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mavsdk_tests: update to MAVSDK 3.0.0

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This commit is contained in:
Julian Oes
2025-05-07 14:44:14 +12:00
committed by Ramon Roche
parent e50d5d8567
commit 66deae172d
6 changed files with 53 additions and 39 deletions
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52
test/mavsdk_tests/autopilot_tester.cpp
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@@ -215,9 +215,10 @@ void AutopilotTester::wait_until_altitude(float rel_altitude_m, std::chrono::sec
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_telemetry->subscribe_position([&prom, rel_altitude_m, delta, this](Telemetry::Position new_position) {
Telemetry::PositionHandle handle = _telemetry->subscribe_position([&prom, rel_altitude_m, delta, &handle,
this](Telemetry::Position new_position) {
if (fabs(rel_altitude_m - new_position.relative_altitude_m) <= delta) {
_telemetry->subscribe_position(nullptr);
_telemetry->unsubscribe_position(handle);
prom.set_value();
}
});
@@ -629,7 +630,8 @@ void AutopilotTester::start_checking_altitude(const float max_deviation_m)
std::array<float, 3> initial_position = get_current_position_ned();
float target_altitude = initial_position[2];
_telemetry->subscribe_position([target_altitude, max_deviation_m, this](Telemetry::Position new_position) {
_check_altitude_handle = _telemetry->subscribe_position([target_altitude, max_deviation_m,
this](Telemetry::Position new_position) {
const float current_deviation = fabs((-target_altitude) - new_position.relative_altitude_m);
CHECK(current_deviation <= max_deviation_m);
});
@@ -637,7 +639,7 @@ void AutopilotTester::start_checking_altitude(const float max_deviation_m)
void AutopilotTester::stop_checking_altitude()
{
_telemetry->subscribe_position(nullptr);
_telemetry->unsubscribe_position(_check_altitude_handle);
}
void AutopilotTester::check_tracks_mission_raw(float corridor_radius_m, bool reverse)
@@ -744,15 +746,10 @@ void AutopilotTester::send_custom_mavlink_command(const MavlinkPassthrough::Comm
_mavlink_passthrough->send_command_int(command);
}
void AutopilotTester::send_custom_mavlink_message(mavlink_message_t &message)
{
_mavlink_passthrough->send_message(message);
}
void AutopilotTester::add_mavlink_message_callback(uint16_t message_id,
std::function< void(const mavlink_message_t &)> callback)
{
_mavlink_passthrough->subscribe_message_async(message_id, std::move(callback));
_mavlink_passthrough->subscribe_message(message_id, std::move(callback));
}
std::array<float, 3> AutopilotTester::get_current_position_ned()
@@ -867,11 +864,12 @@ void AutopilotTester::start_and_wait_for_mission_sequence(int sequence_number)
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_mission->subscribe_mission_progress([&prom, this, sequence_number](Mission::MissionProgress progress) {
Mission::MissionProgressHandle handle = _mission->subscribe_mission_progress(
[&prom, &handle, this, sequence_number](Mission::MissionProgress progress) {
std::cout << time_str() << "Progress: " << progress.current << "/" << progress.total << std::endl;
if (progress.current >= sequence_number) {
_mission->subscribe_mission_progress(nullptr);
_mission->unsubscribe_mission_progress(handle);
prom.set_value();
}
});
@@ -886,11 +884,12 @@ void AutopilotTester::start_and_wait_for_mission_sequence_raw(int sequence_numbe
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_mission_raw->subscribe_mission_progress([&prom, this, sequence_number](MissionRaw::MissionProgress progress) {
MissionRaw::MissionProgressHandle handle = _mission_raw->subscribe_mission_progress(
[&prom, &handle, this, sequence_number](MissionRaw::MissionProgress progress) {
std::cout << time_str() << "Progress: " << progress.current << "/" << progress.total << std::endl;
if (progress.current >= sequence_number) {
_mission_raw->subscribe_mission_progress(nullptr);
_mission_raw->unsubscribe_mission_progress(handle);
prom.set_value();
}
});
@@ -905,9 +904,10 @@ void AutopilotTester::wait_for_flight_mode(Telemetry::FlightMode flight_mode, st
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_telemetry->subscribe_flight_mode([&prom, flight_mode, this](Telemetry::FlightMode new_flight_mode) {
Telemetry::FlightModeHandle handle = _telemetry->subscribe_flight_mode(
[&prom, &handle, flight_mode, this](Telemetry::FlightMode new_flight_mode) {
if (new_flight_mode == flight_mode) {
_telemetry->subscribe_flight_mode(nullptr);
_telemetry->unsubscribe_flight_mode(handle);
prom.set_value();
}
});
@@ -920,9 +920,10 @@ void AutopilotTester::wait_for_landed_state(Telemetry::LandedState landed_state,
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_telemetry->subscribe_landed_state([&prom, landed_state, this](Telemetry::LandedState new_landed_state) {
Telemetry::LandedStateHandle handle = _telemetry->subscribe_landed_state(
[&prom, &handle, landed_state, this](Telemetry::LandedState new_landed_state) {
if (new_landed_state == landed_state) {
_telemetry->subscribe_landed_state(nullptr);
_telemetry->unsubscribe_landed_state(handle);
prom.set_value();
}
});
@@ -935,7 +936,8 @@ void AutopilotTester::wait_until_speed_lower_than(float speed, std::chrono::seco
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_telemetry->subscribe_position_velocity_ned([&prom, speed, this](Telemetry::PositionVelocityNed position_velocity_ned) {
Telemetry::PositionVelocityNedHandle handle = _telemetry->subscribe_position_velocity_ned(
[&prom, &handle, speed, this](Telemetry::PositionVelocityNed position_velocity_ned) {
std::array<float, 3> current_velocity;
current_velocity[0] = position_velocity_ned.velocity.north_m_s;
current_velocity[1] = position_velocity_ned.velocity.east_m_s;
@@ -943,7 +945,7 @@ void AutopilotTester::wait_until_speed_lower_than(float speed, std::chrono::seco
const float current_speed = norm(current_velocity);
if (current_speed <= speed) {
_telemetry->subscribe_position_velocity_ned(nullptr);
_telemetry->unsubscribe_position_velocity_ned(handle);
prom.set_value();
}
});
@@ -956,9 +958,10 @@ void AutopilotTester::wait_for_mission_finished(std::chrono::seconds timeout)
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_mission->subscribe_mission_progress([&prom, this](Mission::MissionProgress progress) {
Mission::MissionProgressHandle handle = _mission->subscribe_mission_progress(
[&prom, &handle, this](Mission::MissionProgress progress) {
if (progress.current == progress.total) {
_mission->subscribe_mission_progress(nullptr);
_mission->unsubscribe_mission_progress(handle);
prom.set_value();
}
});
@@ -971,9 +974,10 @@ void AutopilotTester::wait_for_mission_raw_finished(std::chrono::seconds timeout
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_mission_raw->subscribe_mission_progress([&prom, this](MissionRaw::MissionProgress progress) {
MissionRaw::MissionProgressHandle handle = _mission_raw->subscribe_mission_progress(
[&prom, &handle, this](MissionRaw::MissionProgress progress) {
if (progress.current == progress.total) {
_mission_raw->subscribe_mission_progress(nullptr);
_mission_raw->unsubscribe_mission_progress(handle);
prom.set_value();
}
});