MAVSDK 통합 테스트

PX4 can be tested end to end to using integration tests based on MAVSDK.

테스트는 주로 SITL에 대해 개발되고, CI(지속적 통합)에서 실행됩니다. 앞으로, 모든 플랫폼/하드웨어으로 일반화할 계획입니다.

아래 지침은 로컬에서 테스트를 설정하고 진행하는 방법을 설명합니다.

준비 사항

개발 환경 설정

아직 하지 않은 경우:

• Install the development toolchain for Linux or macOS (Windows not supported). Gazebo Classic is required, and should be installed by default.

• Get the PX4 source code:

  git clone https://github.com/PX4/PX4-Autopilot.git --recursive
  cd PX4-Autopilot

테스트용 PX4 빌드

시뮬레이터 테스트를 위한 PX4를 빌드하려면 다음 명령어를 실행하십시오.

DONT_RUN=1 make px4_sitl gazebo-classic mavsdk_tests

MAVSDK C++ 라이브러리 설치

The tests need the MAVSDK C++ library installed system-wide (e.g. in /usr/lib or /usr/local/lib).

바이너리 또는 소스에서 설치:

• MAVSDK > C++ > C++ QuickStart: Install as a prebuilt library on supported platforms (recommended)
• MAVSDK > C++ Guide > Building from Source: Build C++ library from source.

모든 PX4 테스트 실행

To run all SITL tests as defined in sitl.json, do:

test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10

그러면, 모든 테스트가 나열되고 순차적으로 실행됩니다.

To see all possible command line arguments use the -h argument:

test/mavsdk_tests/mavsdk_test_runner.py -h

usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] [--gui] [--model MODEL]
                             [--case CASE] [--debugger DEBUGGER] [--verbose]
                             config_file

positional arguments:
  config_file           JSON config file to use

optional arguments:
  -h, --help            show this help message and exit
  --log-dir LOG_DIR     Directory for log files
  --speed-factor SPEED_FACTOR
                        how fast to run the simulation
  --iterations ITERATIONS
                        how often to run all tests
  --abort-early         abort on first unsuccessful test
  --gui                 display the visualization for a simulation
  --model MODEL         only run tests for one model
  --case CASE           only run tests for one case
  --debugger DEBUGGER   choice from valgrind, callgrind, gdb, lldb
  --verbose             enable more verbose output

단일 테스트 실행

Run a single test by specifying the model and test case as command line options. 예를 들어, 임무에서 테일시터 비행을 테스트하려면, 다음을 실행합니다.

test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10 --model tailsitter --case 'Fly square Multicopter Missions including RTL'

The easiest way to find out the current set of models and their associated test cases is to run all PX4 tests as shown above (note, you can then cancel the build if you wish to test just one).

이 문서 작성 시점에서 모든 테스트를 실행하여 생성된 목록은 다음과 같습니다.

About to run 39 test cases for 3 selected models (1 iteration):
  - iris:
    - 'Land on GPS lost during mission (baro height mode)'
    - 'Land on GPS lost during mission (GPS height mode)'
    - 'Continue on mag lost during mission'
    - 'Continue on baro lost during mission (baro height mode)'
    - 'Continue on baro lost during mission (GPS height mode)'
    - 'Continue on baro stuck during mission (baro height mode)'
    - 'Continue on baro stuck during mission (GPS height mode)'
    - 'Takeoff and Land'
    - 'Fly square Multicopter Missions including RTL'
    - 'Fly square Multicopter Missions with manual RTL'
    - 'Fly straight Multicopter Mission'
    - 'Offboard takeoff and land'
    - 'Offboard position control'
    - 'Fly forward in position control'
    - 'Fly forward in altitude control'
  - standard_vtol:
    - 'Land on GPS lost during mission (baro height mode)'
    - 'Land on GPS lost during mission (GPS height mode)'
    - 'Continue on mag lost during mission'
    - 'Continue on baro lost during mission (baro height mode)'
    - 'Continue on baro lost during mission (GPS height mode)'
    - 'Continue on baro stuck during mission (baro height mode)'
    - 'Continue on baro stuck during mission (GPS height mode)'
    - 'Takeoff and Land'
    - 'Fly square Multicopter Missions including RTL'
    - 'Fly square Multicopter Missions with manual RTL'
    - 'Fly forward in position control'
    - 'Fly forward in altitude control'
  - tailsitter:
    - 'Land on GPS lost during mission (baro height mode)'
    - 'Land on GPS lost during mission (GPS height mode)'
    - 'Continue on mag lost during mission'
    - 'Continue on baro lost during mission (baro height mode)'
    - 'Continue on baro lost during mission (GPS height mode)'
    - 'Continue on baro stuck during mission (baro height mode)'
    - 'Continue on baro stuck during mission (GPS height mode)'
    - 'Takeoff and Land'
    - 'Fly square Multicopter Missions including RTL'
    - 'Fly square Multicopter Missions with manual RTL'
    - 'Fly forward in position control'
    - 'Fly forward in altitude control'

구현 참고 사항

• The tests are invoked from the test runner script mavsdk_test_runner.py, which is written in Python.

  In addition to MAVSDK, this runner starts px4 as well as Gazebo for SITL tests, and collects the logs of these processes.

• 테스트 실행기는 다음을 포함하는 C++ 바이너리입니다.

  • The main function to parse the arguments.
  • An abstraction around MAVSDK called autopilot_tester.
  • The actual tests using the abstraction around MAVSDK as e.g. test_multicopter_mission.cpp.
  • The tests use the catch2 unit testing framework. 이 프레임워크를 사용하는 이유는 다음과 같습니다.
    • Asserts (REQUIRE) which are needed to abort a test can be inside of functions (and not just in the top level test as is the case with gtest).
    • Dependency management is easier because catch2 can just be included as a header-only library.
    • Catch2 supports tags, which allows for flexible composition of tests.

사용된 용어:

• "model": This is the selected Gazebo model, e.g. iris.
• "test case": This is a catch2 test case.