21338287353

Committed 25 Jan 2026 07:30PM UTC coverage: 49.222% (+1.2%) from 48.003%

Build # 21338287353

Build Type

Pull #2751

github

Committed by

web-flow

Commit Message

Merge 4ab72c9e3 into 397af2d3f

Pull Request Pull Request #2751: Remove integration tests, migrate valuable coverage to system tests

Run Details

164 of 165 new or added lines in 3 files covered. (99.39%)

2 existing lines in 2 files now uncovered.

18307 of 37193 relevant lines covered (49.22%)

669.21 hits per line

Source File
Press 'n' to go to next uncovered line, 'b' for previous

98.94

/src/system_tests/mission_cancellation.cpp

#include "log.h"
#include "mavsdk.h"
#include "plugins/mission/mission.h"
#include "plugins/mission_raw_server/mission_raw_server.h"
#include <future>
#include <thread>
#include <gtest/gtest.h>

using namespace mavsdk;

static Mission::MissionItem add_waypoint(
    double latitude_deg,
    double longitude_deg,
    float relative_altitude_m,
    float speed_m_s,
    bool is_fly_through,
    float gimbal_pitch_deg,
    float gimbal_yaw_deg,
    bool take_photo);

TEST(SystemTest, MissionUploadCancellation)
{
    // Create two MAVSDK instances: groundstation and autopilot
    Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
    Mavsdk mavsdk_autopilot{Mavsdk::Configuration{ComponentType::Autopilot}};

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

    // Set up the autopilot side with MissionRawServer
    auto mission_raw_server = MissionRawServer{mavsdk_autopilot.server_component()};

    // Wait for groundstation to discover autopilot
    auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
    ASSERT_TRUE(maybe_system);
    auto system = maybe_system.value();
    ASSERT_TRUE(system->has_autopilot());

    auto mission = Mission{system};

    Mission::MissionPlan mission_plan{};

    // Create a large mission (1000 items) to ensure we have time to cancel
    for (unsigned i = 0; i < 1000; ++i) {
        mission_plan.mission_items.push_back(
            add_waypoint(47.3981703270545, 8.54564902186397, 20.0, 3.0, true, -90.0, 0.0, false));
    }

    std::promise<Mission::Result> prom{};
    std::future<Mission::Result> fut = prom.get_future();

    LogInfo() << "Starting mission upload...";
    mission.upload_mission_async(mission_plan, [&prom](Mission::Result result) {
        LogInfo() << "Upload mission result: " << result;
        prom.set_value(result);
    });

    // We should not be finished yet (only wait 100ms)
    auto future_status = fut.wait_for(std::chrono::milliseconds(100));
    EXPECT_EQ(future_status, std::future_status::timeout);

    LogInfo() << "Cancelling mission upload...";
    mission.cancel_mission_upload();

    // Wait for cancellation to complete
    future_status = fut.wait_for(std::chrono::milliseconds(500));
    EXPECT_EQ(future_status, std::future_status::ready);
    auto future_result = fut.get();
    EXPECT_EQ(future_result, Mission::Result::TransferCancelled);
    LogInfo() << "Mission upload cancelled successfully.";

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

TEST(SystemTest, MissionDownloadCancellation)
{
    // Create two MAVSDK instances: groundstation and autopilot
    Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
    Mavsdk mavsdk_autopilot{Mavsdk::Configuration{ComponentType::Autopilot}};

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

    // Set up the autopilot side with MissionRawServer
    auto mission_raw_server = MissionRawServer{mavsdk_autopilot.server_component()};

    // Wait for groundstation to discover autopilot
    auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
    ASSERT_TRUE(maybe_system);
    auto system = maybe_system.value();
    ASSERT_TRUE(system->has_autopilot());

    auto mission = Mission{system};

    Mission::MissionPlan mission_plan{};

    // Create a large mission (1000 items) to ensure we have time to cancel during download
    for (unsigned i = 0; i < 1000; ++i) {
        mission_plan.mission_items.push_back(
            add_waypoint(47.3981703270545, 8.54564902186397, 20.0, 3.0, true, -90.0, 0.0, false));
    }

    // First upload the mission
    {
        std::promise<Mission::Result> prom{};
        std::future<Mission::Result> fut = prom.get_future();

        LogInfo() << "Uploading mission first...";
        mission.upload_mission_async(mission_plan, [&prom](Mission::Result result) {
            LogInfo() << "Upload mission result: " << result;
            prom.set_value(result);
        });

        auto future_result = fut.get();
        EXPECT_EQ(future_result, Mission::Result::Success);
        LogInfo() << "Mission uploaded successfully.";
    }

