px4-firmware/test/mavsdk_tests/autopilot_tester.h

303 lines
11 KiB
C++

/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <mavsdk/mavsdk.h>
#include <mavsdk/geometry.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/failure/failure.h>
#include <mavsdk/plugins/info/info.h>
#include <mavsdk/plugins/manual_control/manual_control.h>
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
#include <mavsdk/plugins/mission/mission.h>
#include <mavsdk/plugins/mission_raw/mission_raw.h>
#include <mavsdk/plugins/offboard/offboard.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/param/param.h>
#include "catch2/catch.hpp"
#include <atomic>
#include <chrono>
#include <ctime>
#include <functional>
#include <iostream>
#include <memory>
#include <optional>
#include <thread>
extern std::string connection_url;
extern std::optional<float> speed_factor;
using namespace mavsdk;
using namespace mavsdk::geometry;
inline std::string time_str()
{
time_t rawtime;
time(&rawtime);
struct tm *timeinfo = localtime(&rawtime);
char time_buffer[18];
strftime(time_buffer, 18, "[%I:%M:%S|Info ] ", timeinfo);
return time_buffer;
}
class AutopilotTester
{
public:
struct MissionOptions {
double leg_length_m {20.0};
double relative_altitude_m {10.0};
bool rtl_at_end {false};
bool fly_through {false};
};
enum class HeightSource {
Baro,
Gps
};
enum class RcLossException {
Mission = 0,
Hold = 1,
Offboard = 2
};
AutopilotTester();
~AutopilotTester();
void connect(const std::string uri);
/**
* @brief Wait until vehicle's system status is healthy & is able to arm
*/
void wait_until_ready();
void store_home();
void check_home_within(float acceptance_radius_m);
void check_home_not_within(float min_distance_m);
void set_takeoff_altitude(const float altitude_m);
void set_rtl_altitude(const float altitude_m);
void set_height_source(HeightSource height_source);
void set_rc_loss_exception(RcLossException mask);
void set_param_vt_fwd_thrust_en(int value);
void arm();
void takeoff();
void land();
void transition_to_fixedwing();
void transition_to_multicopter();
void wait_until_disarmed(std::chrono::seconds timeout_duration = std::chrono::seconds(60));
void wait_until_hovering(); // TODO: name suggests, that function waits for drone velocity to be zero and not just drone in the air
void wait_until_altitude(float rel_altitude_m, std::chrono::seconds timeout);
void wait_until_fixedwing(std::chrono::seconds timeout);
void wait_until_speed_lower_than(float speed, std::chrono::seconds timeout);
void prepare_square_mission(MissionOptions mission_options);
void prepare_straight_mission(MissionOptions mission_options);
void execute_mission();
void execute_mission_and_lose_gps();
void execute_mission_and_lose_mag();
void execute_mission_and_get_mag_stuck();
void execute_mission_and_lose_baro();
void execute_mission_and_get_baro_stuck();
void load_qgc_mission_raw_and_move_here(const std::string &plan_file);
void execute_mission_raw();
void execute_rtl();
void execute_land();
void offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m = 0.3f,
std::chrono::seconds timeout_duration = std::chrono::seconds(60));
void offboard_land();
void fly_forward_in_posctl();
void fly_forward_in_altctl();
void fly_forward_in_offboard_attitude();
void request_ground_truth();
void check_mission_item_speed_above(int item_index, float min_speed_m_s);
void check_tracks_mission(float corridor_radius_m = 1.5f);
void check_tracks_mission_raw(float corridor_radius_m = 1.f, bool reverse = false);
void check_mission_land_within(float acceptance_radius_m);
void start_checking_altitude(const float max_deviation_m);
void stop_checking_altitude();
void check_current_altitude(float target_rel_altitude_m, float max_distance_m = 1.5f);
void execute_rtl_when_reaching_mission_sequence(int sequence_number);
void send_custom_mavlink_command(const MavlinkPassthrough::CommandInt &command);
void send_custom_mavlink_message(mavlink_message_t &message);
void add_mavlink_message_callback(uint16_t message_id, std::function< void(const mavlink_message_t &)> callback);
void enable_fixedwing_mectrics();
void check_airspeed_is_valid();
void check_airspeed_is_invalid();
// Blocking call to get the drone's current position in NED frame
std::array<float, 3> get_current_position_ned();
void set_param_int(const std::string &param, int32_t value)
{
CHECK(_param->set_param_int(param, value) == Param::Result::Success);
}
protected:
mavsdk::Param *getParams() const { return _param.get();}
mavsdk::Telemetry *getTelemetry() const { return _telemetry.get();}
mavsdk::ManualControl *getManualControl() const { return _manual_control.get();}
MavlinkPassthrough *getMavlinkPassthrough() const { return _mavlink_passthrough.get();}
std::shared_ptr<System> get_system() { return _mavsdk.systems().at(0);}
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
const Telemetry::GroundTruth &getHome()
{
// Check if home was stored before it is accessed
CHECK(_home.absolute_altitude_m != NAN);
CHECK(_home.latitude_deg != NAN);
CHECK(_home.longitude_deg != NAN);
return _home;
}
template<typename Rep, typename Period>
void sleep_for(std::chrono::duration<Rep, Period> duration)
{
const std::chrono::microseconds duration_us(duration);
if (_telemetry && _telemetry->attitude_quaternion().timestamp_us != 0) {
const int64_t start_time_us = _telemetry->attitude_quaternion().timestamp_us;
while (true) {
// Hopefully this is often enough not to have PX4 time out on us.
