PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp

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#include "autopilot_tester.h"
#include "math_helpers.h"
#include <iostream>
#include <future>

std::string connection_url {"udp://"};

void AutopilotTester::connect(const std::string uri)
{
	ConnectionResult ret = _mavsdk.add_any_connection(uri);
	REQUIRE(ret == ConnectionResult::Success);

	std::cout << time_str() << "Waiting for system connect" << std::endl;
	REQUIRE(poll_condition_with_timeout(
	[this]() { return _mavsdk.is_connected(); }, adjust_to_lockstep_speed(std::chrono::seconds(25))));

	auto &system = _mavsdk.system();

	_action.reset(new Action(system));
	_failure.reset(new Failure(system));
	_info.reset(new Info(system));
	_manual_control.reset(new ManualControl(system));
	_mission.reset(new Mission(system));
	_offboard.reset(new Offboard(system));
	_param.reset(new Param(system));
	_telemetry.reset(new Telemetry(system));
}

void AutopilotTester::wait_until_ready()
{
	std::cout << time_str() << "Waiting for system to be ready" << std::endl;
	CHECK(poll_condition_with_timeout(
	[this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(30)));

	// FIXME: workaround to prevent race between PX4 switching to Hold mode
	// and us trying to arm and take off. If PX4 is not in Hold mode yet,
	// our arming presumably triggers a failsafe in manual mode.
	std::this_thread::sleep_for(std::chrono::seconds(1));
}

void AutopilotTester::wait_until_ready_local_position_only()
{
	std::cout << time_str() << "Waiting for system to be ready" << std::endl;
	CHECK(poll_condition_with_timeout(
	[this]() {
		return
			(_telemetry->health().is_gyrometer_calibration_ok &&
			 _telemetry->health().is_accelerometer_calibration_ok &&
			 _telemetry->health().is_magnetometer_calibration_ok &&
			 _telemetry->health().is_level_calibration_ok &&
			 _telemetry->health().is_local_position_ok);
	}, std::chrono::seconds(20)));
}

void AutopilotTester::store_home()
{
	request_ground_truth();
	std::cout << time_str() << "Waiting to get home position" << std::endl;
	CHECK(poll_condition_with_timeout(
	[this]() {
		_home = _telemetry->ground_truth();
		return std::isfinite(_home.latitude_deg) && std::isfinite(_home.longitude_deg);
	}, std::chrono::seconds(10)));
}

void AutopilotTester::check_home_within(float acceptance_radius_m)
{
	CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m));
}

void AutopilotTester::check_home_not_within(float min_distance_m)
{
	CHECK(ground_truth_horizontal_position_far_from(_home, min_distance_m));
}

void AutopilotTester::set_takeoff_altitude(const float altitude_m)
{
	CHECK(Action::Result::Success == _action->set_takeoff_altitude(altitude_m));
	const auto result = _action->get_takeoff_altitude();
	CHECK(result.first == Action::Result::Success);
	CHECK(result.second == Approx(altitude_m));
}

void AutopilotTester::set_height_source(AutopilotTester::HeightSource height_source)
{
	switch (height_source) {
	case HeightSource::Baro:
		CHECK(_param->set_param_int("EKF2_HGT_MODE", 0) == Param::Result::Success);
		break;

	case HeightSource::Gps:
		CHECK(_param->set_param_int("EKF2_HGT_MODE", 1) == Param::Result::Success);
	}
}

void AutopilotTester::arm()
{
	const auto result = _action->arm();
	REQUIRE(result == Action::Result::Success);
}

void AutopilotTester::takeoff()
{
	const auto result = _action->takeoff();
	REQUIRE(result == Action::Result::Success);
}

void AutopilotTester::land()
{
	const auto result = _action->land();
	REQUIRE(result == Action::Result::Success);
}

void AutopilotTester::transition_to_fixedwing()
{
	const auto result = _action->transition_to_fixedwing();
	REQUIRE(result == Action::Result::Success);
}

void AutopilotTester::transition_to_multicopter()
{
	const auto result = _action->transition_to_multicopter();
	REQUIRE(result == Action::Result::Success);
}

void AutopilotTester::wait_until_disarmed(std::chrono::seconds timeout_duration)
{
	REQUIRE(poll_condition_with_timeout(
	[this]() { return !_telemetry->armed(); }, timeout_duration));
}

void AutopilotTester::wait_until_hovering()
{
	wait_for_landed_state(Telemetry::LandedState::InAir, std::chrono::seconds(30));
}

void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
{
	const auto ct = get_coordinate_transformation();

