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mavsdk_tests: add events to log

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This commit is contained in:
Julian Oes 2025-05-16 13:24:12 +12:00 committed by Ramon Roche
parent 1f65cc46b9
commit d4be5d3ff0
2 changed files with 18 additions and 1 deletions
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15
test/mavsdk_tests/autopilot_tester.cpp
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@ -52,6 +52,7 @@ AutopilotTester::AutopilotTester() :
AutopilotTester::~AutopilotTester() AutopilotTester::~AutopilotTester()
{ {
_events->unsubscribe_events(_events_handle);
_should_exit = true; _should_exit = true;
_real_time_report_thread.join(); _real_time_report_thread.join();
} }
@ -76,14 +77,26 @@ void AutopilotTester::connect(const std::string uri)
_offboard.reset(new Offboard(system)); _offboard.reset(new Offboard(system));
_param.reset(new Param(system)); _param.reset(new Param(system));
_telemetry.reset(new Telemetry(system)); _telemetry.reset(new Telemetry(system));
_events.reset(new Events(system));
_mavlink_passthrough.reset(new MavlinkPassthrough(system)); _mavlink_passthrough.reset(new MavlinkPassthrough(system));
_events_handle = _events->subscribe_events([](const Events::Event & event) {
std::cout << "[" << event.log_level << "] " << event.message << std::endl;
if (!event.description.empty()) {
std::cout << " Description: " << event.description << std::endl;
}
std::cout << " Event name: " << event.event_namespace << "/" << event.event_name
<< std::endl;
});
} }
void AutopilotTester::wait_until_ready() void AutopilotTester::wait_until_ready()
{ {
std::cout << time_str() << "Waiting for system to be ready (system health ok & able to arm)" << std::endl; std::cout << time_str() << "Waiting for system to be ready (system health ok & able to arm)" << std::endl;
// Wiat until the system is healthy // Wait until the system is healthy
CHECK(poll_condition_with_timeout( CHECK(poll_condition_with_timeout(
[this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(30))); [this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(30)));

4
test/mavsdk_tests/autopilot_tester.h
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@ -45,6 +45,7 @@
#include <mavsdk/plugins/offboard/offboard.h> #include <mavsdk/plugins/offboard/offboard.h>
#include <mavsdk/plugins/telemetry/telemetry.h> #include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/param/param.h> #include <mavsdk/plugins/param/param.h>
#include <mavsdk/plugins/events/events.h>
#include "catch2/catch.hpp" #include "catch2/catch.hpp"
#include <atomic> #include <atomic>
#include <chrono> #include <chrono>
@ -293,6 +294,7 @@ private:
std::unique_ptr<mavsdk::Offboard> _offboard{}; std::unique_ptr<mavsdk::Offboard> _offboard{};
std::unique_ptr<mavsdk::Param> _param{}; std::unique_ptr<mavsdk::Param> _param{};
std::unique_ptr<mavsdk::Telemetry> _telemetry{}; std::unique_ptr<mavsdk::Telemetry> _telemetry{};
std::unique_ptr<mavsdk::Events> _events{};
Telemetry::GroundTruth _home{NAN, NAN, NAN}; Telemetry::GroundTruth _home{NAN, NAN, NAN};
@ -300,4 +302,6 @@ private:
std::atomic<bool> _should_exit {false}; std::atomic<bool> _should_exit {false};
std::thread _real_time_report_thread {}; std::thread _real_time_report_thread {};
mavsdk::Events::EventsHandle _events_handle{};
}; };