updated tests

src/automatic_start.cpp

@@ -132,7 +132,6 @@ class AutomaticStart : public nodelet::Nodelet {
 
   bool takeoff();
 
-  bool elandImpl();
   bool validateReference();
 
   bool toggleControlOutput(const bool& value);
@@ -606,37 +605,6 @@ bool AutomaticStart::takeoff() {
 
 //}
 
-/* elandImpl() //{ */
-
-bool AutomaticStart::elandImpl() {
-
-  ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: elanding");
-
-  std_srvs::Trigger srv;
-
-  bool res = service_client_eland_.call(srv);
-
-  if (res) {
-
-    if (srv.response.success) {
-
-      return true;
-
-    } else {
-
-      ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: elanding failed: %s", srv.response.message.c_str());
-    }
-
-  } else {
-
-    ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for elanding failed");
-  }
-
-  return false;
-}
-
-//}
-
 /* validateReference() //{ */
 
 bool AutomaticStart::validateReference() {

test/CMakeLists.txt

@@ -1,4 +1,20 @@
 find_package(rostest REQUIRED)
-find_package(mrs_uav_testing REQUIRED)
+find_package(catkin REQUIRED COMPONENTS mrs_uav_testing)
 
+# 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)
+
+# will test the "handle_takeoff: false" option
+add_subdirectory(without_takeoff)
+
+# will test if takeoff is not allowed when UAV is moving
+add_subdirectory(moving_drone)
+
+# will test if takeoff is not allowed if topic check fails
+add_subdirectory(topic_check)

test/coverage.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+PACKAGE_NAME=mrs_uav_autostart
+
+while [ ! -e ".catkin_tools" ]; do
+  cd ..
+  if [[ `pwd` == "/" ]]; then
+    # we reached the root and didn't find the build/COLCON_IGNORE file - that's a fail!
+    echo "$0: could not find the root of the current workspace".
+    return 1
+  fi
+done
+
+cd build
+
+lcov --capture --directory . --output-file coverage.info
+lcov --remove coverage.info "*/test/*" --output-file coverage.info.removed
+lcov --extract coverage.info.removed "*/mrs_uav_autostart/*" --output-file coverage.info.cleaned
+genhtml -o coverage_html coverage.info.cleaned | tee /tmp/genhtml.log
+
+COVERAGE_PCT=`cat /tmp/genhtml.log | tail -n 1 | awk '{print $2}'`
+
+echo "Coverage: $COVERAGE_PCT"
+
+xdg-open coverage_html/index.html

test/gazebo_takeoff/CMakeLists.txt

@@ -0,0 +1,21 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test
+  ARGS
+  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
+  package_name:=${PROJECT_NAME}
+  test_name:=${TEST_NAME}
+  )

test/gazebo_takeoff/gazebo_takeoff.test

@@ -0,0 +1,30 @@
+<launch>
+
+  <arg name="UAV_NAME" default="uav1" />
+  <arg name="UAV_TYPE" default="x500" />
+
+  <!-- these will be filled in from the CMakeLists -->
+  <arg name="test_path" default="" />
+  <arg name="test_name" default="" />
+  <arg name="package_name" default="" />
+
+  <include file="$(find mrs_uav_testing)/launch/gazebo_simulator.launch" />
+
+  <include file="$(find mrs_uav_px4_api)/launch/api.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+    <arg name="RUN_TYPE" default="simulation" />
+  </include>
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
+    <arg name="automatic_start" default="true" />
+    <arg name="platform_config" default="$(find mrs_uav_gazebo_simulation)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+    <param name="test_name" value="$(arg test_name)" />
+    <param name="uav_name" value="$(arg UAV_NAME)" />
+    <param name="gazebo_spawner_params" value="1 --$(arg UAV_TYPE) --enable-rangefinder" />
+  </test>
+
+</launch>

