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[RosTest] refactor the flight control test script to be based on the …
…new state machine system
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aerial_robot_base/src/aerial_robot_base/hovering_check.py
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| #!/usr/bin/env python | ||
| # -*- coding: utf-8 -*- | ||
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| # Software License Agreement (BSD License) | ||
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| # Copyright (c) 2025, DRAGON Laboratory, The University of Tokyo | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright | ||
| # notice, this list of conditions and the following disclaimer. | ||
| # * 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. | ||
| # * Neither the name of the Willow Garage, Inc. 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. | ||
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| import sys | ||
| import unittest | ||
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| import rospy | ||
| import rostest | ||
| from aerial_robot_base.state_machine import * | ||
| from std_msgs.msg import Empty | ||
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| PKG = 'rostest' | ||
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| # Template for simple demo | ||
| class HoverMotion(): | ||
| def __init__(self): | ||
| self.robot = RobotInterface() | ||
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| self.sm_top = smach.StateMachine(outcomes=['succeeded', 'preempted']) | ||
| self.sm_top.userdata.flags = {} | ||
| self.sm_top.userdata.extra = {} | ||
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| with self.sm_top: | ||
| smach.StateMachine.add('Start', Start(self.robot), | ||
| transitions={'succeeded':'Arm', | ||
| 'preempted':'preempted'}, | ||
| remapping={'flags':'flags', 'extra':'extra'}) | ||
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| smach.StateMachine.add('Arm', Arm(self.robot), | ||
| transitions={'succeeded':'Takeoff', | ||
| 'preempted':'preempted'}, | ||
| remapping={'flags':'flags', 'extra':'extra'}) | ||
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| smach.StateMachine.add('Takeoff', Takeoff(self.robot), | ||
| transitions={'succeeded':'WayPoint', | ||
| 'preempted':'preempted'}, | ||
| remapping={'flags':'flags', 'extra':'extra'}) | ||
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| smach.StateMachine.add('WayPoint', WayPoint(self.robot), | ||
| transitions={'succeeded':'Land', | ||
| 'preempted':'preempted'}, | ||
| remapping={'flags':'flags', 'extra':'extra'}) | ||
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| smach.StateMachine.add('Land', Land(self.robot), | ||
| transitions={'succeeded':'succeeded', | ||
| 'preempted':'preempted'}, | ||
| remapping={'flags':'flags', 'extra':'extra'}) | ||
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| self.sis = smach_ros.IntrospectionServer('task_smach_server', self.sm_top, '/SM_ROOT') | ||
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| def startMotion(self): | ||
| self.sis.start() | ||
| outcome = self.sm_top.execute() | ||
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| self.sis.stop() | ||
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| if outcome == 'succeeded': | ||
| return True | ||
| else: | ||
| return False | ||
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| class HoveringTest(unittest.TestCase): | ||
| def __init__(self, *args): | ||
| super(self.__class__, self).__init__(*args) | ||
| rospy.init_node("hovering_test") | ||
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| def test_hovering(self): | ||
| checker = HoverMotion() | ||
| self.assertTrue(checker.startMotion()) | ||
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| if __name__ == '__main__': | ||
| print("start check hovering") | ||
| try: | ||
| rostest.run(PKG, 'hovering_check', HoveringTest, sys.argv) | ||
| except KeyboardInterrupt: | ||
| pass | ||
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| print("exiting") |
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