Use dedicated script for testing

.github/workflows/build.yml

@@ -90,7 +90,7 @@ jobs:
         GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
       run: |
         gzserver --verbose gazebo/flix.world &
-        timeout -k 10s 120s tools/example.py
+        timeout -k 10s 120s tools/test.py
     - uses: actions/upload-artifact@v7
       with:
         name: gazebo-plugin-binary

tools/example.py

@@ -36,5 +36,5 @@ print('Gyro: ', flix.wait('gyro'))
 print('=== Wait for HEARTBEAT message...')
 print(flix.wait('mavlink.HEARTBEAT'))
 
-# print('=== When until landed = False (remove drone from the surface)')
+print('=== When until landed = False (remove drone from the surface)')
-# flix.wait('landed', value=False)
+flix.wait('landed', value=False)

tools/test.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+# Script for testing pyflix and the simulation.
+
+from math import isclose, isnan, isfinite
+from pyflix import Flix
+
+print('=== Connect...')
+flix = Flix()
+
+print('=== Check initial state')
+assert flix.connected
+assert flix.mode == 'STAB'
+assert not flix.armed
+assert flix.landed
+assert isnan(flix.voltage)
+assert all(isclose(r, 0) for r in flix.rates)
+assert isclose(flix.attitude[0], 0) and isclose(flix.attitude[1], 0) and isclose(flix.attitude[2], 0)
+assert isclose(flix.attitude[3], 1)
+assert all(isclose(a, 0) for a in flix.attitude_euler)
+assert all(m == 0 for m in flix.motors)
+assert all(isclose(a, 0) for a in flix.acc)
+assert all(isclose(g, 0) for g in flix.gyro)
+assert all(ch == 0 for ch in flix.channels)
+
+print('=== Check console commands')
+assert 'Time: ' in flix.cli('time')
+assert 'Landed: 1' in flix.cli('imu')
+
+print('=== Check parameters')
+assert isfinite(flix.get_param('CTL_ATT_P_P'))
+flix.set_param('CTL_ATT_P_P', 10.0)
+
+print('=== Additional checks')
+assert flix.wait('connected') is True
+assert flix.wait('gyro') is not None
+flix.wait('armed', False)
+flix.wait('mode', 'STAB')
+flix.wait('motors', lambda motors: not any(motors))
+flix.set_armed(True)
+flix.wait('armed', True)
+flix.set_mode('ACRO')
+flix.wait('mode', 'ACRO')
+flix.set_mode('AUTO')
+flix.wait('mode', 'AUTO')