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mavsdk_tests: add VTOL mission tests

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This adds VTOL mission tests to the CI integration tests.
This depends on MAVSDK v0.38.0.
This commit is contained in:
Julian Oes
2021-03-25 17:37:03 +01:00
committed by Daniel Agar
parent 1e88939605
commit d714c2faec
6 changed files with 252 additions and 11 deletions
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42
test/mavsdk_tests/autopilot_tester.cpp
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@@ -36,6 +36,7 @@
#include <iostream>
#include <future>
#include <thread>
#include <unistd.h>
std::string connection_url {"udp://"};
std::optional<float> speed_factor {std::nullopt};
@@ -70,6 +71,7 @@ void AutopilotTester::connect(const std::string uri)
_info.reset(new Info(system));
_manual_control.reset(new ManualControl(system));
_mission.reset(new Mission(system));
_mission_raw.reset(new MissionRaw(system));
_offboard.reset(new Offboard(system));
_param.reset(new Param(system));
_telemetry.reset(new Telemetry(system));
@@ -219,10 +221,7 @@ void AutopilotTester::execute_mission()
std::promise<void> prom;
auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(_mission->start_mission() == Mission::Result::Success);
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
@@ -327,6 +326,26 @@ Mission::MissionItem AutopilotTester::create_mission_item(
return mission_item;
}
void AutopilotTester::load_qgc_mission_raw(const std::string &plan_file)
{
const auto import_result = _mission_raw->import_qgroundcontrol_mission(plan_file);
REQUIRE(import_result.first == MissionRaw::Result::Success);
REQUIRE(_mission_raw->upload_mission(import_result.second.mission_items) == MissionRaw::Result::Success);
}
void AutopilotTester::execute_mission_raw()
{
std::promise<void> prom;
auto fut = prom.get_future();
REQUIRE(_mission->start_mission() == Mission::Result::Success);
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
wait_for_mission_raw_finished(std::chrono::seconds(60));
}
void AutopilotTester::execute_rtl()
{
REQUIRE(Action::Result::Success == _action->return_to_launch());
@@ -620,6 +639,21 @@ void AutopilotTester::wait_for_mission_finished(std::chrono::seconds timeout)
REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
}
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) {
if (progress.current == progress.total) {
_mission_raw->subscribe_mission_progress(nullptr);
prom.set_value();
}
});
REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
}
void AutopilotTester::report_speed_factor()
{
// We check the exit flag more often than the speed factor.