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add unit tests for the ObstacleAvoidance interface
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidanceTest.cpp
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| /**************************************************************************** | ||
| * | ||
| * Copyright (C) 2019 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. | ||
| * | ||
| ****************************************************************************/ | ||
|
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| #include <gtest/gtest.h> | ||
| #include <ObstacleAvoidance.hpp> | ||
| #include <uORB/Subscription.hpp> | ||
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| using namespace matrix; | ||
| // to run: make tests TESTFILTER=CollisionPrevention | ||
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| class ObstacleAvoidanceTest : public ::testing::Test | ||
| { | ||
| public: | ||
| SubscriptionArray subscription_array; | ||
| Vector3f pos_sp; | ||
| Vector3f vel_sp; | ||
| float yaw_sp = 0.123f; | ||
| float yaw_speed_sp = NAN; | ||
| void SetUp() override | ||
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| { | ||
| param_reset_all(); | ||
| pos_sp = Vector3f(1.f, 1.2f, 0.1f); | ||
| vel_sp = Vector3f(0.3f, 0.4f, 0.1f); | ||
| } | ||
| }; | ||
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| class TestObstacleAvoidance : public ::ObstacleAvoidance | ||
| { | ||
| public: | ||
| TestObstacleAvoidance() : ObstacleAvoidance(nullptr) {} | ||
| void paramsChanged() {ObstacleAvoidance::updateParamsImpl();} | ||
| void test_setPosition(Vector3f &pos) {_position = pos;} | ||
| }; | ||
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| TEST_F(ObstacleAvoidanceTest, instantiation) { ObstacleAvoidance oa(nullptr); } | ||
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| TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy) | ||
| { | ||
| // GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message coming | ||
| // from offboard | ||
| TestObstacleAvoidance oa; | ||
| oa.initializeSubscriptions(subscription_array); | ||
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| vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint; | ||
| message.timestamp = hrt_absolute_time(); | ||
| message.type = vehicle_trajectory_waypoint_s::MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS; | ||
| message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0] = 2.6f; | ||
| message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1] = 2.4f; | ||
| message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2] = 2.7f; | ||
| message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw = 0.23f; | ||
| message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid = true; | ||
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| // GIVEN: and we publish the vehicle_trajectory_waypoint message and vehicle status message | ||
| orb_advert_t vehicle_trajectory_waypoint_pub = orb_advertise(ORB_ID(vehicle_trajectory_waypoint), &message); | ||
| orb_publish(ORB_ID(vehicle_trajectory_waypoint), vehicle_trajectory_waypoint_pub, &message); | ||
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| vehicle_status_s vehicle_status{}; | ||
| vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION; | ||
| orb_advert_t vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &vehicle_status); | ||
| orb_publish(ORB_ID(vehicle_status), vehicle_status_pub, &vehicle_status); | ||
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| subscription_array.update(); | ||
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| // WHEN: we inject the vehicle_trajectory_waypoint in the interface | ||
| oa.injectAvoidanceSetpoints(pos_sp, vel_sp, yaw_sp, yaw_speed_sp); | ||
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| // THEN: the setpoints should be injected | ||
| EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0], pos_sp(0)); | ||
| EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1], pos_sp(1)); | ||
| EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2], pos_sp(2)); | ||
| EXPECT_TRUE(vel_sp.isAllNan()); | ||
| EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw, yaw_sp); | ||
| EXPECT_FALSE(PX4_ISFINITE(yaw_speed_sp)); | ||
| } | ||
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| TEST_F(ObstacleAvoidanceTest, oa_enabled_not_healthy) | ||
| { | ||
| // GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message | ||
| TestObstacleAvoidance oa; | ||
| oa.initializeSubscriptions(subscription_array); | ||
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| vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint; | ||
| Vector3f pos(3.1f, 4.7f, 5.2f); | ||
| oa.test_setPosition(pos); | ||
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| // GIVEN: and we publish the vehicle_trajectory_waypoint message and vehicle_status | ||
