Add a more real-world test of the collision prevention

src/lib/CollisionPrevention/CMakeLists.txt

@@ -33,3 +33,5 @@
 
 px4_add_library(CollisionPrevention CollisionPrevention.cpp)
 target_compile_options(CollisionPrevention PRIVATE -Wno-cast-align) # TODO: fix and enable
+
+px4_add_functional_gtest(SRC CollisionPreventionTest.cpp LINKLIBS CollisionPrevention )

src/lib/CollisionPrevention/CollisionPrevention.cpp

@@ -53,6 +53,18 @@ CollisionPrevention::~CollisionPrevention()
 	if (_mavlink_log_pub != nullptr) {
 		orb_unadvertise(_mavlink_log_pub);
 	}
+
+	if (_constraints_pub != nullptr) {
+		orb_unadvertise(_constraints_pub);
+	}
+
+	if (_obstacle_distance_pub != nullptr) {
+		orb_unadvertise(_obstacle_distance_pub);
+	}
+
+	if (_pub_vehicle_command != nullptr) {
+		orb_unadvertise(_pub_vehicle_command);
+	}
 }
 
 void CollisionPrevention::_publishConstrainedSetpoint(const Vector2f &original_setpoint,
@@ -102,7 +114,7 @@ void CollisionPrevention::_updateOffboardObstacleDistance(obstacle_distance_s &o
 void CollisionPrevention::_updateDistanceSensor(obstacle_distance_s &obstacle)
 {
 	for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
-		distance_sensor_s distance_sensor;
+		distance_sensor_s distance_sensor {};
 		_sub_distance_sensor[i].copy(&distance_sensor);
 
 		// consider only instaces with updated, valid data and orientations useful for collision prevention

src/lib/CollisionPrevention/CollisionPreventionTest.cpp

@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <CollisionPrevention/CollisionPrevention.hpp>
+
+// to run: make tests TESTFILTER=CollisionPrevention
+
+class CollisionPreventionTest : public ::testing::Test
+{
+public:
+	void SetUp() override
+	{
+		uORB::Manager::initialize();
+		param_init();
+	}
+
+	void TearDown() override
+	{
+		param_reset_all();
+		uORB::Manager::terminate();
+	}
+};
+
+TEST_F(CollisionPreventionTest, instantiation) { CollisionPrevention cp(nullptr); }
+
+TEST_F(CollisionPreventionTest, behaviorOff)
+{
+	// GIVEN: a simple setup condition
+	CollisionPrevention cp(nullptr);
+	matrix::Vector2f original_setpoint(10, 0);
+	float max_speed = 3.f;
+	matrix::Vector2f curr_pos(0, 0);
+	matrix::Vector2f curr_vel(2, 0);
+
+	// WHEN: we check if the setpoint should be modified
+	matrix::Vector2f modified_setpoint = original_setpoint;
+	cp.modifySetpoint(modified_setpoint, max_speed, curr_pos, curr_vel);
+
+	// THEN: it should be the same
+	EXPECT_EQ(original_setpoint, modified_setpoint);
+}
+
+TEST_F(CollisionPreventionTest, withoutObstacleMessageNothing)
+{
+	// GIVEN: a simple setup condition
+	CollisionPrevention cp(nullptr);
+	matrix::Vector2f original_setpoint(10, 0);
+	float max_speed = 3.f;
+	matrix::Vector2f curr_pos(0, 0);
+	matrix::Vector2f curr_vel(2, 0);
+
+	// AND: a parameter handle
+	param_t param = param_handle(px4::params::MPC_COL_PREV_D);
+
+
+	// WHEN: we set the parameter check then apply the setpoint modification
+	float value = 10; // try to keep 10m away from obstacles
+	param_set(param, &value);
+
+	matrix::Vector2f modified_setpoint = original_setpoint;
+	cp.modifySetpoint(modified_setpoint, max_speed, curr_pos, curr_vel);
+
+	// THEN: it shouldn't interfere with the setpoint, because there isn't an obstacle
+	EXPECT_EQ(original_setpoint, modified_setpoint);
+}
+
+TEST_F(CollisionPreventionTest, testBehaviorOnWithAnObstacle)
+{
+	// GIVEN: a simple setup condition
+	CollisionPrevention cp(nullptr);
+	matrix::Vector2f original_setpoint(10, 0);
+	float max_speed = 3;
+	matrix::Vector2f curr_pos(0, 0);
+	matrix::Vector2f curr_vel(2, 0);
+
+	// AND: a parameter handle
+	param_t param = param_handle(px4::params::MPC_COL_PREV_D);
+	float value = 10; // try to keep 10m distance
+	param_set(param, &value);
+
+	// AND: an obstacle message
+	obstacle_distance_s message;
+	memset(&message, 0xDEAD, sizeof(message));
+	message.min_distance = 100;
+	message.max_distance = 1000;
+	message.timestamp = hrt_absolute_time();
+	int distances_array_size = sizeof(message.distances) / sizeof(message.distances[0]);
+	message.increment = 360 / distances_array_size;
+
+	for (int i = 0; i < distances_array_size; i++) {
+		message.distances[i] = 101;
+	}
+
+	orb_advert_t obstacle_distance_pub = orb_advertise(ORB_ID(obstacle_distance), &message);
+
+
+	// WHEN: we publish the message and set the parameter and then run the setpoint modification
+	matrix::Vector2f modified_setpoint = original_setpoint;
+	cp.modifySetpoint(modified_setpoint, max_speed, curr_pos, curr_vel);
+	orb_unadvertise(obstacle_distance_pub);
+
+	// THEN: it should be cut down a lot
+	EXPECT_GT(original_setpoint.norm() * 0.5f, modified_setpoint.norm()); //FIXME: this should actually be constrained to 0
+}