.argv) > 1: |
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name += "-%s" % sys.argv[1] |
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rostest.rosrun(PKG, name, MavrosMissionTest)
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