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mavsdk_tests: Split tests and test main

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This commit is contained in:
Julian Oes
2019-12-26 10:16:58 +01:00
committed by Lorenz Meier
parent 70d461bc6d
commit 217ba4f981
5 changed files with 71 additions and 59 deletions
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mavsdk_tests/CMakeLists.txt
+1
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@@ -7,6 +7,7 @@ add_definitions("-std=c++17 -Wall -Wextra -Werror")
find_package(MAVSDK REQUIRED)
add_executable(test_mission_multicopter
test_main.cpp
autopilot_tester.cpp
test_mission_multicopter.cpp
)
mavsdk_tests/autopilot_tester.cpp
+2
View File
@@ -5,6 +5,8 @@
using namespace mavsdk;
using namespace mavsdk::geometry;
std::string connection_url {"udp://"};
void AutopilotTester::connect(const std::string uri)
{
ConnectionResult ret = _mavsdk.add_any_connection(uri);
mavsdk_tests/autopilot_tester.h
+2
View File
@@ -10,6 +10,8 @@
#include <memory>
#include <thread>
extern std::string connection_url;
class AutopilotTester {
public:
struct MissionOptions {
mavsdk_tests/test_main.cpp
+66
View File
@@ -0,0 +1,66 @@
//
// Multicopter mission test.
//
// Author: Julian Oes <julian@oes.ch>
#define CATCH_CONFIG_RUNNER
#include "catch2/catch.hpp"
#include <mavsdk/mavsdk.h>
#include <iostream>
#include <string>
#include "autopilot_tester.h"
static void usage(const std::string& bin_name);
static void remove_argv(int& argc, char** argv, int pos);
int main(int argc, char** argv)
{
for (int i = 0; i < argc; ++i) {
const std::string argv_string(argv[i]);
if (argv_string == "-h") {
usage(argv[0]);
}
if (argv_string == "--url") {
if (argc > i + 1) {
connection_url = argv[i+1];
remove_argv(argc, argv, i);
remove_argv(argc, argv, i);
} else {
std::cerr << "No connection URL supplied" << std::endl;
usage(argv[0]);
return -1;
}
}
}
Catch::Session session;
const int catch_ret = session.applyCommandLine(argc, argv);
if (catch_ret != 0) {
return catch_ret;
}
return session.run();
}
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;
}
void remove_argv(int& argc, char** argv, int pos)
{
for (int i = pos; i+1 < argc; ++i) {
argv[i] = argv[i+1];
}
argv[--argc] = nullptr;
}
mavsdk_tests/test_mission_multicopter.cpp
-59
View File
@@ -3,9 +3,6 @@
//
// Author: Julian Oes <julian@oes.ch>
#define CATCH_CONFIG_RUNNER
#include "catch2/catch.hpp"
#include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
@@ -13,62 +10,6 @@
#include <string>
#include "autopilot_tester.h"
using namespace mavsdk;
static std::string connection_url{"udp://"};
static void usage(const std::string& bin_name);
static void remove_argv(int& argc, char** argv, int pos);
int main(int argc, char** argv)
{
for (int i = 0; i < argc; ++i) {
const std::string argv_string(argv[i]);
if (argv_string == "-h") {
usage(argv[0]);
}
if (argv_string == "--url") {
if (argc > i + 1) {
connection_url = argv[i+1];
remove_argv(argc, argv, i);
remove_argv(argc, argv, i);
} else {
std::cerr << "No connection URL supplied" << std::endl;
usage(argv[0]);
return -1;
}
}
}
Catch::Session session;
const int catch_ret = session.applyCommandLine(argc, argv);
if (catch_ret != 0) {
return catch_ret;
}
return session.run();
}
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;
}
void remove_argv(int& argc, char** argv, int pos)
{
for (int i = pos; i+1 < argc; ++i) {
argv[i] = argv[i+1];
}
argv[--argc] = nullptr;
}
TEST_CASE("We can takeoff and land", "[multicopter]")
{