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

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0.0

/src/system_tests/component_information.cpp

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

#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::Configuration{Mavsdk::ComponentType::GroundStation}};
    ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);

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

    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);

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

1	#include <iostream>
2	#include <fstream>
3	#include <vector>
4	#include <atomic>
5	#include <future>
6	#include <thread>
7
8	#include "mavsdk.h"
9	#include "log.h"
10	#include "plugins/component_information/component_information.h"
11	#include "plugins/component_information_server/component_information_server.h"
12	#include "plugins/param/param.h"
13	#include <gtest/gtest.h>
14
15	using namespace mavsdk;
16
17	// Disabled for now because the mavlink ftp plugin is not available properly on
18	// the server side right now. It needs to be split into client and server and
19	// split across system_impl, and server_component_impl.
20	TEST(SystemTest, DISABLED_ComponentInformationConnect)	×
21	{
NEW 22	Mavsdk mavsdk_groundstation{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};	×
23	ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);	×
24
NEW 25	Mavsdk mavsdk_companion{Mavsdk::Configuration{Mavsdk::ComponentType::CompanionComputer}};	×
26	ASSERT_EQ(	×
27	mavsdk_companion.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);
28
29	auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);	×
30	ASSERT_TRUE(maybe_system);	×
31	auto system = maybe_system.value();	×
32
NEW 33	auto server = ComponentInformationServer{mavsdk_companion.server_component()};	×
34
35	auto param = ComponentInformationServer::FloatParam{};	×
36	param.name = "ANG_RATE_ACC_MAX";	×
37	param.short_description = "Angular rate acceleration maximum.";	×
38	param.long_description = "The lower the maximum angular rate acceleration, "
39	"the smoother the gimbal will react to user input.";	×
40	param.unit = "rad/s^2";	×
41	param.min_value = 1.0f;	×
42	param.max_value = 10.0f;	×
43	param.default_value = 3.0f;	×
44	param.start_value = 4.0f;	×
45	param.decimal_places = 1;	×
46
47	server.provide_float_param(param);	×
48
49	server.subscribe_float_param([](ComponentInformationServer::FloatParamUpdate param_update) {	×
50	LogInfo() << "Param " << param_update.name << " changed to " << param_update.value	×
51	<< " on server side";	×
52	});	×
53
54	auto param_client = Param{system};	×
55
56	param_client.set_param_float("ANG_RATE_ACC_MAX", 5.0f);	×
57
58	auto client = ComponentInformation{system};	×
59	client.subscribe_float_param([](ComponentInformation::FloatParamUpdate param_update) {	×
60	LogInfo() << "Param " << param_update.name << " changed to " << param_update.value	×
61	<< " on client side";	×
62	});	×
63
64	// Use another parameter to trigger the second callback.
65	param_client.set_param_float("ANG_RATE_ACC_MAX", 6.0f);	×
66
67	std::this_thread::sleep_for(std::chrono::milliseconds(100));	×
68	}

mavlink / MAVSDK / 7305109977

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