11944365474

Committed 21 Nov 2024 12:43AM UTC coverage: 43.566% (+4.9%) from 38.691%

Build # 11944365474

Build Type

Pull #2386

github

Committed by

web-flow

Commit Message

Merge 2f8c5b774 into c963c5161

Pull Request Pull Request #2386: camera: support multiple cameras within one instance

Run Details

1352 of 2024 new or added lines in 47 files covered. (66.8%)

55 existing lines in 9 files now uncovered.

13857 of 31807 relevant lines covered (43.57%)

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94.55

/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{ComponentType::GroundStation}};

    Mavsdk mavsdk_camera{Mavsdk::Configuration{ComponentType::Camera}};

    ASSERT_EQ(
        mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
        ConnectionResult::Success);
    ASSERT_EQ(
        mavsdk_camera.add_any_connection("udpout://127.0.0.1:17000"), ConnectionResult::Success);

    auto camera_server = CameraServer{mavsdk_camera.server_component()};

    CameraServer::Information information{};
    information.vendor_name = "CoolCameras";
    information.model_name = "Frozen Super";
    information.firmware_version = "4.0.0";
    information.definition_file_version = 1;
    information.definition_file_uri = "";
    camera_server.set_information(information);

    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::CameraFeedback::Ok, info);
    });

    camera_server.subscribe_set_mode([&](CameraServer::Mode mode) {
        LogInfo() << "Set mode to " << mode;
        camera_server.respond_set_mode(CameraServer::CameraFeedback::Ok);
    });

    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};

    std::this_thread::sleep_for(std::chrono::milliseconds(500));
    // We expect to find one camera.
    ASSERT_EQ(camera.camera_list().cameras.size(), 1);

    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.camera_list().cameras[0].component_id), 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)	4✔
13	{
14	Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};	1✔
15
16	Mavsdk mavsdk_camera{Mavsdk::Configuration{ComponentType::Camera}};	1✔
17
18	ASSERT_EQ(	3✔
19	mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
20	ConnectionResult::Success);	1✔
21	ASSERT_EQ(	3✔
22	mavsdk_camera.add_any_connection("udpout://127.0.0.1:17000"), ConnectionResult::Success);	1✔
23
24	auto camera_server = CameraServer{mavsdk_camera.server_component()};	2✔
25
26	CameraServer::Information information{};	1✔
27	information.vendor_name = "CoolCameras";	1✔
28	information.model_name = "Frozen Super";	1✔
29	information.firmware_version = "4.0.0";	1✔
30	information.definition_file_version = 1;	1✔
31	information.definition_file_uri = "";	1✔
32	camera_server.set_information(information);	1✔
33
34	camera_server.subscribe_take_photo([&camera_server](int32_t index) {	3✔
35	LogInfo() << "Let's take photo " << index;	1✔
36
37	CameraServer::CaptureInfo info;	1✔
38	info.index = index;	1✔
39	info.is_success = true;	1✔
40
41	camera_server.respond_take_photo(CameraServer::CameraFeedback::Ok, info);	1✔
42	});	1✔
43
44	camera_server.subscribe_set_mode([&](CameraServer::Mode mode) {	1✔
NEW 45	LogInfo() << "Set mode to " << mode;	×
NEW 46	camera_server.respond_set_mode(CameraServer::CameraFeedback::Ok);	×
NEW 47	});	×
48
49	auto prom = std::promise<std::shared_ptr<System>>();	1✔
50	auto fut = prom.get_future();	1✔
51	std::once_flag flag;	1✔
52
53	auto handle = mavsdk_groundstation.subscribe_on_new_system([&]() {	3✔
54	const auto system = mavsdk_groundstation.systems().back();	2✔
55	if (system->is_connected() && system->has_camera()) {	1✔
56	std::call_once(flag, [&]() { prom.set_value(system); });	2✔
57	}
58	});	2✔
59
60	ASSERT_EQ(fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);	1✔
61	mavsdk_groundstation.unsubscribe_on_new_system(handle);	1✔
62	auto system = fut.get();	1✔
63
64	auto camera = Camera{system};	2✔
65
66	std::this_thread::sleep_for(std::chrono::milliseconds(500));	1✔
67	// We expect to find one camera.
68	ASSERT_EQ(camera.camera_list().cameras.size(), 1);	2✔
69
70	auto received_captured_info_prom = std::promise<void>{};	1✔
71	auto received_captured_info_fut = received_captured_info_prom.get_future();	1✔
72
73	Camera::CaptureInfoHandle capture_handle = camera.subscribe_capture_info(	2✔
74	[&camera, &received_captured_info_prom, &capture_handle](Camera::CaptureInfo capture_info) {	3✔
75	LogInfo() << "Received captured info for image: " << capture_info.index;	1✔
76	// Unsubscribe again to prevent double setting promise.
77	camera.unsubscribe_capture_info(capture_handle);	1✔
78	received_captured_info_prom.set_value();	1✔
79	});	2✔
80
81	EXPECT_EQ(	2✔
82	camera.take_photo(camera.camera_list().cameras[0].component_id), Camera::Result::Success);	1✔
83	ASSERT_EQ(	1✔
84	received_captured_info_fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);	1✔
85	received_captured_info_fut.get();	1✔
86
87	std::this_thread::sleep_for(std::chrono::milliseconds(100));	1✔
88	}	1✔

mavlink / MAVSDK / 11944365474

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