std::this_thread::sleep_for(std::chrono::milliseconds(1));
const int64_t elapsed_time_us = _telemetry->attitude_quaternion().timestamp_us - start_time_us;
if (elapsed_time_us > duration_us.count()) {
return;
}
}
} else {
std::this_thread::sleep_for(duration);
}
}
private:
mavsdk::Mission::MissionItem create_mission_item(
const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate,
const MissionOptions &mission_options,
const mavsdk::geometry::CoordinateTransformation &ct);
bool ground_truth_horizontal_position_far_from(const Telemetry::GroundTruth &target_pos, float min_distance_m);
bool estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
bool estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
void start_and_wait_for_mission_sequence(int sequence_number);
void start_and_wait_for_mission_sequence_raw(int sequence_number);
void wait_for_flight_mode(Telemetry::FlightMode flight_mode, std::chrono::seconds timeout);
void wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout);
void wait_for_mission_finished(std::chrono::seconds timeout);
void wait_for_mission_raw_finished(std::chrono::seconds timeout);
void move_mission_raw_here(std::vector<mavsdk::MissionRaw::MissionItem> &mission_items);
void report_speed_factor();
/**
* @brief Continue polling until condition returns true or we have a timeout
*
* @param fun Boolean returning function. When true, the polling terminates.
* @param duration Timeout for polling in `std::chrono::` time unit
*/
template<typename Rep, typename Period>
bool poll_condition_with_timeout(
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
{
static constexpr unsigned check_resolution = 100;
const std::chrono::microseconds duration_us(duration);
if (_telemetry && _telemetry->attitude_quaternion().timestamp_us != 0) {
// A system is connected. We can base the timeouts on the autopilot time.
const int64_t start_time_us = _telemetry->attitude_quaternion().timestamp_us;
while (!fun()) {
std::this_thread::sleep_for(duration_us / check_resolution);
// This might potentially loop forever and the test needs to be killed by a watchdog outside.
// The reason not to include an absolute timeout here is that it can happen if the host is
// busy and PX4 doesn't run fast enough.
const int64_t elapsed_time_us = _telemetry->attitude_quaternion().timestamp_us - start_time_us;
if (elapsed_time_us > duration_us.count()) {
std::cout << time_str() << "Timeout, connected to vehicle but waiting for test for " << static_cast<double>
(elapsed_time_us) / 1e6 << " seconds\n";
return false;
}
}
} else {
// Nothing is connected yet. Use the host time.
const auto start_time = std::chrono::steady_clock::now();
while (!fun()) {
std::this_thread::sleep_for(duration_us / check_resolution);
const auto elapsed_time_us = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::steady_clock::now() -
start_time);
if (elapsed_time_us > duration_us) {
std::cout << time_str() << "Timeout, waiting for the vehicle for "
<< elapsed_time_us.count() * std::chrono::steady_clock::period::num
/ static_cast<double>(std::chrono::steady_clock::period::den)
<< " seconds\n";
return false;
}
}
}
return true;
}
mavsdk::Mavsdk _mavsdk{};
std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Failure> _failure{};
std::unique_ptr<mavsdk::Info> _info{};
std::unique_ptr<mavsdk::ManualControl> _manual_control{};
std::unique_ptr<MavlinkPassthrough> _mavlink_passthrough;
std::unique_ptr<mavsdk::Mission> _mission{};
std::unique_ptr<mavsdk::MissionRaw> _mission_raw{};
std::unique_ptr<mavsdk::Offboard> _offboard{};
std::unique_ptr<mavsdk::Param> _param{};
std::unique_ptr<mavsdk::Telemetry> _telemetry{};
Telemetry::GroundTruth _home{NAN, NAN, NAN};
std::atomic<bool> _should_exit {false};
std::thread _real_time_report_thread {};
};