Merge pull request #30 from hmakelin/hmakelin-update-sitl-test

Update SITL tests for new Docker containers

Author: hmakelin

Makefile

@@ -0,0 +1,2 @@
+test-sitl:
+	python test/sitl/sitl_test_mock_gps_node.py

docs/pages/developer_guide/test/sitl_tests.rst

@@ -1,11 +1,16 @@
 SITL tests
 ____________________________________________________
-SITL tests are under the ``test/sitl`` folder. They are simple Python scripts:
+SITL tests are under the ``test/sitl`` folder. They are Python scripts. Use the below ``make`` command to run the
+SITL test:
 
 .. code-block:: bash
 
-    cd ~/colcon_ws/src/gisnav/test/sitl
-    python sitl_test_mock_gps_node.py
+    cd ~/colcon_ws/src/gisnav
+    make test-sitl
+
+.. note::
+    The ``test/sitl/sitl_test_mock_gps_node.py`` script assumes you have already built the services defined in the
+    ``docker-compose.yaml`` file.
 
 Flight Log Analysis
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

test/sitl/sitl_test_mock_gps_node.py

@@ -9,11 +9,11 @@
 from mavsdk import System
 from mavsdk.log_files import LogFilesResult, LogFilesError
 
-DOCKER_CONTAINERS = ['gisnav-docker_mapserver_1', 'gisnav-docker_sitl_1']
+DOCKER_CONTAINERS = ['gisnav-mapserver-1', 'gisnav-px4-1', 'gisnav-micro-ros-agent-1', 'gisnav-gisnav-1']
 SYS_ADDR = 'udp://0.0.0.0:14550'
 MISSION_FILE = os.path.join(os.path.dirname(__file__), '../assets/ksql_airport.plan')
-MAVLINK_CONNECTION_TIMEOUT_SEC = 15
-PRE_FLIGHT_HEALTH_CHECK_TIMEOUT_SEC = 15
+MAVLINK_CONNECTION_TIMEOUT_SEC = 30
+PRE_FLIGHT_HEALTH_CHECK_TIMEOUT_SEC = 30
 LOG_OUTPUT_PATH = os.path.join(os.path.dirname(__file__), 'output')
 
 
@@ -79,7 +79,7 @@ async def run():
 
 async def connect_mavlink(drone):
     """Connects to drone via MAVLink"""
-    print(f'Connecting to drone at "{SYS_ADDR}"...')
+    print(f'Connecting to drone at "{SYS_ADDR}" (timeout {MAVLINK_CONNECTION_TIMEOUT_SEC} sec)...')
     await drone.connect(system_address=SYS_ADDR)
     async for state in drone.core.connection_state():
         # This might take a while assuming the Docker containers have not had time to start yet
@@ -90,7 +90,7 @@ async def connect_mavlink(drone):
 
 async def check_health(drone):
     """Goes through (pre-flight) health checks"""
-    print("Going through health-checks...")
+    print(f"Going through health-checks (timeout {PRE_FLIGHT_HEALTH_CHECK_TIMEOUT_SEC} sec)...")
     async for health in drone.telemetry.health():
         if health.is_global_position_ok \
                 and health.is_local_position_ok \