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Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/pre_arm_check_service.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| #!/usr/bin/env python3 | ||
| # Copyright 2023 ArduPilot.org. | ||
| # | ||
| # This program is free software: you can redistribute it and/or modify | ||
| # it under the terms of the GNU General Public License as published by | ||
| # the Free Software Foundation, either version 3 of the License, or | ||
| # (at your option) any later version. | ||
| # | ||
| # This program is distributed in the hope that it will be useful, | ||
| # but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| # GNU General Public License for more details. | ||
| # | ||
| # You should have received a copy of the GNU General Public License | ||
| # along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
|
|
||
| """ | ||
| Run pre_arm check test on Copter. | ||
| Warning - This is NOT production code; it's a simple demo of capability. | ||
| """ | ||
|
|
||
| import math | ||
| import rclpy | ||
| import time | ||
| import errno | ||
|
|
||
| from rclpy.node import Node | ||
| from builtin_interfaces.msg import Time | ||
| from std_srvs.srv import Trigger | ||
|
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|
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| class CopterPreArm(Node): | ||
| """Check Prearm Service.""" | ||
|
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| def __init__(self): | ||
| """Initialise the node.""" | ||
| super().__init__("copter_prearm") | ||
|
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| self.declare_parameter("pre_arm_service", "/ap/prearm_check") | ||
| self._prearm_service = self.get_parameter("pre_arm_service").get_parameter_value().string_value | ||
| self._client_prearm = self.create_client(Trigger, self._prearm_service) | ||
| while not self._client_prearm.wait_for_service(timeout_sec=1.0): | ||
| self.get_logger().info('prearm service not available, waiting again...') | ||
|
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| def prearm(self): | ||
| req = Trigger.Request() | ||
| future = self._client_prearm.call_async(req) | ||
| rclpy.spin_until_future_complete(self, future) | ||
| return future.result() | ||
|
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||
| def prearm_with_timeout(self, timeout: rclpy.duration.Duration): | ||
| """Check if armable. Returns true on success, or false if arming will fail or times out.""" | ||
| armable = False | ||
| start = self.get_clock().now() | ||
| while not armable and self.get_clock().now() - start < timeout: | ||
| armable = self.prearm().success | ||
| time.sleep(1) | ||
| return armable | ||
|
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||
| def main(args=None): | ||
| """Node entry point.""" | ||
| rclpy.init(args=args) | ||
| node = CopterPreArm() | ||
| try: | ||
| # Block till armed, which will wait for EKF3 to initialize | ||
| if not node.prearm_with_timeout(rclpy.duration.Duration(seconds=30)): | ||
| raise RuntimeError("Vehicle not armable") | ||
| except KeyboardInterrupt: | ||
| pass | ||
|
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||
| # Destroy the node explicitly. | ||
| node.destroy_node() | ||
| rclpy.shutdown() | ||
|
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|
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| if __name__ == "__main__": | ||
| main() |
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166 changes: 166 additions & 0 deletions
166
Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_prearm_service.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,166 @@ | ||
| # Copyright 2023 ArduPilot.org. | ||
| # | ||
| # This program is free software: you can redistribute it and/or modify | ||
| # it under the terms of the GNU General Public License as published by | ||
| # the Free Software Foundation, either version 3 of the License, or | ||
| # (at your option) any later version. | ||
| # | ||
| # This program is distributed in the hope that it will be useful, | ||
| # but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| # GNU General Public License for more details. | ||
| # | ||
| # You should have received a copy of the GNU General Public License | ||
| # along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
|
|
||
| """ | ||
| Bring up ArduPilot SITL and check whether the vehicle can be armed. | ||
| colcon test --executor sequential --parallel-workers 0 --base-paths src/ardupilot \ | ||
| --event-handlers=console_cohesion+ --packages-select ardupilot_dds_tests \ | ||
| --pytest-args -k test_prearm_service | ||
| """ | ||
|
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||
| import launch_pytest | ||
| import math | ||
| import time | ||
| import pytest | ||
| import rclpy | ||
| import rclpy.node | ||
| import threading | ||
|
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| from launch import LaunchDescription | ||
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| from launch_pytest.tools import process as process_tools | ||
