added github workflow

[roskzhu]

No description provided.

[Xierumeng]

Also modify these files to remove pytest.skip :

• tests/test_qr_input.py

"""
Tests functionality for qr_input.
"""

from modules import qr_input


CAMERA = 0


if __name__ == '__main__':

    result, qr_string = qr_input.qr_input(CAMERA)
    assert result
    assert qr_string is not None

    print(f"Decoded QR code with string value: {qr_string}")

    print("Done!")

• tests/test_upload_commands.py

"""
Integration test for upload_commands.
"""
import math

import dronekit

from modules import upload_commands


ALTITUDE = 40

MAVLINK_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
MAVLINK_WAYPOINT = dronekit.mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
MAVLINK_TAKEOFF = dronekit.mavutil.mavlink.MAV_CMD_NAV_TAKEOFF
MAVLINK_LANDING = dronekit.mavutil.mavlink.MAV_CMD_NAV_LAND
MAVLINK_LOITER = dronekit.mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME
DELAY = 3

TOLERANCE = 0.0001

CONNECTION_ADDRESS = "tcp:localhost:14550"


def retrieve_commands(drone: dronekit.Vehicle) -> dronekit.CommandSequence:
    """
    Retrieves latest version of commands.
    """
    command_sequence = drone.commands
    command_sequence.download()
    drone.wait_ready()

    return command_sequence


def upload_and_check_command_list(drone: dronekit.Vehicle,
                                  commands: "list[dronekit.Command]"):
    """
    Test the case of a list of waypoint commands.
    """
    result = upload_commands.upload_commands(drone, commands)
    assert result

    # Retrieve current drone commands and see if they match with inputs
    command_sequence = retrieve_commands(drone)

    for i, command in enumerate(command_sequence):
        assert command.frame == commands[i].frame
        assert command.command == commands[i].command
        assert command.param1 == commands[i].param1
        # Parameters 2,3,4 not being tested since Mission Planner ignores them
        assert math.isclose(command.x, commands[i].x, abs_tol = TOLERANCE)
        assert math.isclose(command.y, commands[i].y, abs_tol = TOLERANCE)
        assert math.isclose(command.z, commands[i].z, abs_tol = TOLERANCE)


def upload_and_check_empty_command_list(drone: dronekit.Vehicle):
    """
    Test the case of an empty command list.
    """
    # Retrieve current drone commands and add them to a list
    command_sequence = retrieve_commands(drone)
    commands = []
    for command in command_sequence:
        commands.append(command)

    # Upload empty command list
    empty_command_list = []
    result = upload_commands.upload_commands(drone, empty_command_list)
    assert not result

    # Retrieve new commands and compare them with previous list
    command_check = retrieve_commands(drone)

    for i, command in enumerate(command_check):
        assert command.frame == commands[i].frame
        assert command.command == commands[i].command
        assert command.param1 == commands[i].param1
        # Parameters 2,3,4 not being tested since Mission Planner ignores them
        assert math.isclose(command.x, commands[i].x, abs_tol = TOLERANCE)
        assert math.isclose(command.y, commands[i].y, abs_tol = TOLERANCE)
        assert math.isclose(command.z, commands[i].z, abs_tol = TOLERANCE)


if __name__ == "__main__":
    # Drone setup
    # Wait ready is false as the drone may be on the ground
    dronekit_vehicle = dronekit.connect(CONNECTION_ADDRESS, wait_ready=False)

    # Example waypoints list, converted to waypoint commands
    waypoints_input = [(39.140, 22.23), (25.123, -76.324)]

    # Test a command sequence with a variety of commands
    commands_input = []

    for waypoint in waypoints_input:
        lat_input, lon_input = waypoint
        dronekit_command = dronekit.Command(
            0,
            0,
            0,
            MAVLINK_FRAME,
            MAVLINK_WAYPOINT,
            0,
            0,
            DELAY,
            0,
            0,
            0,
            lat_input,
            lon_input,
            ALTITUDE,
        )
        commands_input.append(dronekit_command)

    takeoff_command = dronekit.Command(
        0,
        0,
        0,
        MAVLINK_FRAME,
        MAVLINK_TAKEOFF,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        ALTITUDE,
    )
    commands_input.append(takeoff_command)

    landing_command = dronekit.Command(
        0,
        0,
        0,
        MAVLINK_FRAME,
        MAVLINK_LANDING,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
    )
    commands_input.append(landing_command)

    loiter_command = dronekit.Command(
        0,
        0,
        0,
        MAVLINK_FRAME,
        MAVLINK_LOITER,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        ALTITUDE,
    )
    commands_input.append(loiter_command)

    # Test with the command sequence
    upload_and_check_command_list(dronekit_vehicle, commands_input)

    # Test with empty command sequence
    upload_and_check_empty_command_list(dronekit_vehicle)

    print("Done!")

This will probably get rid of the CI errors.

[Xierumeng]

Reviewed.

[Xierumeng]

Reviewed.

[Xierumeng]

Reviewed.

[Xierumeng]

Approved.