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https://github.com/okalachev/flix.git
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Oleg Kalachev
68eb523beb
Test pyflix and simulation using pytest. Fix running the sim in non-tty environment. Test presence of some essential files in the docs.
48 lines
1.5 KiB
Python
Executable File
48 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
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# Script for testing pyflix and the simulation.
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from pytest import approx
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from math import isnan, isfinite
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import time
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from pyflix import Flix
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def test():
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print('=== Connect...')
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flix = Flix(timeout=20)
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print('=== Check initial state')
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time.sleep(1) # give more time for initial state
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assert flix.connected
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assert flix.mode == 'STAB'
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assert not flix.armed
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assert flix.landed
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assert isnan(flix.voltage) or flix.voltage == approx(4.2)
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assert flix.rates == approx((0, 0, 0), abs=0.01)
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assert flix.attitude == approx((1, 0, 0, 0), abs=0.01)
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assert flix.attitude_euler == approx((0, 0, 0), abs=0.01)
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assert all(m == 0 for m in flix.motors)
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assert flix.acc == approx((0, 0, 9.81), abs=0.1)
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assert flix.gyro == approx((0, 0, 0), abs=0.01)
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assert all(ch == 0 for ch in flix.channels)
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print('=== Check console commands')
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assert 'Time: ' in flix.cli('time')
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assert 'landed: 1' in flix.cli('imu')
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print('=== Check parameters')
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assert isfinite(flix.get_param('CTL_ATT_P_P'))
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flix.set_param('CTL_ATT_P_P', 10.0)
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print('=== Additional checks')
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assert flix.wait('gyro') == approx((0, 0, 0), abs=0.01)
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flix.wait('armed', False)
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flix.wait('mode', 'STAB')
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flix.wait('motors', lambda motors: not any(motors))
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flix.set_armed(True)
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flix.wait('armed', True)
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flix.set_mode('ACRO')
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flix.wait('mode', 'ACRO')
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flix.set_mode('AUTO')
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flix.wait('mode', 'AUTO')
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