def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
rospy.Subscriber('iris/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")
def test_posctl(self):
manIn = ManualInput()
# arm and go into offboard
manIn.arm()
manIn.offboard()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path
positions = (
(0,0,0),
(2,2,-2),
(2,-2,-2),
(-2,-2,-2),
(2,2,-2))
# flight path assertion
self.fpa = FlightPathAssertion(positions, 1, 0)
self.fpa.start()
for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
# does it hold the position for Y seconds?
positionHeld = True
count = 0
timeout = 50
while(count < timeout):
if(not self.is_at_position(2, 2, -2, 0.5)):
positionHeld = False
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
self.fpa.stop()
def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/actuator_armed', actuator_armed,
self.actuator_armed_callback)
rospy.Subscriber('iris/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")
