forked from Archive/PX4-Autopilot
319 lines
12 KiB
Python
Executable File
319 lines
12 KiB
Python
Executable File
#!/usr/bin/env python2
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#***************************************************************************
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#
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# Copyright (c) 2015-2016 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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# The shebang of this file is currently Python2 because some
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# dependencies such as pymavlink don't play well with Python3 yet.
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from __future__ import division
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PKG = 'px4'
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import rospy
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import glob
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import json
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import math
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import os
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from px4tools import ulog
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import sys
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from mavros import mavlink
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from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached
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from mavros_test_common import MavrosTestCommon
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from pymavlink import mavutil
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from six.moves import xrange
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from threading import Thread
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def get_last_log():
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try:
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log_path = os.environ['PX4_LOG_DIR']
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except KeyError:
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try:
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log_path = os.path.join(os.environ['ROS_HOME'], 'log')
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except KeyError:
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log_path = os.path.join(os.environ['HOME'], '.ros/log')
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last_log_dir = sorted(glob.glob(os.path.join(log_path, '*')))[-1]
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last_log = sorted(glob.glob(os.path.join(last_log_dir, '*.ulg')))[-1]
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return last_log
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def read_mission(mission_filename):
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wps = []
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with open(mission_filename, 'r') as f:
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for waypoint in read_plan_file(f):
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wps.append(waypoint)
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rospy.logdebug(waypoint)
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# set first item to current
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if wps:
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wps[0].is_current = True
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return wps
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def read_plan_file(f):
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d = json.load(f)
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if 'mission' in d:
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d = d['mission']
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if 'items' in d:
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for wp in d['items']:
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yield Waypoint(
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is_current=False,
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frame=int(wp['frame']),
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command=int(wp['command']),
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param1=float('nan'
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if wp['params'][0] is None else wp['params'][0]),
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param2=float('nan'
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if wp['params'][1] is None else wp['params'][1]),
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param3=float('nan'
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if wp['params'][2] is None else wp['params'][2]),
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param4=float('nan'
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if wp['params'][3] is None else wp['params'][3]),
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x_lat=float(wp['params'][4]),
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y_long=float(wp['params'][5]),
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z_alt=float(wp['params'][6]),
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autocontinue=bool(wp['autoContinue']))
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else:
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raise IOError("no mission items")
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class MavrosMissionTest(MavrosTestCommon):
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"""
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Run a mission
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"""
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def setUp(self):
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super(self.__class__, self).setUp()
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self.mission_item_reached = -1 # first mission item is 0
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self.mission_name = ""
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self.mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
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self.mission_item_reached_sub = rospy.Subscriber(
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'mavros/mission/reached', WaypointReached,
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self.mission_item_reached_callback)
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# need to simulate heartbeat to prevent datalink loss detection
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self.hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(
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mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
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self.hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
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self.hb_ros_msg = mavlink.convert_to_rosmsg(self.hb_mav_msg)
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self.hb_thread = Thread(target=self.send_heartbeat, args=())
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self.hb_thread.daemon = True
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self.hb_thread.start()
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def tearDown(self):
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super(MavrosMissionTest, self).tearDown()
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#
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# Helper methods
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#
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def send_heartbeat(self):
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rate = rospy.Rate(2) # Hz
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while not rospy.is_shutdown():
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self.mavlink_pub.publish(self.hb_ros_msg)
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try: # prevent garbage in console output when thread is killed
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rate.sleep()
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except rospy.ROSInterruptException:
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pass
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def mission_item_reached_callback(self, data):
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if self.mission_item_reached != data.wp_seq:
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rospy.loginfo("mission item reached: {0}".format(data.wp_seq))
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self.mission_item_reached = data.wp_seq
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def distance_to_wp(self, lat, lon, alt):
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"""alt(amsl): meters"""
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R = 6371000 # metres
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rlat1 = math.radians(lat)
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rlat2 = math.radians(self.global_position.latitude)
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rlat_d = math.radians(self.global_position.latitude - lat)
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rlon_d = math.radians(self.global_position.longitude - lon)
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a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) + math.cos(rlat1) *
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math.cos(rlat2) * math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
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c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
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d = R * c
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alt_d = abs(alt - self.altitude.amsl)
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rospy.logdebug("d: {0}, alt_d: {1}".format(d, alt_d))
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return d, alt_d
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def reach_position(self, lat, lon, alt, timeout, index):
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"""alt(amsl): meters, timeout(int): seconds"""
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rospy.loginfo(
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"trying to reach waypoint | lat: {0:.9f}, lon: {1:.9f}, alt: {2:.2f}, index: {3}".
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format(lat, lon, alt, index))
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best_pos_xy_d = None
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best_pos_z_d = None
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reached = False
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mission_length = len(self.mission_wp.waypoints)
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# does it reach the position in 'timeout' seconds?
