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()