Added first two simple MAVSDK tests

2026-10-25 12:13:34 +08:00 · 2019-12-26 10:16:58 +01:00
parent 49e315f2e2
commit 70d461bc6d
6 changed files with 17376 additions and 0 deletions
@@ -0,0 +1,99 @@
+//
+// Multicopter mission test.
+//
+// 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>
+#include <iostream>
+#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]")
+{
+    AutopilotTester tester;
+    tester.connect(connection_url);
+    tester.wait_until_ready();
+    tester.arm();
+    tester.takeoff();
+    tester.wait_until_hovering();
+    tester.land();
+    tester.wait_until_disarmed();
+}
+
+TEST_CASE("We can fly a square mission and do RTL", "[multicopter]")
+{
+    AutopilotTester tester;
+    tester.connect(connection_url);
+    tester.wait_until_ready();
+
+    AutopilotTester::MissionOptions mission_options;
+    mission_options.rtl_at_end = true;
+    tester.prepare_square_mission(mission_options);
+
+    tester.arm();
+    tester.execute_mission();
+    tester.wait_until_hovering();
+    tester.wait_until_disarmed();
+}