ObstacleAvoidanceTest.cpp

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#include <gtest/gtest.h>
#include <ObstacleAvoidance.hpp>
#include <uORB/Subscription.hpp>


using namespace matrix;
// to run: make tests TESTFILTER=CollisionPrevention

class ObstacleAvoidanceTest : public ::testing::Test
{
public:
    Vector3f pos_sp;
    Vector3f vel_sp;
    float yaw_sp = 0.123f;
    float yaw_speed_sp = NAN;
    void SetUp() override

    {
        param_reset_all();
        pos_sp = Vector3f(1.f, 1.2f, 0.1f);
        vel_sp = Vector3f(0.3f, 0.4f, 0.1f);
    }
};

class TestObstacleAvoidance : public ::ObstacleAvoidance
{
public:
    TestObstacleAvoidance() : ObstacleAvoidance(nullptr) {}
    void paramsChanged() {ObstacleAvoidance::updateParamsImpl();}
    void test_setPosition(Vector3f &pos) {_position = pos;}
};

TEST_F(ObstacleAvoidanceTest, instantiation) { ObstacleAvoidance oa(nullptr); }

TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy)
{
    // GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message coming
    // from offboard
    TestObstacleAvoidance oa;

    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;

    // GIVEN: and we publish the vehicle_trajectory_waypoint message and vehicle status message
    uORB::Publication<vehicle_trajectory_waypoint_s> vehicle_trajectory_waypoint_pub{ORB_ID(vehicle_trajectory_waypoint)};
    vehicle_trajectory_waypoint_pub.publish(message);

    vehicle_status_s vehicle_status{};
    vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
    uORB::Publication<vehicle_status_s> vehicle_status_pub{ORB_ID(vehicle_status)};
    vehicle_status_pub.publish(vehicle_status);

    // WHEN: we inject the vehicle_trajectory_waypoint in the interface
    oa.injectAvoidanceSetpoints(pos_sp, vel_sp, yaw_sp, yaw_speed_sp);

    // 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));
}

TEST_F(ObstacleAvoidanceTest, oa_enabled_not_healthy)
{
    // GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message
    TestObstacleAvoidance oa;

    vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint;
    Vector3f pos(3.1f, 4.7f, 5.2f);
    oa.test_setPosition(pos);

    // GIVEN: and we publish the vehicle_trajectory_waypoint message and vehicle_status
    uORB::Publication<vehicle_trajectory_waypoint_s> vehicle_trajectory_waypoint_pub{ORB_ID(vehicle_trajectory_waypoint)};
    vehicle_trajectory_waypoint_pub.publish(message);

    vehicle_status_s vehicle_status{};
    vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
    uORB::Publication<vehicle_status_s> vehicle_status_pub{ORB_ID(vehicle_status)};
    vehicle_status_pub.publish(vehicle_status);

    // WHEN: we inject the vehicle_trajectory_waypoint in the interface
    oa.injectAvoidanceSetpoints(pos_sp, vel_sp, yaw_sp, yaw_speed_sp);

    // 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));
}

TEST_F(ObstacleAvoidanceTest, oa_desired)
{
    // GIVEN: the flight controller setpoints from FlightTaskAutoMapper and the waypoints from FLightTaskAuto
    TestObstacleAvoidance oa;

    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;

    // 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);

    // 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();

    // 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);

    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);

    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);

}