crazyflie-testing

Tests and infrastructure for testing Bitcraze devices in a physical lab.

Requirements

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.

Sites

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.

See the file sites/single-cf.toml for the site file format to define new test sites.

Running the test

To run the test for a single Crazyflie, run:

CRAZY_SITE=single-cf pytest --verbose tests/QA

If you have defined your own site, then change the CRAZY_SITE environment variable to reflect that.

Management

There are some scripts in the management/ folder to help manage the devices in your site.

management/program.py               - Flash a firmware file to devices in site
management/bootloader_addresses.py  - List all devices bootloader addresses
management/recover.py               - Attempt to recover one or all device(s)
                                      from bootloader mode
management/program_swarm.py         - Flash a firmware file to devices in a swarm

Testing with Crazyswarm

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