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loop_freq = 2 # Hz
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rate = rospy.Rate(loop_freq)
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for i in xrange(timeout * loop_freq):
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pos_xy_d, pos_z_d = self.distance_to_wp(lat, lon, alt)
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# remember best distances
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if not best_pos_xy_d or best_pos_xy_d > pos_xy_d:
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best_pos_xy_d = pos_xy_d
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if not best_pos_z_d or best_pos_z_d > pos_z_d:
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best_pos_z_d = pos_z_d
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# FCU advanced to the next mission item, or finished mission
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reached = (
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# advanced to next wp
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(index < self.mission_wp.current_seq)
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# end of mission
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or (index == (mission_length - 1) and
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self.mission_item_reached == index))
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if reached:
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rospy.loginfo(
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"position reached | pos_xy_d: {0:.2f}, pos_z_d: {1:.2f}, index: {2} | seconds: {3} of {4}".
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format(pos_xy_d, pos_z_d, index, i / loop_freq, timeout))
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break
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elif i == 0 or ((i / loop_freq) % 10) == 0:
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# log distance first iteration and every 10 sec
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rospy.loginfo(
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"current distance to waypoint | pos_xy_d: {0:.2f}, pos_z_d: {1:.2f}, index: {2}".
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format(pos_xy_d, pos_z_d, index))
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try:
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rate.sleep()
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except rospy.ROSException as e:
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self.fail(e)
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self.assertTrue(
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reached,
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"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}".
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format(lat, lon, alt, pos_xy_d, pos_z_d, best_pos_xy_d,
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best_pos_z_d, index, timeout))
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#
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# Test method
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#
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def test_mission(self):
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"""Test mission"""
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if len(sys.argv) < 2:
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self.fail("usage: mission_test.py mission_file")
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return
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self.mission_name = sys.argv[1]
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mission_file = os.path.dirname(
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os.path.realpath(__file__)) + "/missions/" + sys.argv[1]
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rospy.loginfo("reading mission {0}".format(mission_file))
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try:
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wps = read_mission(mission_file)
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except IOError as e:
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self.fail(e)
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# make sure the simulation is ready to start the mission
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self.wait_for_topics(60)
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self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
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10, -1)
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self.wait_for_mav_type(10)
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# push waypoints to FCU and start mission
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self.send_wps(wps, 30)
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self.log_topic_vars()
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self.set_mode("AUTO.MISSION", 5)
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self.set_arm(True, 5)
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rospy.loginfo("run mission {0}".format(self.mission_name))
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for index, waypoint in enumerate(wps):
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# only check position for waypoints where this makes sense
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if (waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or
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waypoint.frame == Waypoint.FRAME_GLOBAL):
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alt = waypoint.z_alt
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if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
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alt += self.altitude.amsl - self.altitude.relative
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self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 60,
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index)
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# check if VTOL transition happens if applicable
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if (waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF or
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waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND
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or waypoint.command ==
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mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION):
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transition = waypoint.param1 # used by MAV_CMD_DO_VTOL_TRANSITION
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if waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF: # VTOL takeoff implies transition to FW
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transition = mavutil.mavlink.MAV_VTOL_STATE_FW
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if waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND: # VTOL land implies transition to MC
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transition = mavutil.mavlink.MAV_VTOL_STATE_MC
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self.wait_for_vtol_state(transition, 60, index)
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# after reaching position, wait for landing detection if applicable
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if (waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND or
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waypoint.command == mavutil.mavlink.MAV_CMD_NAV_LAND):
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self.wait_for_landed_state(
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mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND, 120, index)
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self.set_arm(False, 5)
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self.clear_wps(5)
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rospy.loginfo("mission done, calculating performance metrics")
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last_log = get_last_log()
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rospy.loginfo("log file {0}".format(last_log))
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data = ulog.read_ulog(last_log).concat(dt=0.1)
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data = ulog.compute_data(data)
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res = ulog.estimator_analysis(data, False)
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# enforce performance
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self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res))
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self.assertTrue(abs(res['pitch_error_mean']) < 5.0, str(res))
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self.assertTrue(abs(res['yaw_error_mean']) < 5.0, str(res))
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self.assertTrue(res['roll_error_std'] < 5.0, str(res))
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self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
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self.assertTrue(res['yaw_error_std'] < 5.0, str(res))
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if __name__ == '__main__':
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import rostest
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rospy.init_node('test_node', anonymous=True)
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name = "mavros_mission_test"
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if len(sys.argv) > 1:
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name += "-%s" % sys.argv[1]
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rostest.rosrun(PKG, name, MavrosMissionTest)
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