second action test and small cleanup

systemtests/mcap_handler.py

@@ -56,14 +56,12 @@ def write_mcap_to_csv(self, inputbag:str, outputfile:str):
 
     #command line utility 
 
-    # from argparse import ArgumentParser, Namespace
-    # parser = ArgumentParser(description="Translates the /tf topic of an .mcap rosbag file format to a .csv file")
-    # parser.add_argument("inputbag", type=str, help="The .mcap rosbag file to be translated")
-    # parser.add_argument("outputfile", type=str, help="Output csv file that has to be created/overwritten")
-    # args:Namespace = parser.parse_args()
+    from argparse import ArgumentParser, Namespace
+    parser = ArgumentParser(description="Translates the /tf topic of an .mcap rosbag file format to a .csv file")
+    parser.add_argument("inputbag", type=str, help="The .mcap rosbag file to be translated")
+    parser.add_argument("outputfile", type=str, help="Output csv file that has to be created/overwritten")
+    args:Namespace = parser.parse_args()
 
-    # translator =  McapHandler()
-    # translator.write_mcap_to_csv(args.inputbag,args.outputfile)
+    translator =  McapHandler()
+    translator.write_mcap_to_csv(args.inputbag,args.outputfile)
 
-    translator = McapHandler()
-    translator.write_mcap_to_csv("/home/julien/ros2_ws/results/test_figure8/test_figure8_0.mcap", "/home/julien/brobro.csv")

systemtests/plotter_class.py

@@ -169,7 +169,6 @@ def adjust_arrays(self):
             i+=1
 
 
-         #######
 
         assert (takeoff_index != None) and (landing_index != None), "Plotter : couldn't find drone takeoff or landing"
 
@@ -188,10 +187,6 @@ def adjust_arrays(self):
 
         assert len(self.bag_times) == len(self.bag_x) == len(self.bag_y) == len(self.bag_z), "Plotter : self.bag_* aren't the same size after trimming"
 
-        # #rewrite bag_times to start at 0 and be written in [s] instead of [ns]
-        # bag_start_time = self.bag_times[0]
-        # self.bag_times =  (self.bag_times-bag_start_time) * (10**-9)
-        # assert self.bag_times[0] == 0
         print(f"trimmed bag_times starts: {self.bag_times[0]}s and ends: {self.bag_times[-1]}, size: {len(self.bag_times)}")
 
 
@@ -200,7 +195,7 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str):
         '''Method that creates the pdf with the plots'''
 
         self.read_csv_and_set_arrays(ideal_csvfile,rosbag_csvfile)
-        offset_list = self.find_temporal_offset() ###should I get rid of this feature ?
+        offset_list = self.find_temporal_offset() 
         if len(offset_list) == 1:
             offset_string = f"temporal offset : {offset_list[0]}s \n"
         elif len(offset_list) ==2:
@@ -369,21 +364,18 @@ def find_temporal_offset(self) -> list :
 
     #command line utility 
 
-    # from argparse import ArgumentParser, Namespace
-    # parser = ArgumentParser(description="Creates a pdf plotting the recorded trajectory of a drone against its desired trajectory")
-    # parser.add_argument("desired_trajectory", type=str, help=".csv file containing (time,x,y,z) of the ideal/desired drone trajectory")
-    # parser.add_argument("recorded_trajectory", type=str, help=".csv file containing (time,x,y,z) of the recorded drone trajectory")
-    # parser.add_argument("pdf", type=str, help="name of the pdf file you want to create/overwrite")
-    # parser.add_argument("--open", help="Open the pdf directly after it is created", action="store_true")
-    # args : Namespace = parser.parse_args()
-
-    # plotter = Plotter()
-    # plotter.create_figures(args.desired_trajectory, args.recorded_trajectory, args.pdf)
-    # if args.open:
-    #     import subprocess
-    #     subprocess.call(["xdg-open", args.pdf])
-
-    plotter = Plotter(sim_backend=True)
-    plotter.create_figures("../crazyflie_examples/crazyflie_examples/data/figure8.csv", "/home/julien/ros2_ws/results/test_figure8/test_figure8_0.csv","/home/julien/testy.pdf")
-
-
+    from argparse import ArgumentParser, Namespace
+    parser = ArgumentParser(description="Creates a pdf plotting the recorded trajectory of a drone against its desired trajectory")
+    parser.add_argument("desired_trajectory", type=str, help=".csv file containing (time,x,y,z) of the ideal/desired drone trajectory")
+    parser.add_argument("recorded_trajectory", type=str, help=".csv file containing (time,x,y,z) of the recorded drone trajectory")
+    parser.add_argument("pdf", type=str, help="name of the pdf file you want to create/overwrite")
+    parser.add_argument("--open", help="Open the pdf directly after it is created", action="store_true")
+    args : Namespace = parser.parse_args()
+
+    plotter = Plotter()
+    plotter.create_figures(args.desired_trajectory, args.recorded_trajectory, args.pdf)
+    if args.open:
+        import subprocess
+        subprocess.call(["xdg-open", args.pdf])
+
+

systemtests/test_flights.py

@@ -109,7 +109,7 @@ def record_start_and_clean(self, testname:str, max_wait:int):
             atexit.register(clean_process, start_flight_test)
 
             if TestFlights.SIM :
-                start_flight_test.wait(timeout=max_wait*10)  #simulation can be super slow 
+                start_flight_test.wait(timeout=max_wait*5)  #simulation can be super slow 
             else : 
                 start_flight_test.wait(timeout=max_wait)  #raise Timeoutexpired after max_wait seconds if start_flight_test didn't finish by itself
 
@@ -178,30 +178,3 @@ def test_multi_trajectory(self):
         TestFlights.SIM = True
 
     unittest.main(argv=[sys.argv[0]] + other_args)
-    # #unittest call doesn't work. Need to fix it. for the moment : use this 
-    # setUpModule()
-    # tester = TestFlights()
-    # tester.setUp()
-    # tester.test_figure8()
-    # tester.tearDown()
-    # tester.setUp()
-    # tester.test_multi_trajectory()
-    # tester.tearDown()
-    # tearDownModule()
-
-
-
-
-
-    # #####3
-    # TestFlights.SIM = True
-    # setUpModule()
-    # tester = TestFlights()
-    # tester.setUp()
-    # tester.test_figure8()
-    # tester.tearDown()
-    # tester.setUp()
-    # tester.test_multi_trajectory()
-    # tester.tearDown()
-    # tearDownModule()
-    # unittest.main()