forked from Archive/PX4-Autopilot
198 lines
7.3 KiB
Python
198 lines
7.3 KiB
Python
#!/usr/bin/env python
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#***************************************************************************
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#
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# Copyright (c) 2015 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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import rospy
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import threading
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from px4.msg import vehicle_local_position
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from gazebo_msgs.srv import SpawnModel
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from gazebo_msgs.srv import SetModelState
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from gazebo_msgs.srv import DeleteModel
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from geometry_msgs.msg import Pose
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from geometry_msgs.msg import Twist
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from numpy import linalg
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import numpy as np
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#
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# Helper to test if vehicle stays on expected flight path.
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#
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class FlightPathAssertion(threading.Thread):
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#
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# Arguments
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# - positions: tuple of tuples in the form (x, y, z, heading)
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#
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# TODO: yaw validation
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# TODO: fail main test thread
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#
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def __init__(self, positions, tunnelRadius=1, yaw_offset=0.2):
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threading.Thread.__init__(self)
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rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
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self.spawn_model = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
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self.set_model_state = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
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self.delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
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self.positions = positions
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self.tunnel_radius = tunnelRadius
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self.yaw_offset = yaw_offset
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self.has_pos = False
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self.should_stop = False
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self.center = positions[0]
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self.end_of_segment = False
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self.failed = False
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self.local_position = vehicle_local_position
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def position_callback(self, data):
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self.has_pos = True
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self.local_position = data
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def spawn_indicator(self):
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self.delete_model("indicator")
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xml = (
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"<?xml version='1.0'?>" +
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"<sdf version='1.4'>" +
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"<model name='indicator'>" +
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"<static>true</static>" +
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"<link name='link'>" +
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"<visual name='visual'>" +
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"<transparency>0.7</transparency>" +
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"<geometry>" +
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"<sphere>" +
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"<radius>%f</radius>" +
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"</sphere>" +
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"</geometry>" +
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"<material>" +
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"<ambient>1 0 0 0.5</ambient>" +
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"<diffuse>1 0 0 0.5</diffuse>" +
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"</material>" +
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"</visual>" +
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"</link>" +
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"</model>" +
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"</sdf>") % self.tunnel_radius
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self.spawn_model("indicator", xml, "", Pose(), "")
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def position_indicator(self):
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state = SetModelState()
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state.model_name = "indicator"
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pose = Pose()
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pose.position.x = self.center[0]
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pose.position.y = (-1) * self.center[1]
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pose.position.z = (-1) * self.center[2]
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state.pose = pose
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state.twist = Twist()
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state.reference_frame = ""
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self.set_model_state(state)
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def distance_to_line(self, a, b, pos):
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v = b - a
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w = pos - a
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c1 = np.dot(w, v)
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if c1 <= 0: # before a
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self.center = a
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return linalg.norm(pos - a)
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c2 = np.dot(v, v)
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if c2 <= c1: # after b
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self.center = b
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self.end_of_segment = True
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return linalg.norm(pos - b)
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x = c1 / c2
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l = a + x * v
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self.center = l
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return linalg.norm(pos - l)
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def stop(self):
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self.should_stop = True
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def run(self):
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rate = rospy.Rate(10) # 10hz
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self.spawn_indicator()
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current = 0
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count = 0
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while not self.should_stop:
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if self.has_pos:
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# calculate distance to line segment between first two points
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# if distances > tunnel_radius
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# exit with error
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# advance current pos if not on the line anymore or distance to next point < tunnel_radius
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# exit if current pos is now the last position
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self.position_indicator()
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pos = np.array((self.local_position.x,
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self.local_position.y,
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self.local_position.z))
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a_pos = np.array((self.positions[current][0],
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self.positions[current][1],
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self.positions[current][2]))
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b_pos = np.array((self.positions[current + 1][0],
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self.positions[current + 1][1],
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self.positions[current + 1][2]))
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dist = self.distance_to_line(a_pos, b_pos, pos)
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b_dist = linalg.norm(pos - b_pos)
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rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, b_dist))
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if dist > self.tunnel_radius:
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msg = "left tunnel at position (%f, %f, %f)" % (self.local_position.x, self.local_position.y, self.local_position.z)
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rospy.logerr(msg)
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self.failed = True
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break
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if self.end_of_segment or b_dist < self.tunnel_radius:
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rospy.loginfo("next segment")
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self.end_of_segment = False
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current = current + 1
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if current == len(self.positions) - 1:
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rospy.loginfo("no more positions")
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break
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rate.sleep()
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count = count + 1
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if count > 10 and not self.has_pos: # no position after 1 sec
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rospy.logerr("no position")
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self.failed = True
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break
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