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mavsdk_tests: consolidate level of abstraction

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This moves the CHECK/REQUIRE inside of AutopilotTester.
This commit is contained in:
Julian Oes
2020-03-18 17:57:41 +00:00
committed by Nuno Marques
parent 6a4a4bd0d6
commit a5d1ce91e4
3 changed files with 32 additions and 18 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+17 -6
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@@ -42,6 +42,17 @@ void AutopilotTester::wait_until_ready_local_position_only()
}, std::chrono::seconds(20)));
}
void AutopilotTester::store_home()
{
request_ground_truth();
_home = get_ground_truth_position();
}
void AutopilotTester::check_home_within(float acceptance_radius_m)
{
CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m));
}
void AutopilotTester::set_takeoff_altitude(const float altitude_m)
{
CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(altitude_m));
@@ -94,12 +105,12 @@ void AutopilotTester::wait_until_hovering()
void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
{
const auto ct = _get_coordinate_transformation();
const auto ct = get_coordinate_transformation();
std::vector<std::shared_ptr<MissionItem>> mission_items {};
mission_items.push_back(_create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
mission_items.push_back(_create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, mission_options, ct));
mission_items.push_back(_create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, mission_options, ct));
mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
@@ -132,7 +143,7 @@ void AutopilotTester::execute_mission()
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
}
CoordinateTransformation AutopilotTester::_get_coordinate_transformation()
CoordinateTransformation AutopilotTester::get_coordinate_transformation()
{
const auto home = _telemetry->home_position();
REQUIRE(std::isfinite(home.latitude_deg));
@@ -140,7 +151,7 @@ CoordinateTransformation AutopilotTester::_get_coordinate_transformation()
return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
}
std::shared_ptr<MissionItem> AutopilotTester::_create_mission_item(
std::shared_ptr<MissionItem> AutopilotTester::create_mission_item(
const CoordinateTransformation::LocalCoordinate& local_coordinate,
const MissionOptions& mission_options,
const CoordinateTransformation& ct)