px4-firmware/integrationtests/python_src/px4_it/mavros/mission_test.py

319 lines
12 KiB
Python
Executable File

#!/usr/bin/env python2
#***************************************************************************
#
# Copyright (c) 2015-2016 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.
#
#***************************************************************************/
#
# @author Andreas Antener <andreas@uaventure.com>
#
# The shebang of this file is currently Python2 because some
# dependencies such as pymavlink don't play well with Python3 yet.
from __future__ import division
PKG = 'px4'
import rospy
import glob
import json
import math
import os
from px4tools import ulog
import sys
from mavros import mavlink
from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached
from mavros_test_common import MavrosTestCommon
from pymavlink import mavutil
from six.moves import xrange
from threading import Thread
def get_last_log():
try:
log_path = os.environ['PX4_LOG_DIR']
except KeyError:
try:
log_path = os.path.join(os.environ['ROS_HOME'], 'log')
except KeyError:
log_path = os.path.join(os.environ['HOME'], '.ros/log')
last_log_dir = sorted(glob.glob(os.path.join(log_path, '*')))[-1]
last_log = sorted(glob.glob(os.path.join(last_log_dir, '*.ulg')))[-1]
return last_log
def read_mission(mission_filename):
wps = []
with open(mission_filename, 'r') as f:
for waypoint in read_plan_file(f):
wps.append(waypoint)
rospy.logdebug(waypoint)
# set first item to current
if wps:
wps[0].is_current = True
return wps
def read_plan_file(f):
d = json.load(f)
if 'mission' in d:
d = d['mission']
if 'items' in d:
for wp in d['items']:
yield Waypoint(
is_current=False,
frame=int(wp['frame']),
command=int(wp['command']),
param1=float('nan'
if wp['params'][0] is None else wp['params'][0]),
param2=float('nan'
if wp['params'][1] is None else wp['params'][1]),
param3=float('nan'
if wp['params'][2] is None else wp['params'][2]),
param4=float('nan'
if wp['params'][3] is None else wp['params'][3]),
x_lat=float(wp['params'][4]),
y_long=float(wp['params'][5]),
z_alt=float(wp['params'][6]),
autocontinue=bool(wp['autoContinue']))
else:
raise IOError("no mission items")
class MavrosMissionTest(MavrosTestCommon):
"""
Run a mission
"""
def setUp(self):
super(self.__class__, self).setUp()
self.mission_item_reached = -1 # first mission item is 0
self.mission_name = ""
self.mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
self.mission_item_reached_sub = rospy.Subscriber(
'mavros/mission/reached', WaypointReached,
self.mission_item_reached_callback)
# need to simulate heartbeat to prevent datalink loss detection
self.hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(
mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
self.hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
self.hb_ros_msg = mavlink.convert_to_rosmsg(self.hb_mav_msg)
self.hb_thread = Thread(target=self.send_heartbeat, args=())
self.hb_thread.daemon = True
self.hb_thread.start()
def tearDown(self):
super(MavrosMissionTest, self).tearDown()
#
# Helper methods
#
def send_heartbeat(self):
rate = rospy.Rate(2) # Hz
while not rospy.is_shutdown():
self.mavlink_pub.publish(self.hb_ros_msg)
try: # prevent garbage in console output when thread is killed
rate.sleep()
except rospy.ROSInterruptException:
pass
def mission_item_reached_callback(self, data):
if self.mission_item_reached != data.wp_seq:
rospy.loginfo("mission item reached: {0}".format(data.wp_seq))
self.mission_item_reached = data.wp_seq
def distance_to_wp(self, lat, lon, alt):
"""alt(amsl): meters"""
R = 6371000 # metres
rlat1 = math.radians(lat)
rlat2 = math.radians(self.global_position.latitude)
rlat_d = math.radians(self.global_position.latitude - lat)
rlon_d = math.radians(self.global_position.longitude - lon)
a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) + math.cos(rlat1) *
math.cos(rlat2) * math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
d = R * c
alt_d = abs(alt - self.altitude.amsl)
rospy.logdebug("d: {0}, alt_d: {1}".format(d, alt_d))
return d, alt_d
def reach_position(self, lat, lon, alt, timeout, index):
"""alt(amsl): meters, timeout(int): seconds"""
rospy.loginfo(
"trying to reach waypoint | lat: {0:.9f}, lon: {1:.9f}, alt: {2:.2f}, index: {3}".
