updated tests

ctu-mrs · Feb 11, 2024 · 46b897e · 46b897e
1 parent 4af55fe
commit 46b897e
Show file tree

Hide file tree

Showing 10 changed files with 103 additions and 146 deletions.
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -3,9 +3,6 @@ find_package(rostest REQUIRED)
 # will test takeoff in mrs simulator
 add_subdirectory(takeoff)
 
-# will test takeoff in gazebo
-add_subdirectory(gazebo_takeoff)
-
 # will test if takeoff is not allowed outside of safety area
 add_subdirectory(outside_safety_area)
 

diff --git a/test/compile_tests.sh b/test/compile_tests.sh
@@ -6,5 +6,5 @@ trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
 
 # build the package
-catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this -DMRS_ENABLE_TESTING=1 --no-deps # it has to be fully built normally before building with --catkin-make-args tests
 catkin build --this -DMRS_ENABLE_TESTING=1 --no-deps --catkin-make-args tests
diff --git a/test/gazebo_takeoff/CMakeLists.txt b/test/gazebo_takeoff/CMakeLists.txt
diff --git a/test/gazebo_takeoff/gazebo_takeoff.test b/test/gazebo_takeoff/gazebo_takeoff.test
diff --git a/test/gazebo_takeoff/test.cpp b/test/gazebo_takeoff/test.cpp
diff --git a/test/moving_drone/test.cpp b/test/moving_drone/test.cpp
@@ -36,13 +36,28 @@ void Tester::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
 
 bool Tester::test() {
 
-  auto [success, message] = takeoff();
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
 
-  if (!success) {
-    return true;
-  } else {
-    ROS_ERROR("[%s]: takeoff initiated, this should not be possible", ros::this_node::getName().c_str());
-    return false;
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
+  {
+    auto [success, message] = uh->takeoff();
+
+    if (!success) {
+      return true;
+    } else {
+      ROS_ERROR("[%s]: takeoff initiated, this should not be possible", ros::this_node::getName().c_str());
+      return false;
+    }
   }
 }
 

diff --git a/test/outside_safety_area/test.cpp b/test/outside_safety_area/test.cpp
@@ -10,13 +10,28 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
-  auto [success, message] = takeoff();
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
 
-  if (!success) {
-    return true;
-  } else {
-    ROS_ERROR("[%s]: takeoff initiated, this should not be possible", ros::this_node::getName().c_str());
-    return false;
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
+  {
+    auto [success, message] = uh->takeoff();
+
+    if (!success) {
+      return true;
+    } else {
+      ROS_ERROR("[%s]: takeoff initiated, this should not be possible", ros::this_node::getName().c_str());
+      return false;
+    }
   }
 }
 

diff --git a/test/takeoff/test.cpp b/test/takeoff/test.cpp
@@ -10,16 +10,31 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
-  auto [success, message] = takeoff();
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
 
-  if (!success) {
-    ROS_ERROR("[%s]: takeoff failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
-    return false;
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
+  {
+    auto [success, message] = uh->takeoff();
+
+    if (!success) {
+      ROS_ERROR("[%s]: takeoff failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
   }
 
   this->sleep(5.0);
 
-  if (this->isFlyingNormally()) {
+  if (uh->isFlyingNormally()) {
     return true;
   } else {
     ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());

diff --git a/test/topic_check/test.cpp b/test/topic_check/test.cpp
@@ -10,13 +10,28 @@ class Tester : public mrs_uav_testing::TestGeneric {
 
 bool Tester::test() {
 
-  auto [success, message] = takeoff();
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
 
-  if (!success) {
-    return true;
-  } else {
-    ROS_ERROR("[%s]: takeoff initiated, this should not be possible: '%s'", ros::this_node::getName().c_str(), message.c_str());
-    return false;
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
+  {
+    auto [success, message] = uh->takeoff();
+
+    if (!success) {
+      return true;
+    } else {
+      ROS_ERROR("[%s]: takeoff initiated, this should not be possible: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
   }
 }
 

diff --git a/test/without_takeoff/test.cpp b/test/without_takeoff/test.cpp
@@ -20,6 +20,19 @@ Tester::Tester() : mrs_uav_testing::TestGeneric() {
 
 bool Tester::test() {
 
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
   // | ---------------- wait for ready to takeoff --------------- |
 
   while (true) {
@@ -30,7 +43,7 @@ bool Tester::test() {
 
     ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the MRS UAV System", name_.c_str());
 
-    if (mrsSystemReady()) {
+    if (uh->mrsSystemReady()) {
       ROS_INFO("[%s]: MRS UAV System is ready", name_.c_str());
       break;
     }
@@ -47,7 +60,7 @@ bool Tester::test() {
     srv.request.data = true;
 
     {
-      bool service_call = sch_arming_.call(srv);
+      bool service_call = uh->sch_arming_.call(srv);
 
       if (!service_call || !srv.response.success) {
         return false;
@@ -61,7 +74,7 @@ bool Tester::test() {
 
   // | --------------------- check if armed --------------------- |
 
-  if (!sh_hw_api_status_.getMsg()->armed) {
+  if (!uh->sh_hw_api_status_.getMsg()->armed) {
     return false;
   }
 
@@ -71,7 +84,7 @@ bool Tester::test() {
     std_srvs::Trigger srv;
 
     {
-      bool service_call = sch_offboard_.call(srv);
+      bool service_call = uh->sch_offboard_.call(srv);
 
       if (!service_call || !srv.response.success) {
         return false;
@@ -85,7 +98,7 @@ bool Tester::test() {
 
   // | ------------------ check if in offboard ------------------ |
 
-  if (!sh_hw_api_status_.getMsg()->offboard) {
+  if (!uh->sh_hw_api_status_.getMsg()->offboard) {
     return false;
   }
 
@@ -115,7 +128,7 @@ bool Tester::test() {
 
     ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the takeoff to finish", name_.c_str());
 
-    if (sh_control_manager_diag_.getMsg()->flying_normally) {
+    if (uh->sh_control_manager_diag_.getMsg()->flying_normally) {
 
       return true;
     }