Optical Flow: add unit testes for only using downward distance sensor (…

…#23266)

* Test for Optical Flow checks correct camera position

* Formatting fixed

* Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt

Co-authored-by: Mathieu Bresciani <[email protected]>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Mathieu Bresciani <[email protected]>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Silvan Fuhrer <[email protected]>

* For test GIVEN/WHEN/THEN added

---------

Co-authored-by: Mathieu Bresciani <[email protected]>
Co-authored-by: Silvan Fuhrer <[email protected]>

src/modules/sensors/vehicle_optical_flow/CMakeLists.txt

@@ -36,3 +36,7 @@ px4_add_library(vehicle_optical_flow
 	VehicleOpticalFlow.hpp
 )
 target_link_libraries(vehicle_optical_flow PRIVATE px4_work_queue)
+
+if(BUILD_TESTING)
+	add_subdirectory(test)
+endif()

src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp

@@ -73,9 +73,12 @@ class VehicleOpticalFlow : public ModuleParams, public px4::ScheduledWorkItem
 
 	void PrintStatus();
 
+protected:
+	void UpdateDistanceSensor();
+	int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations
+
 private:
 	void ClearAccumulatedData();
-	void UpdateDistanceSensor();
 	void UpdateSensorGyro();
 
 	void Run() override;
@@ -117,7 +120,6 @@ class VehicleOpticalFlow : public ModuleParams, public px4::ScheduledWorkItem
 	uint16_t _quality_sum{0};
 	uint8_t _accumulated_count{0};
 
-	int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations
 	hrt_abstime _last_range_sensor_update{0};
 
 	bool _delta_angle_available{false};

src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2024 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.
+#
+############################################################################
+
+px4_add_functional_gtest(SRC VehicleOpticalFlowTest.cpp LINKLIBS vehicle_optical_flow uORB sensor_calibration)

src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Test for VehicleOpticalFlow
+ */
+
+#include <gtest/gtest.h>
+#include "../VehicleOpticalFlow.hpp"
+#include <uORB/uORBManager.hpp>
+#include <uORB/topics/distance_sensor.h>
+
+
+distance_sensor_s createDistanceSensorMessage(uint16_t orientation)
+{
+	distance_sensor_s message;
+	message.timestamp = hrt_absolute_time();
+	message.min_distance = 1.f;
+	message.max_distance = 100.f;
+	message.current_distance = 1.1f;
+
+	message.variance = 0.1f;
+	message.signal_quality = 100;
+	message.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+	message.orientation = orientation;
+	message.h_fov = math::radians(50.f);
+	message.v_fov = math::radians(30.f);
+	return message;
+
+}
+
+class VehicleOpticalFlowTest : public ::testing::Test
+{
+public:
+
+	class VehicleOpticalFlowTestable  : public  sensors::VehicleOpticalFlow
+	{
+	public:
+		void UpdateDistanceSensorPublic()
+		{
+			VehicleOpticalFlow::UpdateDistanceSensor();
+		}
+		bool IsDistanceSensorSelected()
+		{
+			return _distance_sensor_selected >= 0;
+
+		}
+	};
+
+	void SetUp() override
+	{
+		uORB::Manager::initialize();
+
+	}
+	void TearDown() override
+	{
+		uORB::Manager::terminate();
+	}
+};
+
+
+TEST_F(VehicleOpticalFlowTest, CameraFacingDown)
+{
+	// GIVEN: message with sensor camera facing down
+	distance_sensor_s message = createDistanceSensorMessage(distance_sensor_s::ROTATION_DOWNWARD_FACING);
+	orb_advertise(ORB_ID(distance_sensor), &message);
+
+	// WHEN: update distance sensor
+	VehicleOpticalFlowTest::VehicleOpticalFlowTestable testable;
+	testable.UpdateDistanceSensorPublic();
+
+	// THEN: sensor selected
+	EXPECT_TRUE(testable.IsDistanceSensorSelected());
+}
+
+TEST_F(VehicleOpticalFlowTest, CameraFacingForward)
+{
+	// GIVEN: message with sensor camera facing forward
+	distance_sensor_s message = createDistanceSensorMessage(distance_sensor_s::ROTATION_FORWARD_FACING);
+	orb_advertise(ORB_ID(distance_sensor), &message);
+
+	// WHEN: update distance sensor
+	VehicleOpticalFlowTest::VehicleOpticalFlowTestable testable;
+	testable.UpdateDistanceSensorPublic();
+
+	// THEN: sensor is not selected
+	EXPECT_FALSE(testable.IsDistanceSensorSelected());
+}