test/gazebo_takeoff/test.cpp

@@ -0,0 +1,62 @@
+#include <gtest/gtest.h>
+
+#include <mrs_uav_testing/test_generic.h>
+
+class Tester : public mrs_uav_testing::TestGeneric {
+
+public:
+  bool test();
+};
+
+bool Tester::test() {
+
+  {
+    auto [success, message] = spawnGazeboUav();
+
+    if (!success) {
+      ROS_ERROR("[%s]: gazebo UAV spawning failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  {
+    auto [success, message] = takeoff();
+
+    if (!success) {
+      ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  this->sleep(5.0);
+
+  if (this->isFlyingNormally()) {
+    return true;
+  } else {
+    ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
+    return false;
+  }
+}
+
+
+TEST(TESTSuite, test) {
+
+  Tester tester;
+
+  bool result = tester.test();
+
+  if (result) {
+    GTEST_SUCCEED();
+  } else {
+    GTEST_FAIL();
+  }
+}
+
+int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) {
+
+  ros::init(argc, argv, "test");
+
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}

test/moving_drone/CMakeLists.txt

@@ -0,0 +1,21 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test
+  ARGS
+  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
+  package_name:=${PROJECT_NAME}
+  test_name:=${TEST_NAME}
+  )

test/moving_drone/moving_drone.test

@@ -0,0 +1,30 @@
+<launch>
+
+  <arg name="UAV_NAME" default="uav1" />
+  <arg name="UAV_TYPE" default="x500" />
+
+  <!-- these will be filled in from the CMakeLists -->
+  <arg name="test_path" default="" />
+  <arg name="test_name" default="" />
+  <arg name="package_name" default="" />
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
+    <arg name="automatic_start" default="true" />
+    <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+    <param name="test_name" value="$(arg test_name)" />
+    <param name="uav_name" value="$(arg UAV_NAME)" />
+  </test>
+
+</launch>

test/moving_drone/test.cpp

@@ -0,0 +1,70 @@
+#include <gtest/gtest.h>
+
+#include <mrs_uav_testing/test_generic.h>
+
+#include <mrs_msgs/HwApiVelocityHdgCmd.h>
+
+class Tester : public mrs_uav_testing::TestGeneric {
+
+public:
+  Tester();
+
+  bool test();
+
+  mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd> ph_velocity_;
+
+  ros::Timer timer_main_;
+  void       timerMain(const ros::TimerEvent& event);
+};
+
+Tester::Tester() : mrs_uav_testing::TestGeneric() {
+
+  ph_velocity_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh_, "/multirotor_simulator/" + _uav_name_ + "/velocity_hdg_cmd");
+
+  timer_main_ = nh_.createTimer(ros::Rate(100.0), &Tester::timerMain, this, false, true);
+}
+
+void Tester::timerMain(const ros::TimerEvent& event) {
+
+  mrs_msgs::HwApiVelocityHdgCmd msg;
+
+  msg.velocity.x = 0.5;
+  msg.velocity.z = 0.1;
+
+  ph_velocity_.publish(msg);
+}
+
+bool Tester::test() {
+
+  auto [success, message] = takeoff();
+
+  if (!success) {
+    return true;
+  } else {
+    ROS_ERROR("[%s]: takeoff initiated, this should not be possible", ros::this_node::getName().c_str());
+    return false;
+  }
+}
+
+
+TEST(TESTSuite, test) {
+
+  Tester tester;
+
+  bool result = tester.test();
+
+  if (result) {
+    GTEST_SUCCEED();
+  } else {
+    GTEST_FAIL();
+  }
+}
+
+int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) {
+
+  ros::init(argc, argv, "test");
+
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}

test/outside_safety_area/CMakeLists.txt

@@ -0,0 +1,21 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test
+  ARGS
+  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
+  package_name:=${PROJECT_NAME}
+  test_name:=${TEST_NAME}
+  )

test/outside_safety_area/config/mrs_simulator.yaml

@@ -0,0 +1,14 @@
+individual_takeoff_platform:
+  enabled: false
+
+uav_names: [
+  "uav1",
+]
+
+uav1:
+  type: "x500"
+  spawn:
+    x: 500.0
+    y: 500.0
+    z: 0.0
+    heading: 0