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write more bags, use helper class to log default topics
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| #!/usr/bin/env python | ||
| #*************************************************************************** | ||
| # | ||
| # Copyright (c) 2015 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. | ||
| # | ||
| #***************************************************************************/ | ||
|
|
||
| # | ||
| # @author Andreas Antener <andreas@uaventure.com> | ||
| # | ||
| PKG = 'px4' | ||
|
|
||
| import unittest | ||
| import rospy | ||
| import rosbag | ||
|
|
||
| from px4.msg import vehicle_local_position | ||
| from px4.msg import vehicle_attitude_setpoint | ||
| from px4.msg import vehicle_attitude | ||
| from px4.msg import vehicle_local_position_setpoint | ||
|
|
||
| from threading import Condition | ||
|
|
||
| # | ||
| # Test helper | ||
| # | ||
| class PX4TestHelper(object): | ||
|
|
||
| def __init__(self, test_name): | ||
| self.test_name = test_name | ||
|
|
||
| def setUp(self): | ||
| self.condition = Condition() | ||
| self.closed = False | ||
|
|
||
| rospy.init_node('test_node', anonymous=True) | ||
| self.bag = rosbag.Bag(self.test_name + '.bag', 'w', compression="lz4") | ||
|
|
||
| self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", | ||
| vehicle_local_position, self.vehicle_position_callback) | ||
| self.sub_vasp = rospy.Subscriber("iris/vehicle_attitude_setpoint", | ||
| vehicle_attitude_setpoint, self.vehicle_attitude_setpoint_callback) | ||
| self.sub_va = rospy.Subscriber("iris/vehicle_attitude", | ||
| vehicle_attitude, self.vehicle_attitude_callback) | ||
| self.sub_vlps = rospy.Subscriber("iris/vehicle_local_position_setpoint", | ||
| vehicle_local_position_setpoint, self.vehicle_local_position_setpoint_callback) | ||
|
|
||
|
|
||
| def tearDown(self): | ||
| try: | ||
| self.condition.acquire() | ||
| self.closed = True | ||
|
|
||
| self.sub_vlp.unregister() | ||
| self.sub_vasp.unregister() | ||
| self.sub_va.unregister() | ||
| self.sub_vlps.unregister() | ||
| self.bag.close() | ||
|
|
||
| finally: | ||
| self.condition.release() | ||
|
|
||
| def vehicle_position_callback(self, data): | ||
| self.bag_write('px4/vehicle_local_position', data) | ||
|
|
||
| def vehicle_attitude_setpoint_callback(self, data): | ||
| self.bag_write('px4/vehicle_attitude_setpoint', data) | ||
|
|
||
| def vehicle_attitude_callback(self, data): | ||
| self.bag_write('px4/vehicle_attitude', data) | ||
|
|
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| def vehicle_local_position_setpoint_callback(self, data): | ||
| self.bag_write('px4/vehicle_local_position_setpoint', data) | ||
|
|
||
| def bag_write(self, topic, data): | ||
| try: | ||
| self.condition.acquire() | ||
| if not self.closed: | ||
| self.bag.write(topic, data) | ||
| else: | ||
| rospy.logwarn("Trying to write to bag but it's already closed") | ||
| finally: | ||
| self.condition.release() | ||
|
|