From e06f30bdd6625a2e38a7f3c463698546de1f561d Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Mon, 29 Apr 2024 08:25:58 +0200
Subject: [PATCH] added hover test

---
 test/control_manager/CMakeLists.txt           |  2 +
 .../hover_service/CMakeLists.txt              | 16 ++++
 .../hover_service/config/world_config.yaml    | 34 +++++++
 .../hover_service/hover_service.test          | 36 +++++++
 test/control_manager/hover_service/test.cpp   | 95 +++++++++++++++++++
 5 files changed, 183 insertions(+)
 create mode 100644 test/control_manager/hover_service/CMakeLists.txt
 create mode 100644 test/control_manager/hover_service/config/world_config.yaml
 create mode 100644 test/control_manager/hover_service/hover_service.test
 create mode 100644 test/control_manager/hover_service/test.cpp

diff --git a/test/control_manager/CMakeLists.txt b/test/control_manager/CMakeLists.txt
index 1c9c7d75..80faabe4 100644
--- a/test/control_manager/CMakeLists.txt
+++ b/test/control_manager/CMakeLists.txt
@@ -27,3 +27,5 @@ add_subdirectory(set_heading_service)
 add_subdirectory(set_heading_relative_service)
 
 add_subdirectory(goto_altitude_service)
+
+add_subdirectory(hover_service)
diff --git a/test/control_manager/hover_service/CMakeLists.txt b/test/control_manager/hover_service/CMakeLists.txt
new file mode 100644
index 00000000..bf8f9853
--- /dev/null
+++ b/test/control_manager/hover_service/CMakeLists.txt
@@ -0,0 +1,16 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test)
diff --git a/test/control_manager/hover_service/config/world_config.yaml b/test/control_manager/hover_service/config/world_config.yaml
new file mode 100644
index 00000000..00e01eef
--- /dev/null
+++ b/test/control_manager/hover_service/config/world_config.yaml
@@ -0,0 +1,34 @@
+world_origin:
+
+  units: "LATLON" # {"UTM, "LATLON"}
+
+  origin_x: 47.397743
+  origin_y: 8.545594
+
+safety_area:
+
+  enabled: false
+
+  horizontal:
+
+    # the frame of reference in which the points are expressed
+    frame_name: "world_origin"
+
+    # polygon
+    #
+    # x, y [m] for any frame_name except latlon_origin
+    # x = latitude, y = longitude [deg]  for frame_name=="latlon_origin"
+    points: [
+      -50, -50,
+      50,  -50,
+      50,  50,
+      -50, 50,
+    ]
+
+  vertical:
+
+    # the frame of reference in which the max&min z is expressed
+    frame_name: "world_origin"
+
+    max_z: 15.0
+    min_z: 0.5
diff --git a/test/control_manager/hover_service/hover_service.test b/test/control_manager/hover_service/hover_service.test
new file mode 100644
index 00000000..bb30842e
--- /dev/null
+++ b/test/control_manager/hover_service/hover_service.test
@@ -0,0 +1,36 @@
+<launch>
+
+  <arg name="this_path" default="$(dirname)" />
+
+  <arg name="UAV_NAME" default="uav1" />
+  <arg name="UAV_TYPE" default="x500" />
+
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
+    <arg name="automatic_start" default="false" />
+    <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
+    <arg name="world_config" default="$(dirname)/config/world_config.yaml" />
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+    <param name="test" value="$(arg test_name)" />
+    <param name="uav_name" value="$(arg UAV_NAME)" />
+  </test>
+
+</launch>
diff --git a/test/control_manager/hover_service/test.cpp b/test/control_manager/hover_service/test.cpp
new file mode 100644
index 00000000..16336c8e
--- /dev/null
+++ b/test/control_manager/hover_service/test.cpp
@@ -0,0 +1,95 @@
+#include <gtest/gtest.h>
+
+#include <mrs_uav_testing/test_generic.h>
+
+class Tester : public mrs_uav_testing::TestGeneric {
+
+public:
+  bool test();
+};
+
+bool Tester::test() {
+
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
+  {
+    auto [success, message] = uh->activateMidAir();
+
+    if (!success) {
+      ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  // | ---------------------- goto relative --------------------- |
+
+  {
+    auto [success, message] = uh->gotoRelativeService(200, 0, 0, 0);
+
+    if (!success) {
+      ROS_ERROR("[%s]: goto relative service failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  // | -------------------------- wait -------------------------- |
+
+  this->sleep(5.0);
+
+  // | ---------------------- trigger hover --------------------- |
+
+  {
+    auto [success, message] = uh->hover();
+
+    if (!success) {
+      ROS_ERROR("[%s]: hover service failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  // | -------------------------- wait -------------------------- |
+
+  this->sleep(5.0);
+
+  // | --------------- check if we are stationary --------------- |
+
+  if (uh->isFlyingNormally() && uh->isStationary()) {
+    return true;
+  } else {
+    ROS_ERROR("[%s]: not flying normally || not stationary", ros::this_node::getName().c_str());
+    return false;
+  }
+}
+
+TEST(TESTSuite, test) {
+
+  Tester tester;
+
+  bool result = tester.test();
+
+  if (result) {
+    GTEST_SUCCEED();
+  } else {
+    GTEST_FAIL();
+  }
+}
+
+int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) {
+
+  ros::init(argc, argv, "test");
+
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}