| orb_advert_t vehicle_trajectory_waypoint_pub = orb_advertise(ORB_ID(vehicle_trajectory_waypoint), &message); | ||
| orb_publish(ORB_ID(vehicle_trajectory_waypoint), vehicle_trajectory_waypoint_pub, &message); | ||
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| vehicle_status_s vehicle_status{}; | ||
| vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION; | ||
| orb_advert_t vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &vehicle_status); | ||
| orb_publish(ORB_ID(vehicle_status), vehicle_status_pub, &vehicle_status); | ||
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| subscription_array.update(); | ||
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| // WHEN: we inject the vehicle_trajectory_waypoint in the interface | ||
| oa.injectAvoidanceSetpoints(pos_sp, vel_sp, yaw_sp, yaw_speed_sp); | ||
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| // THEN: the setpoints shouldn't be injected | ||
| EXPECT_FLOAT_EQ(pos(0), pos_sp(0)); | ||
| EXPECT_FLOAT_EQ(pos(1), pos_sp(1)); | ||
| EXPECT_FLOAT_EQ(pos(2), pos_sp(2)); | ||
| EXPECT_TRUE(vel_sp.isAllNan()); | ||
| EXPECT_FALSE(PX4_ISFINITE(yaw_sp)); | ||
| EXPECT_FALSE(PX4_ISFINITE(yaw_speed_sp)); | ||
| } | ||
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| TEST_F(ObstacleAvoidanceTest, oa_desired) | ||
| { | ||
| // GIVEN: the flight controller setpoints from FlightTaskAutoMapper and the waypoints from FLightTaskAuto | ||
| TestObstacleAvoidance oa; | ||
| oa.initializeSubscriptions(subscription_array); | ||
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| pos_sp = Vector3f(1.f, 1.2f, NAN); | ||
| vel_sp = Vector3f(NAN, NAN, 0.7f); | ||
| int type = 4; | ||
| Vector3f curr_wp(1.f, 1.2f, 5.0f); | ||
| float curr_yaw = 1.02f; | ||
| float curr_yawspeed = NAN; | ||
| Vector3f next_wp(11.f, 1.2f, 5.0f); | ||
| float next_yaw = 0.82f; | ||
| float next_yawspeed = NAN; | ||
| bool ext_yaw_active = false; | ||
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| // WHEN: we inject the setpoints and waypoints in the interface | ||
| oa.updateAvoidanceDesiredWaypoints(curr_wp, curr_yaw, curr_yawspeed, next_wp, next_yaw, next_yawspeed, ext_yaw_active, | ||
| type); | ||
| oa.updateAvoidanceDesiredSetpoints(pos_sp, vel_sp, type); | ||
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| // WHEN: we subscribe to the uORB message out of the interface | ||
| uORB::SubscriptionData<vehicle_trajectory_waypoint_s> _sub_traj_wp_avoidance_desired{ORB_ID(vehicle_trajectory_waypoint_desired)}; | ||
| _sub_traj_wp_avoidance_desired.update(); | ||
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| // THEN: we expect the setpoints in POINT_0 and waypoints in POINT_1 and POINT_2 | ||
| EXPECT_FLOAT_EQ(pos_sp(0), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0]); | ||
| EXPECT_FLOAT_EQ(pos_sp(1), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1]); | ||
| EXPECT_FALSE(PX4_ISFINITE( | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2])); | ||
| EXPECT_FALSE(PX4_ISFINITE( | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[0])); | ||
| EXPECT_FALSE(PX4_ISFINITE( | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[1])); | ||
| EXPECT_FLOAT_EQ(vel_sp(2), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[2]); | ||
| EXPECT_EQ(type, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].type); | ||
| EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid); | ||
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| EXPECT_FLOAT_EQ(curr_wp(0), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[0]); | ||
| EXPECT_FLOAT_EQ(curr_wp(1), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[1]); | ||
| EXPECT_FLOAT_EQ(curr_wp(2), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[2]); | ||
| EXPECT_FLOAT_EQ(curr_yaw, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw); | ||
| EXPECT_FALSE(PX4_ISFINITE( | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw_speed)); | ||
| EXPECT_EQ(type, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].type); | ||
| EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].point_valid); | ||
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| EXPECT_FLOAT_EQ(next_wp(0), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[0]); | ||
| EXPECT_FLOAT_EQ(next_wp(1), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[1]); | ||
| EXPECT_FLOAT_EQ(next_wp(2), | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[2]); | ||
| EXPECT_FLOAT_EQ(next_yaw, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].yaw); | ||
| EXPECT_FALSE(PX4_ISFINITE( | ||
| _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].yaw_speed)); | ||
| EXPECT_EQ(UINT8_MAX, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].type); | ||
| EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid); | ||
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| } |