mavsdk_tests: report speed factor every second

This helps in debugging slow CI.

test/mavsdk_tests/autopilot_tester.cpp

@@ -35,8 +35,24 @@
 #include "math_helpers.h"
 #include <iostream>
 #include <future>
+#include <thread>
 
 std::string connection_url {"udp://"};
+std::optional<float> speed_factor {std::nullopt};
+
+AutopilotTester::AutopilotTester() :
+	_real_time_report_thread([this]()
+{
+	report_speed_factor();
+})
+{
+}
+
+AutopilotTester::~AutopilotTester()
+{
+	_should_exit = true;
+	_real_time_report_thread.join();
+}
 
 void AutopilotTester::connect(const std::string uri)
 {
@@ -603,3 +619,25 @@ void AutopilotTester::wait_for_mission_finished(std::chrono::seconds timeout)
 
 	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.
+	unsigned counter = 0;
+
+	while (!_should_exit) {
+		if (counter++ % 10 == 0) {
+			if (_info != nullptr) {
+				std::cout << "Current speed factor: " << _info->get_speed_factor().second ;
+
+				if (speed_factor.has_value()) {
+					std::cout << " (set: " << speed_factor.value() << ')';
+				}
+
+				std::cout << '\n';
+			}
+		}
+
+		std::this_thread::sleep_for(std::chrono::milliseconds(100));
+	}
+}

test/mavsdk_tests/autopilot_tester.h

@@ -44,13 +44,16 @@
 #include <mavsdk/plugins/telemetry/telemetry.h>
 #include <mavsdk/plugins/param/param.h>
 #include "catch2/catch.hpp"
+#include <atomic>
 #include <chrono>
 #include <ctime>
 #include <iostream>
 #include <memory>
+#include <optional>
 #include <thread>
 
 extern std::string connection_url;
+extern std::optional<float> speed_factor;
 
 using namespace mavsdk;
 using namespace mavsdk::geometry;
@@ -81,6 +84,9 @@ public:
 		Gps
 	};
 
+	AutopilotTester();
+	~AutopilotTester();
+
 	void connect(const std::string uri);
 	void wait_until_ready();
 	void wait_until_ready_local_position_only();
@@ -131,6 +137,8 @@ private:
 	void wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout);
 	void wait_for_mission_finished(std::chrono::seconds timeout);
 
+	void report_speed_factor();
+
 	template<typename Rep, typename Period>
 	bool poll_condition_with_timeout(
 		std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
@@ -216,4 +224,7 @@ private:
 	std::unique_ptr<mavsdk::Telemetry> _telemetry{};
 
 	Telemetry::GroundTruth _home{NAN, NAN, NAN};
+
+	std::atomic<bool> _should_exit {false};
+	std::thread _real_time_report_thread {};
 };

test/mavsdk_tests/mavsdk_test_runner.py

@@ -436,6 +436,7 @@ class Tester:
             test['model'],
             case,
             self.config['mavlink_connection'],
+            self.speed_factor,
             self.verbose)
         self.active_runners.append(mavsdk_tests_runner)
 

test/mavsdk_tests/process_helper.py

@@ -279,10 +279,13 @@ class TestRunner(Runner):
                  model: str,
                  case: str,
                  mavlink_connection: str,
+                 speed_factor: float,
                  verbose: bool):
         super().__init__(log_dir, model, case, verbose)
         self.name = "mavsdk_tests"
         self.cwd = workspace_dir
         self.cmd = workspace_dir + \
             "/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
-        self.args = ["--url", mavlink_connection, case]
+        self.args = ["--url", mavlink_connection,
+                     "--speed-factor", str(speed_factor),
+                     case]

test/mavsdk_tests/test_main.cpp

@@ -50,6 +50,7 @@ int main(int argc, char **argv)
 
 		if (argv_string == "-h") {
 			usage(argv[0]);
+			return 0;
 		}
 
 		if (argv_string == "--url") {
@@ -57,12 +58,40 @@ int main(int argc, char **argv)
 				connection_url = argv[i + 1];
 				remove_argv(argc, argv, i);
 				remove_argv(argc, argv, i);
+				--i;
 
 			} else {
 				std::cerr << "No connection URL supplied" << std::endl;
 				usage(argv[0]);
 				return -1;
 			}
+
+		}
+
+		if (argv_string == "--speed-factor") {
+			if (argc > i + 1) {
+				try {
+					speed_factor = std::make_optional(std::stof(argv[i + 1]));
+
+				} catch (const std::invalid_argument &) {
+					std::cerr << "Speed factor could not be parsed" << std::endl;
+					return -1;
+
+				} catch (const std::out_of_range &) {
+					std::cerr << "Speed factor is out of range" << std::endl;
+					return -1;
+				}
+
+				remove_argv(argc, argv, i);
+				remove_argv(argc, argv, i);
+				--i;
+
+
+			} else {
+				std::cerr << "No speed factor supplied" << std::endl;
+				usage(argv[0]);
+				return -1;
+			}
 		}
 	}
 
@@ -79,13 +108,16 @@ int main(int argc, char **argv)
 void usage(const std::string &bin_name)
 {
 	std::cout << std::endl
-		  << "Usage : " << bin_name << " [--url CONNECTION_URL] [catch2 arguments]" << std::endl
-		  << "Connection URL format should be :" << std::endl
-		  << " For TCP : tcp://[server_host][:server_port]" << std::endl
-		  << " For UDP : udp://[bind_host][:bind_port]" << std::endl
-		  << " For Serial : serial:///path/to/serial/dev[:baudrate]" << std::endl
-		  << "For example, to connect to the simulator use URL: udp://:14540" << std::endl
-		  << std::endl;
+		  << "Usage : " << bin_name << " [--url CONNECTION_URL] [--speed-factor SPEED_FACTOR] [catch2 arguments]\n"
+		  << "\n"
+		  << "  --url          Connection URL format should be :\n"
+		  << "                   For TCP : tcp://[server_host][:server_port]\n"
+		  << "                   For UDP : udp://[bind_host][:bind_port]\n"
+		  << "                   For Serial : serial:///path/to/serial/dev[:baudrate]\n"
+		  << "                 For example, to connect to the simulator use URL: udp://:14540\n"
+		  << "\n"
+		  << "  --speed-factor Speed factor to compare against, for information only\n"
+		  << std::flush;
 }
 
 void remove_argv(int &argc, char **argv, int pos)