Tests and infrastructure for testing Bitcraze devices in a physical lab.
The tests defined in the QA suite (tests/QA) all reference requirements found
in the requirements/ folder. The requiremens are written in TOML and are
parsed by the test suite in a way that the tests can reference limits in the
tests.
Before running the test suite you need to define a site in the sites/ folder.
The site TOML tells the test suite which devices to tests, what capabilities
and decks they have, and how to reach them.
The default site will be single-cf
See site docmentation for the site file format to define new test sites.
To run the test for a single Crazyflie, run:
CRAZY_SITE=single-cf pytest --verbose tests/QA -k test_filter
or specify the name(s) of crazyflies to run on
CRAZY_DEVICE=cf21_flow2_multiranger,cf21_flow2... pytest --verbose tests/QA -k test_filter
If you have defined your own site, then change the CRAZY_SITE environment
variable to reflect that. For more information see the running tests documentation.
There are some scripts in the management/ folder to help manage the devices
in your site. For details see the management documentation.
It also possible to test using the Crazyswarm project.
You will need to specify your swarm in swarms/name.yaml and a ROS launch file in swarms/name.launch you can check the swarms/crazylab-malmö.[yaml|launch] files for inspiration.
To run the Crazyswarm tests or flash firmware files to a swarm you need to define some environment variables:
$ export CRAZYSWARM_PATH=[path to checked out crazyswarm source]
$ export CRAZYSWARM_YAML=[name_of_your.yaml]
$ source $CRAZYSWARM_PATH/ros_ws/devel/setup.bash
$ roslaunch [path to your launch file] &
# To flash all devices in swarm
$ python3 management/program_swarm.py [firmware file]
# To run the crazyswarm tests
$ python3 -m pytest tests/crazyswarm