4899817366

Build Type

github

Committed by GitHub

Commit Message

Merge c0bb90862 into e4e9c71dd

Pull Request Pull Request #1772: Refactor MAVLinkParameters into client and server classes

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2192 of 2192 new or added lines in 34 files covered. (100.0%)

7708 of 24812 relevant lines covered (31.07%)

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64.71

/src/system_tests/camera_take_photo.cpp

#include "mavsdk.h"
#include "plugins/camera/camera.h"
#include "plugins/camera_server/camera_server.h"
#include "log.h"
#include <future>
#include <mutex>
#include <gtest/gtest.h>

using namespace mavsdk;

TEST(SystemTest, CameraTakePhoto)
{
    Mavsdk mavsdk_groundstation;
    mavsdk_groundstation.set_configuration(
        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::GroundStation});

    Mavsdk mavsdk_camera;
    mavsdk_camera.set_configuration(
        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::Camera});

    ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);
    ASSERT_EQ(mavsdk_camera.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);

    auto camera_server =
        CameraServer{mavsdk_camera.server_component_by_type(Mavsdk::ServerComponentType::Camera)};
    camera_server.subscribe_take_photo([&camera_server](int32_t index) {
        LogInfo() << "Let's take photo " << index;

        CameraServer::CaptureInfo info;
        info.index = index;
        info.is_success = true;

        camera_server.respond_take_photo(CameraServer::TakePhotoFeedback::Ok, info);
    });

    auto prom = std::promise<std::shared_ptr<System>>();
    auto fut = prom.get_future();
    std::once_flag flag;

    auto handle = mavsdk_groundstation.subscribe_on_new_system([&]() {
        const auto system = mavsdk_groundstation.systems().back();
        if (system->is_connected() && system->has_camera()) {
            std::call_once(flag, [&]() { prom.set_value(system); });
        }
    });

    ASSERT_EQ(fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);
    mavsdk_groundstation.unsubscribe_on_new_system(handle);
    auto system = fut.get();

    auto camera = Camera{system};
    return;

    // We want to take the picture in photo mode.
    // EXPECT_EQ(camera.set_mode(Camera::Mode::Photo), Camera::Result::Success);

    auto received_captured_info_prom = std::promise<void>{};
    auto received_captured_info_fut = received_captured_info_prom.get_future();

    Camera::CaptureInfoHandle capture_handle = camera.subscribe_capture_info(
        [&camera, &received_captured_info_prom, &capture_handle](Camera::CaptureInfo capture_info) {
            LogInfo() << "Received captured info for image: " << capture_info.index;
            // Unsubscribe again to prevent double setting promise.
            camera.unsubscribe_capture_info(capture_handle);
            received_captured_info_prom.set_value();
        });

    EXPECT_EQ(camera.take_photo(), Camera::Result::Success);
    ASSERT_EQ(
        received_captured_info_fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);
    received_captured_info_fut.get();
}

1	#include "mavsdk.h"
2	#include "plugins/camera/camera.h"
3	#include "plugins/camera_server/camera_server.h"
4	#include "log.h"
5	#include <future>
6	#include <mutex>
7	#include <gtest/gtest.h>
8
9	using namespace mavsdk;
10
11	TEST(SystemTest, CameraTakePhoto)	1✔
12	{
13	Mavsdk mavsdk_groundstation;	1✔
14	mavsdk_groundstation.set_configuration(	1✔
15	Mavsdk::Configuration{Mavsdk::Configuration::UsageType::GroundStation});
16
17	Mavsdk mavsdk_camera;	1✔
18	mavsdk_camera.set_configuration(	1✔
19	Mavsdk::Configuration{Mavsdk::Configuration::UsageType::Camera});
20
21	ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);	3✔
22	ASSERT_EQ(mavsdk_camera.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);	3✔
23
24	auto camera_server =	1✔
25	CameraServer{mavsdk_camera.server_component_by_type(Mavsdk::ServerComponentType::Camera)};	2✔
26	camera_server.subscribe_take_photo([&camera_server](int32_t index) {	×
27	LogInfo() << "Let's take photo " << index;	×
28
29	CameraServer::CaptureInfo info;	×
30	info.index = index;	×
31	info.is_success = true;	×
32
33	camera_server.respond_take_photo(CameraServer::TakePhotoFeedback::Ok, info);	×
34	});	×
35
36	auto prom = std::promise<std::shared_ptr<System>>();	1✔
37	auto fut = prom.get_future();	1✔
38	std::once_flag flag;	1✔
39
40	auto handle = mavsdk_groundstation.subscribe_on_new_system([&]() {	1✔
41	const auto system = mavsdk_groundstation.systems().back();	3✔
42	if (system->is_connected() && system->has_camera()) {	1✔
43	std::call_once(flag, [&]() { prom.set_value(system); });	2✔
44	}
45	});	1✔
46
47	ASSERT_EQ(fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);	1✔
48	mavsdk_groundstation.unsubscribe_on_new_system(handle);	1✔
49	auto system = fut.get();	1✔
50
51	auto camera = Camera{system};	2✔
52	return;	1✔
53
54	// We want to take the picture in photo mode.
55	// EXPECT_EQ(camera.set_mode(Camera::Mode::Photo), Camera::Result::Success);
56
57	auto received_captured_info_prom = std::promise<void>{};
58	auto received_captured_info_fut = received_captured_info_prom.get_future();
59
60	Camera::CaptureInfoHandle capture_handle = camera.subscribe_capture_info(
61	[&camera, &received_captured_info_prom, &capture_handle](Camera::CaptureInfo capture_info) {	×
62	LogInfo() << "Received captured info for image: " << capture_info.index;	×
63	// Unsubscribe again to prevent double setting promise.
64	camera.unsubscribe_capture_info(capture_handle);	×
65	received_captured_info_prom.set_value();	×
66	});	×
67
68	EXPECT_EQ(camera.take_photo(), Camera::Result::Success);
69	ASSERT_EQ(
70	received_captured_info_fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);
71	received_captured_info_fut.get();
72	}

mavlink / MAVSDK / 4899817366

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