format(lat, lon, alt, index))
best_pos_xy_d = None
best_pos_z_d = None
reached = False
mission_length = len(self.mission_wp.waypoints)
# does it reach the position in 'timeout' seconds?
loop_freq = 2 # Hz
rate = rospy.Rate(loop_freq)
for i in xrange(timeout * loop_freq):
pos_xy_d, pos_z_d = self.distance_to_wp(lat, lon, alt)
# remember best distances
if not best_pos_xy_d or best_pos_xy_d > pos_xy_d:
best_pos_xy_d = pos_xy_d
if not best_pos_z_d or best_pos_z_d > pos_z_d:
best_pos_z_d = pos_z_d
# FCU advanced to the next mission item, or finished mission
reached = (
# advanced to next wp
(index < self.mission_wp.current_seq)
# end of mission
or (index == (mission_length - 1) and
self.mission_item_reached == index))
if reached:
rospy.loginfo(
"position reached | pos_xy_d: {0:.2f}, pos_z_d: {1:.2f}, index: {2} | seconds: {3} of {4}".
format(pos_xy_d, pos_z_d, index, i / loop_freq, timeout))
break
elif i == 0 or ((i / loop_freq) % 10) == 0:
# log distance first iteration and every 10 sec
rospy.loginfo(
"current distance to waypoint | pos_xy_d: {0:.2f}, pos_z_d: {1:.2f}, index: {2}".
format(pos_xy_d, pos_z_d, index))
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(
reached,
"position not reached | lat: {0:.9f}, lon: {1:.9f}, alt: {2:.2f}, current pos_xy_d: {3:.2f}, current pos_z_d: {4:.2f}, best pos_xy_d: {5:.2f}, best pos_z_d: {6:.2f}, index: {7} | timeout(seconds): {8}".
format(lat, lon, alt, pos_xy_d, pos_z_d, best_pos_xy_d,
best_pos_z_d, index, timeout))
#
# Test method
#
def test_mission(self):
"""Test mission"""
if len(sys.argv) < 2:
self.fail("usage: mission_test.py mission_file")
return
self.mission_name = sys.argv[1]
mission_file = os.path.dirname(
os.path.realpath(__file__)) + "/missions/" + sys.argv[1]
rospy.loginfo("reading mission {0}".format(mission_file))
try:
wps = read_mission(mission_file)
except IOError as e:
self.fail(e)
# make sure the simulation is ready to start the mission
self.wait_for_topics(60)
self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
10, -1)
self.wait_for_mav_type(10)
# push waypoints to FCU and start mission
self.send_wps(wps, 30)
self.log_topic_vars()
self.set_mode("AUTO.MISSION", 5)
self.set_arm(True, 5)
rospy.loginfo("run mission {0}".format(self.mission_name))
for index, waypoint in enumerate(wps):
# only check position for waypoints where this makes sense
if (waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or
waypoint.frame == Waypoint.FRAME_GLOBAL):
alt = waypoint.z_alt
if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
alt += self.altitude.amsl - self.altitude.relative
self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 60,
index)
# check if VTOL transition happens if applicable
if (waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF or
waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND
or waypoint.command ==
mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION):
transition = waypoint.param1 # used by MAV_CMD_DO_VTOL_TRANSITION
if waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF: # VTOL takeoff implies transition to FW
transition = mavutil.mavlink.MAV_VTOL_STATE_FW
if waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND: # VTOL land implies transition to MC
transition = mavutil.mavlink.MAV_VTOL_STATE_MC
self.wait_for_vtol_state(transition, 60, index)
# after reaching position, wait for landing detection if applicable
if (waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND or
waypoint.command == mavutil.mavlink.MAV_CMD_NAV_LAND):
self.wait_for_landed_state(
mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND, 120, index)
self.set_arm(False, 5)
self.clear_wps(5)
rospy.loginfo("mission done, calculating performance metrics")
last_log = get_last_log()
rospy.loginfo("log file {0}".format(last_log))
data = ulog.read_ulog(last_log).concat(dt=0.1)
data = ulog.compute_data(data)
res = ulog.estimator_analysis(data, False)
# enforce performance
self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res))
self.assertTrue(abs(res['pitch_error_mean']) < 5.0, str(res))
self.assertTrue(abs(res['yaw_error_mean']) < 5.0, str(res))
self.assertTrue(res['roll_error_std'] < 5.0, str(res))
self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
self.assertTrue(res['yaw_error_std'] < 5.0, str(res))
if __name__ == '__main__':
import rostest
rospy.init_node('test_node', anonymous=True)
name = "mavros_mission_test"
if len(sys.argv) > 1:
name += "-%s" % sys.argv[1]
rostest.rosrun(PKG, name, MavrosMissionTest)