forked from Archive/PX4-Autopilot
101 lines
3.6 KiB
C++
101 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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#include "autopilot_tester_failure.h"
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#include "math_helpers.h"
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#include <iostream>
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#include <future>
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#include <thread>
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#include <unistd.h>
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void AutopilotTesterFailure::connect(const std::string uri)
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{
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AutopilotTester::connect(uri);
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auto system = get_system();
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_failure.reset(new Failure(system));
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}
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void AutopilotTesterFailure::set_param_sys_failure_en(bool value)
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{
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CHECK(getParams()->set_param_int("SYS_FAILURE_EN", value) == Param::Result::Success);
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}
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void AutopilotTesterFailure::set_param_fd_act_en(bool value)
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{
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CHECK(getParams()->set_param_int("FD_ACT_EN", value) == Param::Result::Success);
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}
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void AutopilotTesterFailure::set_param_mc_airmode(int value)
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{
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CHECK(getParams()->set_param_int("MC_AIRMODE", value) == Param::Result::Success);
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}
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void AutopilotTesterFailure::set_param_ca_failure_mode(int value)
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{
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CHECK(getParams()->set_param_int("CA_FAILURE_MODE", value) == Param::Result::Success);
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}
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void AutopilotTesterFailure::set_param_com_act_fail_act(int value)
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{
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CHECK(getParams()->set_param_int("COM_ACT_FAIL_ACT", value) == Param::Result::Success);
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}
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void AutopilotTesterFailure::inject_failure(mavsdk::Failure::FailureUnit failure_unit,
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mavsdk::Failure::FailureType failure_type, int instance, mavsdk::Failure::Result expected_result)
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{
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CHECK(_failure->inject(failure_unit, failure_type, instance) == expected_result);
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}
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void AutopilotTesterFailure::enable_actuator_output_status()
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{
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CHECK(getTelemetry()->set_rate_actuator_output_status(20.f) == Telemetry::Result::Success);
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}
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void AutopilotTesterFailure::ensure_motor_stopped(unsigned index, unsigned num_motors)
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{
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const Telemetry::ActuatorOutputStatus &status = getTelemetry()->actuator_output_status();
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CHECK(status.active >= num_motors);
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for (unsigned i = 0; i < num_motors; ++i) {
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if (i == index) {
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CHECK(status.actuator[i] <= 901.f);
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} else { // ensure all others are still running
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CHECK(status.actuator[i] >= 999.f);
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}
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}
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}
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