	Mission::MissionPlan mission_plan {};
	mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
	mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m},
					     mission_options, ct));
	mission_plan.mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));

	_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);

	std::promise<void> prom;
	auto fut = prom.get_future();

	_mission->upload_mission_async(mission_plan, [&prom](Mission::Result result) {
		REQUIRE(Mission::Result::Success == result);
		prom.set_value();
	});

	REQUIRE(fut.wait_for(std::chrono::seconds(2)) == std::future_status::ready);
}

void AutopilotTester::prepare_straight_mission(MissionOptions mission_options)
{
	const auto ct = get_coordinate_transformation();

	Mission::MissionPlan mission_plan {};
	mission_plan.mission_items.push_back(create_mission_item({0, 0.}, mission_options, ct));
	mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0}, mission_options, ct));
	mission_plan.mission_items.push_back(create_mission_item({2 * mission_options.leg_length_m, 0}, mission_options, ct));
	mission_plan.mission_items.push_back(create_mission_item({3 * mission_options.leg_length_m, 0}, mission_options, ct));
	mission_plan.mission_items.push_back(create_mission_item({4 * mission_options.leg_length_m, 0}, mission_options, ct));

	_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);

	std::promise<void> prom;
	auto fut = prom.get_future();

	_mission->upload_mission_async(mission_plan, [&prom](Mission::Result result) {
		REQUIRE(Mission::Result::Success == result);
		prom.set_value();
	});

	REQUIRE(fut.wait_for(std::chrono::seconds(2)) == std::future_status::ready);
}

void AutopilotTester::execute_mission()
{
	std::promise<void> prom;
	auto fut = prom.get_future();

	_mission->start_mission_async([&prom](Mission::Result result) {
		REQUIRE(Mission::Result::Success == result);
		prom.set_value();
	});

	// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.

	REQUIRE(poll_condition_with_timeout(
	[this]() {
		auto result = _mission->is_mission_finished();
		return result.first == Mission::Result::Success && result.second;
	}, std::chrono::seconds(60)));

	REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
}

void AutopilotTester::execute_mission_and_lose_gps()
{
	CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);

	start_and_wait_for_first_mission_item();

	CHECK(_failure->inject(Failure::FailureUnit::SensorGps, Failure::FailureType::Off, 0) == Failure::Result::Success);

	// We expect that a blind land is performed.
	wait_for_flight_mode(Telemetry::FlightMode::Land, std::chrono::seconds(30));
}

void AutopilotTester::execute_mission_and_lose_mag()
{
	CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);

	start_and_wait_for_first_mission_item();

	CHECK(_failure->inject(Failure::FailureUnit::SensorMag, Failure::FailureType::Off, 0) == Failure::Result::Success);

	// We except the mission to continue without mag just fine.
	REQUIRE(poll_condition_with_timeout(
	[this]() {
		auto progress = _mission->mission_progress();
		return progress.current == progress.total;
	}, std::chrono::seconds(90)));
}

void AutopilotTester::execute_mission_and_lose_baro()
{
	CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);

	start_and_wait_for_first_mission_item();

	CHECK(_failure->inject(Failure::FailureUnit::SensorBaro, Failure::FailureType::Off, 0) == Failure::Result::Success);

	// We except the mission to continue without baro just fine.
	REQUIRE(poll_condition_with_timeout(
	[this]() {
		auto progress = _mission->mission_progress();
		return progress.current == progress.total;
	}, std::chrono::seconds(90)));
}

void AutopilotTester::execute_mission_and_get_baro_stuck()
{
	CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);

	start_and_wait_for_first_mission_item();