| from std_srvs.srv import Trigger | ||
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| SERVICE = "/ap/prearm_check" | ||
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| class PreamService(rclpy.node.Node): | ||
| def __init__(self): | ||
| """Initialise the node.""" | ||
| super().__init__("prearm_client") | ||
| self.service_available_object = threading.Event() | ||
| self.is_armable_object = threading.Event() | ||
| self._client_prearm = self.create_client(Trigger, "/ap/prearm_check") | ||
|
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| def start_node(self): | ||
| # Add a spin thread. | ||
| self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,)) | ||
| self.ros_spin_thread.start() | ||
|
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| def prearm_check(self): | ||
| req = Trigger.Request() | ||
| future = self._client_prearm.call_async(req) | ||
| time.sleep(0.2) | ||
| try: | ||
| return future.result().success | ||
| except Exception as e: | ||
| print(e) | ||
| return False | ||
|
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||
| def prearm_with_timeout(self, timeout: rclpy.duration.Duration): | ||
| result = False | ||
| start = self.get_clock().now() | ||
| while not result and self.get_clock().now() - start < timeout: | ||
| result = self.prearm_check() | ||
| time.sleep(1) | ||
| return result | ||
|
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| def process_prearm(self): | ||
| if self.prearm_with_timeout(rclpy.duration.Duration(seconds=30)): | ||
| self.is_armable_object.set() | ||
|
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| def start_prearm(self): | ||
| try: | ||
| self.prearm_thread.stop() | ||
| except: | ||
| print("start_prearm not started yet") | ||
| self.prearm_thread = threading.Thread(target=self.process_prearm) | ||
| self.prearm_thread.start() | ||
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| @launch_pytest.fixture | ||
| def launch_sitl_copter_dds_serial(sitl_copter_dds_serial): | ||
| """Fixture to create the launch description.""" | ||
| sitl_ld, sitl_actions = sitl_copter_dds_serial | ||
|
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| ld = LaunchDescription( | ||
| [ | ||
| sitl_ld, | ||
| launch_pytest.actions.ReadyToTest(), | ||
| ] | ||
| ) | ||
| actions = sitl_actions | ||
| yield ld, actions | ||
|
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|
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| @launch_pytest.fixture | ||
| def launch_sitl_copter_dds_udp(sitl_copter_dds_udp): | ||
| """Fixture to create the launch description.""" | ||
| sitl_ld, sitl_actions = sitl_copter_dds_udp | ||
|
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| ld = LaunchDescription( | ||
| [ | ||
| sitl_ld, | ||
| launch_pytest.actions.ReadyToTest(), | ||
| ] | ||
| ) | ||
| actions = sitl_actions | ||
| yield ld, actions | ||
|
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|
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| @pytest.mark.launch(fixture=launch_sitl_copter_dds_serial) | ||
| def test_dds_serial_prearm_service_call(launch_context, launch_sitl_copter_dds_serial): | ||
| """Test prearm service AP_DDS.""" | ||
| _, actions = launch_sitl_copter_dds_serial | ||
| virtual_ports = actions["virtual_ports"].action | ||
| micro_ros_agent = actions["micro_ros_agent"].action | ||
| mavproxy = actions["mavproxy"].action | ||
| sitl = actions["sitl"].action | ||
|
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| # Wait for process to start. | ||
| process_tools.wait_for_start_sync(launch_context, virtual_ports, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, sitl, timeout=2) | ||
|
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| rclpy.init() | ||
| try: | ||
| node = PreamService() | ||
| node.start_node() | ||
| node.start_prearm() | ||
| is_armable_flag = node.is_armable_object.wait(timeout=25.0) | ||
| assert is_armable_flag, f"Vehicle not armable." | ||
| finally: | ||
| rclpy.shutdown() | ||
| yield | ||
|
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| @pytest.mark.launch(fixture=launch_sitl_copter_dds_udp) | ||
| def test_dds_udp_prearm_service_call(launch_context, launch_sitl_copter_dds_udp): | ||
| """Test prearm service AP_DDS.""" | ||
| _, actions = launch_sitl_copter_dds_udp | ||
| micro_ros_agent = actions["micro_ros_agent"].action | ||
| mavproxy = actions["mavproxy"].action | ||
| sitl = actions["sitl"].action | ||
|
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| # Wait for process to start. | ||
| process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, sitl, timeout=2) | ||
|
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| rclpy.init() | ||
| try: | ||
| node = PreamService() | ||
| node.start_node() | ||
| node.start_prearm() | ||
| is_armable_flag = node.is_armable_object.wait(timeout=25.0) | ||
| assert is_armable_flag, f"Vehicle not armable." | ||
| finally: | ||
| rclpy.shutdown() | ||
| yield |
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