CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-28 22:19:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

selfcheck.py: don’t capitalize failure messages

Browse Source
This commit is contained in:
Oleg Kalachev
2018-12-03 06:31:10 +03:00
parent 8c5a0716e7
commit 96e6c5bc71
1 changed files with 27 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
clever/src/selfcheck.py
View File

@@ -56,9 +56,9 @@ def check_fcu():
try:
state = rospy.wait_for_message('mavros/state', State, timeout=3)
if not state.connected:
failure('No connection to the FCU (check wiring)')
failure('no connection to the FCU (check wiring)')
except rospy.ROSException:
failure('No MAVROS state (check wiring)')
failure('no MAVROS state (check wiring)')
@check('Camera')
@@ -66,18 +66,18 @@ def check_camera(name):
try:
img = rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
except rospy.ROSException:
failure('%s: No images (is the camera connected properly?)', name)
failure('%s: no images (is the camera connected properly?)', name)
return
try:
info = rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=1)
except rospy.ROSException:
failure('%s: No calibration info', name)
failure('%s: no calibration info', name)
return
if img.width != info.width:
failure('%s: Calibration width doesn\'t match image width (%d != %d)', name, info.width, img.width)
failure('%s: calibration width doesn\'t match image width (%d != %d)', name, info.width, img.width)
if img.height != info.height:
failure('%s: Calibration height doesn\'t match image height (%d != %d))', name, info.height, img.height)
failure('%s: calibration height doesn\'t match image height (%d != %d))', name, info.height, img.height)
@check('Aruco detector')
@@ -85,7 +85,7 @@ def check_aruco():
try:
rospy.wait_for_message('aruco_pose/debug', Image, timeout=1)
except rospy.ROSException:
failure('No aruco_pose/debug messages')
failure('no aruco_pose/debug messages')
@check('Vision position estimate')
@@ -96,7 +96,7 @@ def check_vpe():
try:
vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
except rospy.ROSException:
failure('No VPE or MoCap messages')
failure('no VPE or MoCap messages')
return
# check vision pose and estimated pose inconsistency
@@ -106,10 +106,10 @@ def check_vpe():
return
horiz = math.hypot(vis.pose.position.x - pose.pose.position.x, vis.pose.position.y - pose.pose.position.y)
if horiz > 0.5:
failure('Horizontal position inconsistency: %.2f m', horiz)
failure('horizontal position inconsistency: %.2f m', horiz)
vert = vis.pose.position.z - pose.pose.position.z
if abs(vert) > 0.5:
failure('Vertical position inconsistency: %.2f m', vert)
failure('vertical position inconsistency: %.2f m', vert)
op = pose.pose.orientation
ov = vis.pose.orientation
yawp, _, _ = t.euler_from_quaternion((op.x, op.y, op.z, op.w), axes='rzyx')
@@ -117,7 +117,7 @@ def check_vpe():
yawdiff = yawp - yawv
yawdiff = math.degrees((yawdiff + 180) % 360 - 180)
if abs(yawdiff) > 8:
failure('Yaw inconsistency: %.2f deg', yawdiff)
failure('yaw inconsistency: %.2f deg', yawdiff)
@check('Simple offboard node')
@@ -127,7 +127,7 @@ def check_simpleoffboard():
rospy.wait_for_service('get_telemetry', timeout=3)
rospy.wait_for_service('land', timeout=3)
except rospy.ROSException:
failure('No simple_offboard services')
failure('no simple_offboard services')
@check('IMU')
@@ -135,7 +135,7 @@ def check_imu():
try:
rospy.wait_for_message('mavros/imu/data', Imu, timeout=1)
except rospy.ROSException:
failure('No IMU data (check flight controller calibration)')
failure('no IMU data (check flight controller calibration)')
@check('Local position')
@@ -146,14 +146,14 @@ def check_local_position():
_, pitch, roll = t.euler_from_quaternion((o.x, o.y, o.z, o.w), axes='rzyx')
MAX_ANGLE = math.radians(2)
if abs(pitch) > MAX_ANGLE:
failure('Pitch is %.2f deg; place copter horizontally or redo level horizon calib',
failure('pitch is %.2f deg; place copter horizontally or redo level horizon calib',
math.degrees(pitch))
if abs(roll) > MAX_ANGLE:
failure('Roll is %.2f deg; place copter horizontally or redo level horizon calib',
failure('roll is %.2f deg; place copter horizontally or redo level horizon calib',
math.degrees(roll))
except rospy.ROSException:
failure('No local position')
failure('no local position')
@check('Velocity estimation')
@@ -163,23 +163,23 @@ def check_velocity():
horiz = math.hypot(velocity.twist.linear.x, velocity.twist.linear.y)
vert = velocity.twist.linear.z
if abs(horiz) > 0.1:
failure('Horizontal velocity estimation is %.2f m/s; is copter staying still?' % horiz)
failure('horizontal velocity estimation is %.2f m/s; is copter staying still?' % horiz)
if abs(vert) > 0.1:
failure('Vertical velocity estimation is %.2f m/s; is copter staying still?' % vert)
failure('vertical velocity estimation is %.2f m/s; is copter staying still?' % vert)
angular = velocity.twist.angular
ANGULAR_VELOCITY_LIMIT = 0.01
if abs(angular.x) > ANGULAR_VELOCITY_LIMIT:
failure('Pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
failure('pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
angular.x, math.degrees(angular.x))
if abs(angular.y) > ANGULAR_VELOCITY_LIMIT:
failure('Pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
failure('pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
angular.y, math.degrees(angular.y))
if abs(angular.z) > ANGULAR_VELOCITY_LIMIT:
failure('Pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
failure('pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
angular.z, math.degrees(angular.z))
except rospy.ROSException:
failure('No velocity estimation')
failure('no velocity estimation')
@check('Global position (GPS)')
@@ -187,7 +187,7 @@ def check_global_position():
try:
rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
except rospy.ROSException:
failure('No global position')
failure('no global position')
@check('Optical flow')
@@ -196,7 +196,7 @@ def check_optical_flow():
try:
rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)
except rospy.ROSException:
failure('No optical flow data (from Raspberry)')
failure('no optical flow data (from Raspberry)')
@check('Rangefinder')
@@ -205,11 +205,11 @@ def check_rangefinder():
try:
rospy.wait_for_message('mavros/distance_sensor/rangefinder_3_sub', Range, timeout=0.5)
except rospy.ROSException:
failure('No randefinder data from Raspberry')
failure('no randefinder data from Raspberry')
try:
rospy.wait_for_message('mavros/distance_sensor/rangefinder_0', Range, timeout=0.5)
except rospy.ROSException:
failure('No rangefinder data from PX4')
failure('no rangefinder data from PX4')
@check('Boot duration')
@@ -237,7 +237,7 @@ def check_cpu_usage():
pid, cpu, cmd = process.split('\t')
if cmd.strip() not in WHITELIST and float(cpu) > 30:
failure('High CPU usage (%s%%) detected: %s (PID %s)',
failure('high CPU usage (%s%%) detected: %s (PID %s)',
cpu.strip(), cmd.strip(), pid.strip())