	CHECK(_failure->inject(Failure::FailureUnit::SensorBaro, Failure::FailureType::Stuck, 0) == Failure::Result::Success);

	// We except the mission to continue with a stuck baro just fine.
	REQUIRE(poll_condition_with_timeout(
	[this]() {
		auto progress = _mission->mission_progress();
		return progress.current == progress.total;
	}, std::chrono::seconds(90)));
}

void AutopilotTester::execute_mission_and_get_mag_stuck()
{
	CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);

	start_and_wait_for_first_mission_item();

	CHECK(_failure->inject(Failure::FailureUnit::SensorMag, Failure::FailureType::Stuck, 0) == Failure::Result::Success);

	// We except the mission to continue with a stuck mag just fine.
	REQUIRE(poll_condition_with_timeout(
	[this]() {
		auto progress = _mission->mission_progress();
		return progress.current == progress.total;
	}, std::chrono::seconds(120)));
}

CoordinateTransformation AutopilotTester::get_coordinate_transformation()
{
	const auto home = _telemetry->home();
	CHECK(std::isfinite(home.latitude_deg));
	CHECK(std::isfinite(home.longitude_deg));
	return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
}

Mission::MissionItem  AutopilotTester::create_mission_item(
	const CoordinateTransformation::LocalCoordinate &local_coordinate,
	const MissionOptions &mission_options,
	const CoordinateTransformation &ct)
{
	auto mission_item = Mission::MissionItem{};
	const auto pos_north = ct.global_from_local(local_coordinate);
	mission_item.latitude_deg = pos_north.latitude_deg;
	mission_item.longitude_deg = pos_north.longitude_deg;
	mission_item.relative_altitude_m = mission_options.relative_altitude_m;
	mission_item.is_fly_through = mission_options.fly_through;
	return mission_item;
}

void AutopilotTester::execute_rtl()
{
	REQUIRE(Action::Result::Success == _action->return_to_launch());
}

void AutopilotTester::offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m,
				    std::chrono::seconds timeout_duration)
{
	_offboard->set_position_ned(target);
	REQUIRE(_offboard->start() == Offboard::Result::Success);
	CHECK(poll_condition_with_timeout(
	[ = ]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration));
	std::cout << time_str() << "Target position reached" << std::endl;
}

void AutopilotTester::check_mission_item_speed_above(int item_index, float min_speed_m_s)
{

	_telemetry->set_rate_velocity_ned(10);
	_telemetry->subscribe_velocity_ned([item_index, min_speed_m_s, this](Telemetry::VelocityNed velocity) {
		float horizontal = std::hypot(velocity.north_m_s, velocity.east_m_s);
		auto progress = _mission->mission_progress();

		if (progress.current == item_index) {
			CHECK(horizontal > min_speed_m_s);
		}
	});
}

void AutopilotTester::fly_forward_in_posctl()
{
	const unsigned manual_control_rate_hz = 50;

	// Send something to make sure RC is available.
	for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) {
		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
		std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
	}

	CHECK(_manual_control->start_position_control() == ManualControl::Result::Success);

	// Climb up for 10 seconds
	for (unsigned i = 0; i < 10 * manual_control_rate_hz; ++i) {
		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);
		std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
	}

	// Fly forward for 60 seconds
	for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
		CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
		std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
	}

	// Descend until disarmed
	for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.0f, 0.f) == ManualControl::Result::Success);
		std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));

		if (!_telemetry->in_air()) {
			break;
		}
	}
}

void AutopilotTester::fly_forward_in_altctl()
{
	const unsigned manual_control_rate_hz = 50;

	// Send something to make sure RC is available.
	for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) {
		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
		std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
	}

	CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success);

	// Climb up for 10 seconds
	for (unsigned i = 0; i < 10 * manual_control_rate_hz; ++i) {
		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);
		std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
	}

	// Fly forward for 60 seconds
	for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
		CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
		std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
	}

