7305109977

Committed 23 Dec 2023 12:47AM UTC coverage: 36.89% (-0.2%) from 37.119%

Build # 7305109977

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2197 from mavlink/pr-remove-default-ctor

Require configuration for Mavsdk ctor

Run Details

116 of 122 new or added lines in 20 files covered. (95.08%)

6 existing lines in 2 files now uncovered.

9975 of 27040 relevant lines covered (36.89%)

130.98 hits per line

Source File
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61.29

/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 <thread>
#include <gtest/gtest.h>

using namespace mavsdk;

TEST(SystemTest, CameraTakePhoto)
{
    Mavsdk mavsdk_groundstation{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};

    Mavsdk mavsdk_camera{Mavsdk::Configuration{Mavsdk::ComponentType::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()};
    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();

    std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

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 <thread>
8	#include <gtest/gtest.h>
9
10	using namespace mavsdk;
11
12	TEST(SystemTest, CameraTakePhoto)	1✔
13	{
14	Mavsdk mavsdk_groundstation{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};	1✔
15
16	Mavsdk mavsdk_camera{Mavsdk::Configuration{Mavsdk::ComponentType::Camera}};	1✔
17
18	ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);	3✔
19	ASSERT_EQ(mavsdk_camera.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);	3✔
20
21	auto camera_server = CameraServer{mavsdk_camera.server_component()};	2✔
UNCOV 22	camera_server.subscribe_take_photo([&camera_server](int32_t index) {	×
23	LogInfo() << "Let's take photo " << index;	×
24
25	CameraServer::CaptureInfo info;	×
26	info.index = index;	×
27	info.is_success = true;	×
28
29	camera_server.respond_take_photo(CameraServer::TakePhotoFeedback::Ok, info);	×
30	});	×
31
32	auto prom = std::promise<std::shared_ptr<System>>();	1✔
33	auto fut = prom.get_future();	1✔
34	std::once_flag flag;	1✔
35
36	auto handle = mavsdk_groundstation.subscribe_on_new_system([&]() {	1✔
37	const auto system = mavsdk_groundstation.systems().back();	3✔
38	if (system->is_connected() && system->has_camera()) {	1✔
39	std::call_once(flag, [&]() { prom.set_value(system); });	2✔
40	}
41	});	1✔
42
43	ASSERT_EQ(fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);	1✔
44	mavsdk_groundstation.unsubscribe_on_new_system(handle);	1✔
45	auto system = fut.get();	1✔
46
47	auto camera = Camera{system};	2✔
48	return;	1✔
49
50	// We want to take the picture in photo mode.
51	// EXPECT_EQ(camera.set_mode(Camera::Mode::Photo), Camera::Result::Success);
52
53	auto received_captured_info_prom = std::promise<void>{};
54	auto received_captured_info_fut = received_captured_info_prom.get_future();
55
56	Camera::CaptureInfoHandle capture_handle = camera.subscribe_capture_info(
57	[&camera, &received_captured_info_prom, &capture_handle](Camera::CaptureInfo capture_info) {	×
58	LogInfo() << "Received captured info for image: " << capture_info.index;	×
59	// Unsubscribe again to prevent double setting promise.
60	camera.unsubscribe_capture_info(capture_handle);	×
61	received_captured_info_prom.set_value();	×
62	});	×
63
64	EXPECT_EQ(camera.take_photo(), Camera::Result::Success);
65	ASSERT_EQ(
66	received_captured_info_fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);
67	received_captured_info_fut.get();
68
69	std::this_thread::sleep_for(std::chrono::milliseconds(100));
70	}

mavlink / MAVSDK / 7305109977

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