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

Run Details

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

7708 of 24812 relevant lines covered (31.07%)

19.96 hits per line

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0.0

/src/system_tests/component_information.cpp

#include <iostream>
#include <fstream>
#include <vector>
#include <atomic>
#include <future>

#include "mavsdk.h"
#include "log.h"
#include "plugins/component_information/component_information.h"
#include "plugins/component_information_server/component_information_server.h"
#include "plugins/param/param.h"
#include <gtest/gtest.h>

using namespace mavsdk;

// Disabled for now because the mavlink ftp plugin is not available properly on
// the server side right now. It needs to be split into client and server and
// split across system_impl, and server_component_impl.
TEST(SystemTest, DISABLED_ComponentInformationConnect)
{
    Mavsdk mavsdk_groundstation;
    mavsdk_groundstation.set_configuration(
        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::GroundStation});
    ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);

    Mavsdk mavsdk_companion;
    mavsdk_companion.set_configuration(
        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::CompanionComputer});
    ASSERT_EQ(
        mavsdk_companion.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);

    auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
    ASSERT_TRUE(maybe_system);
    auto system = maybe_system.value();

    auto server = ComponentInformationServer{
        mavsdk_companion.server_component_by_type(Mavsdk::ServerComponentType::CompanionComputer)};

    auto param = ComponentInformationServer::FloatParam{};
    param.name = "ANG_RATE_ACC_MAX";
    param.short_description = "Angular rate acceleration maximum.";
    param.long_description = "The lower the maximum angular rate acceleration, "
                             "the smoother the gimbal will react to user input.";
    param.unit = "rad/s^2";
    param.min_value = 1.0f;
    param.max_value = 10.0f;
    param.default_value = 3.0f;
    param.start_value = 4.0f;
    param.decimal_places = 1;

    server.provide_float_param(param);

    server.subscribe_float_param([](ComponentInformationServer::FloatParamUpdate param_update) {
        LogInfo() << "Param " << param_update.name << " changed to " << param_update.value
                  << " on server side";
    });

    auto param_client = Param{system};

    param_client.set_param_float("ANG_RATE_ACC_MAX", 5.0f);

    auto client = ComponentInformation{system};
    client.subscribe_float_param([](ComponentInformation::FloatParamUpdate param_update) {
        LogInfo() << "Param " << param_update.name << " changed to " << param_update.value
                  << " on client side";
    });

    // Use another parameter to trigger the second callback.
    param_client.set_param_float("ANG_RATE_ACC_MAX", 6.0f);
}

1	#include <iostream>
2	#include <fstream>
3	#include <vector>
4	#include <atomic>
5	#include <future>
6
7	#include "mavsdk.h"
8	#include "log.h"
9	#include "plugins/component_information/component_information.h"
10	#include "plugins/component_information_server/component_information_server.h"
11	#include "plugins/param/param.h"
12	#include <gtest/gtest.h>
13
14	using namespace mavsdk;
15
16	// Disabled for now because the mavlink ftp plugin is not available properly on
17	// the server side right now. It needs to be split into client and server and
18	// split across system_impl, and server_component_impl.
19	TEST(SystemTest, DISABLED_ComponentInformationConnect)	×
20	{
21	Mavsdk mavsdk_groundstation;	×
22	mavsdk_groundstation.set_configuration(	×
23	Mavsdk::Configuration{Mavsdk::Configuration::UsageType::GroundStation});
24	ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);	×
25
26	Mavsdk mavsdk_companion;	×
27	mavsdk_companion.set_configuration(	×
28	Mavsdk::Configuration{Mavsdk::Configuration::UsageType::CompanionComputer});
29	ASSERT_EQ(	×
30	mavsdk_companion.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);
31
32	auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);	×
33	ASSERT_TRUE(maybe_system);	×
34	auto system = maybe_system.value();	×
35
36	auto server = ComponentInformationServer{	×
37	mavsdk_companion.server_component_by_type(Mavsdk::ServerComponentType::CompanionComputer)};	×
38
39	auto param = ComponentInformationServer::FloatParam{};	×
40	param.name = "ANG_RATE_ACC_MAX";	×
41	param.short_description = "Angular rate acceleration maximum.";	×
42	param.long_description = "The lower the maximum angular rate acceleration, "
43	"the smoother the gimbal will react to user input.";	×
44	param.unit = "rad/s^2";	×
45	param.min_value = 1.0f;	×
46	param.max_value = 10.0f;	×
47	param.default_value = 3.0f;	×
48	param.start_value = 4.0f;	×
49	param.decimal_places = 1;	×
50
51	server.provide_float_param(param);	×
52
53	server.subscribe_float_param([](ComponentInformationServer::FloatParamUpdate param_update) {	×
54	LogInfo() << "Param " << param_update.name << " changed to " << param_update.value	×
55	<< " on server side";	×
56	});	×
57
58	auto param_client = Param{system};	×
59
60	param_client.set_param_float("ANG_RATE_ACC_MAX", 5.0f);	×
61
62	auto client = ComponentInformation{system};	×
63	client.subscribe_float_param([](ComponentInformation::FloatParamUpdate param_update) {	×
64	LogInfo() << "Param " << param_update.name << " changed to " << param_update.value	×
65	<< " on client side";	×
66	});	×
67
68	// Use another parameter to trigger the second callback.
69	param_client.set_param_float("ANG_RATE_ACC_MAX", 6.0f);	×
70	}

mavlink / MAVSDK / 4899817366

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