	// Descend until disarmed
	for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.0f, 0.f) == ManualControl::Result::Success);
		std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));

		if (!_telemetry->in_air()) {
			break;
		}
	}
}

void AutopilotTester::check_tracks_mission(float corridor_radius_m)
{
	auto mission = _mission->download_mission();
	CHECK(mission.first == Mission::Result::Success);

	std::vector<Mission::MissionItem> mission_items = mission.second.mission_items;
	auto ct = get_coordinate_transformation();

	_telemetry->set_rate_position_velocity_ned(5);
	_telemetry->subscribe_position_velocity_ned([ct, mission_items, corridor_radius_m,
	    this](Telemetry::PositionVelocityNed position_velocity_ned) {
		auto progress = _mission->mission_progress();

		if (progress.current > 0 && progress.current < progress.total) {
			// Get shortest distance of current position to 3D line between previous and next waypoint

			std::array<float, 3> current { position_velocity_ned.position.north_m,
						       position_velocity_ned.position.east_m,
						       position_velocity_ned.position.down_m };
			std::array<float, 3> wp_prev = get_local_mission_item<float>(mission_items[progress.current - 1], ct);
			std::array<float, 3> wp_next = get_local_mission_item<float>(mission_items[progress.current], ct);

			float distance_to_trajectory = point_to_line_distance(current, wp_prev, wp_next);

			CHECK(distance_to_trajectory < corridor_radius_m);
		}
	});
}


void AutopilotTester::offboard_land()
{
	Offboard::VelocityNedYaw land_velocity;
	land_velocity.north_m_s = 0.0f;
	land_velocity.east_m_s = 0.0f;
	land_velocity.down_m_s = 1.0f;
	land_velocity.yaw_deg = 0.0f;
	_offboard->set_velocity_ned(land_velocity);
}

bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m)
{
	Telemetry::PositionNed est_pos = _telemetry->position_velocity_ned().position;
	const float distance_m = std::sqrt(sq(est_pos.north_m - target_pos.north_m) +
					   sq(est_pos.east_m - target_pos.east_m) +
					   sq(est_pos.down_m - target_pos.down_m));
	const bool pass = distance_m < acceptance_radius_m;

	if (!pass) {
		std::cout << time_str() << "distance: " << distance_m << ", " << "acceptance: " << acceptance_radius_m << std::endl;
	}

	return  pass;
}

bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos,
		float acceptance_radius_m)
{
	Telemetry::PositionNed est_pos = _telemetry->position_velocity_ned().position;
	return sq(est_pos.north_m - target_pos.north_m) +
	       sq(est_pos.east_m - target_pos.east_m) < sq(acceptance_radius_m);
}

void AutopilotTester::request_ground_truth()
{
	CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::Success);
}

bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos,
		float acceptance_radius_m)
{
	CHECK(std::isfinite(target_pos.latitude_deg));
	CHECK(std::isfinite(target_pos.longitude_deg));
	using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate;
	using LocalCoordinate = CoordinateTransformation::LocalCoordinate;
	CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg});

	Telemetry::GroundTruth current_pos = _telemetry->ground_truth();
	CHECK(std::isfinite(current_pos.latitude_deg));
	CHECK(std::isfinite(current_pos.longitude_deg));
	GlobalCoordinate global_current;
	global_current.latitude_deg = current_pos.latitude_deg;
	global_current.longitude_deg = current_pos.longitude_deg;
	LocalCoordinate local_pos = ct.local_from_global(global_current);
	const double distance_m = sqrt(sq(local_pos.north_m) + sq(local_pos.east_m));
	const bool pass = distance_m < acceptance_radius_m;

	if (!pass) {
		std::cout << time_str() << "target_pos.lat: " << target_pos.latitude_deg << std::endl;
		std::cout << time_str() << "target_pos.lon: " << target_pos.longitude_deg << std::endl;
		std::cout << time_str() << "current.lat: " << current_pos.latitude_deg << std::endl;
		std::cout << time_str() << "current.lon: " << current_pos.longitude_deg << std::endl;
		std::cout << time_str() << "Distance: " << distance_m << std::endl;
		std::cout << time_str() << "Acceptance radius: " << acceptance_radius_m << std::endl;
	}

	return pass;
}

bool AutopilotTester::ground_truth_horizontal_position_far_from(const Telemetry::GroundTruth &target_pos,
		float min_distance_m)
{
	CHECK(std::isfinite(target_pos.latitude_deg));
	CHECK(std::isfinite(target_pos.longitude_deg));
	using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate;
	using LocalCoordinate = CoordinateTransformation::LocalCoordinate;
	CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg});

	Telemetry::GroundTruth current_pos = _telemetry->ground_truth();
	CHECK(std::isfinite(current_pos.latitude_deg));
	CHECK(std::isfinite(current_pos.longitude_deg));
	GlobalCoordinate global_current;
	global_current.latitude_deg = current_pos.latitude_deg;
	global_current.longitude_deg = current_pos.longitude_deg;
	LocalCoordinate local_pos = ct.local_from_global(global_current);
	const double distance_m = sqrt(sq(local_pos.north_m) + sq(local_pos.east_m));
	const bool pass = distance_m > min_distance_m;

	if (!pass) {
		std::cout << time_str() << "target_pos.lat: " << target_pos.latitude_deg << std::endl;
		std::cout << time_str() << "target_pos.lon: " << target_pos.longitude_deg << std::endl;
		std::cout << time_str() << "current.lat: " << current_pos.latitude_deg << std::endl;
		std::cout << time_str() << "current.lon: " << current_pos.longitude_deg << std::endl;
		std::cout << time_str() << "Distance: " << distance_m << std::endl;
		std::cout << time_str() << "Min distance: " << min_distance_m << std::endl;
	}

	return pass;
}

void AutopilotTester::start_and_wait_for_first_mission_item()
{
	auto prom = std::promise<void> {};
	auto fut = prom.get_future();

	_mission->subscribe_mission_progress([&prom, this](Mission::MissionProgress progress) {
		std::cout << time_str() << "Progress: " << progress.current << "/" << progress.total << std::endl;

		if (progress.current >= 1) {
			_mission->subscribe_mission_progress(nullptr);
			prom.set_value();
		}
	});

	REQUIRE(_mission->start_mission() == Mission::Result::Success);

	REQUIRE(fut.wait_for(std::chrono::seconds(60)) == std::future_status::ready);
}

void AutopilotTester::wait_for_flight_mode(Telemetry::FlightMode flight_mode, std::chrono::seconds timeout)
{
	auto prom = std::promise<void> {};
	auto fut = prom.get_future();

	_telemetry->subscribe_flight_mode([&prom, flight_mode, this](Telemetry::FlightMode new_flight_mode) {
		if (new_flight_mode == flight_mode) {
			_telemetry->subscribe_flight_mode(nullptr);
			prom.set_value();
		}
	});

	REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
}

void AutopilotTester::wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout)
{
	auto prom = std::promise<void> {};
	auto fut = prom.get_future();

	_telemetry->subscribe_landed_state([&prom, landed_state, this](Telemetry::LandedState new_landed_state) {
		if (new_landed_state == landed_state) {
			_telemetry->subscribe_landed_state(nullptr);
			prom.set_value();
		}
	});

	REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
}

std::chrono::milliseconds AutopilotTester::adjust_to_lockstep_speed(std::chrono::milliseconds duration_ms)
{
	if (_info == nullptr) {
		return duration_ms;
	}

	auto speed_factor = _info->get_speed_factor();

	if (speed_factor.first == Info::Result::Success) {
		// FIXME: Remove this again:
		//        Sanitize speed factor to avoid test failures.
		if (speed_factor.second > 20.0f) {
			speed_factor.second = 20.0f;
		}

		return static_cast<std::chrono::milliseconds>(
			       static_cast<unsigned long>(
				       std::round(
					       static_cast<double>(duration_ms.count()) / speed_factor.second)));

	} else {
		return duration_ms;
	}
}