    // Now try to download and cancel
    {
        std::promise<Mission::Result> prom{};
        std::future<Mission::Result> fut = prom.get_future();

        LogInfo() << "Starting mission download...";
        mission.download_mission_async([&prom](Mission::Result result, Mission::MissionPlan) {
            LogInfo() << "Download mission result: " << result;
            prom.set_value(result);
        });

        // We should not be finished yet (only wait 100ms)
        auto future_status = fut.wait_for(std::chrono::milliseconds(100));
        EXPECT_EQ(future_status, std::future_status::timeout);

        LogInfo() << "Cancelling mission download...";
        mission.cancel_mission_download();

        // Wait for cancellation to complete
        future_status = fut.wait_for(std::chrono::milliseconds(500));
        EXPECT_EQ(future_status, std::future_status::ready);
        auto future_result = fut.get();
        EXPECT_EQ(future_result, Mission::Result::TransferCancelled);
        LogInfo() << "Mission download cancelled successfully.";
    }

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

Mission::MissionItem add_waypoint(
    double latitude_deg,
    double longitude_deg,
    float relative_altitude_m,
    float speed_m_s,
    bool is_fly_through,
    float gimbal_pitch_deg,
    float gimbal_yaw_deg,
    bool take_photo)
{
    Mission::MissionItem new_item{};
    new_item.latitude_deg = latitude_deg;
    new_item.longitude_deg = longitude_deg;
    new_item.relative_altitude_m = relative_altitude_m;
    new_item.speed_m_s = speed_m_s;
    new_item.is_fly_through = is_fly_through;

    new_item.gimbal_pitch_deg = gimbal_pitch_deg;
    new_item.gimbal_yaw_deg = gimbal_yaw_deg;
    if (take_photo) {
        new_item.camera_action = Mission::MissionItem::CameraAction::TakePhoto;
    }
    return new_item;
}

1	#include "log.h"
2	#include "mavsdk.h"
3	#include "plugins/mission/mission.h"
4	#include "plugins/mission_raw_server/mission_raw_server.h"
5	#include <future>
6	#include <thread>
7	#include <gtest/gtest.h>
8
9	using namespace mavsdk;
10
11	static Mission::MissionItem add_waypoint(
12	double latitude_deg,
13	double longitude_deg,
14	float relative_altitude_m,
15	float speed_m_s,
16	bool is_fly_through,
17	float gimbal_pitch_deg,
18	float gimbal_yaw_deg,
19	bool take_photo);
20
21	TEST(SystemTest, MissionUploadCancellation)	4✔
22	{
23	// Create two MAVSDK instances: groundstation and autopilot
24	Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};	1✔
25	Mavsdk mavsdk_autopilot{Mavsdk::Configuration{ComponentType::Autopilot}};	1✔
26
27	ASSERT_EQ(	1✔
28	mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
29	ConnectionResult::Success);	1✔
30	ASSERT_EQ(	1✔
31	mavsdk_autopilot.add_any_connection("udpout://127.0.0.1:17000"), ConnectionResult::Success);	1✔
32
33	// Set up the autopilot side with MissionRawServer
34	auto mission_raw_server = MissionRawServer{mavsdk_autopilot.server_component()};	1✔
35
36	// Wait for groundstation to discover autopilot
37	auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);	1✔
38	ASSERT_TRUE(maybe_system);	1✔
39	auto system = maybe_system.value();	1✔
40	ASSERT_TRUE(system->has_autopilot());	1✔
41
42	auto mission = Mission{system};	1✔
43
44	Mission::MissionPlan mission_plan{};	2✔
45
46	// Create a large mission (1000 items) to ensure we have time to cancel
47	for (unsigned i = 0; i < 1000; ++i) {	1,001✔
48	mission_plan.mission_items.push_back(	1,000✔
49	add_waypoint(47.3981703270545, 8.54564902186397, 20.0, 3.0, true, -90.0, 0.0, false));	2,000✔
50	}
51
52	std::promise<Mission::Result> prom{};	2✔
53	std::future<Mission::Result> fut = prom.get_future();	1✔
54
55	LogInfo() << "Starting mission upload...";	1✔
56	mission.upload_mission_async(mission_plan, [&prom](Mission::Result result) {	3✔
57	LogInfo() << "Upload mission result: " << result;	1✔
58	prom.set_value(result);	1✔
59	});	1✔
60
61	// We should not be finished yet (only wait 100ms)
62	auto future_status = fut.wait_for(std::chrono::milliseconds(100));	1✔
63	EXPECT_EQ(future_status, std::future_status::timeout);	1✔
64
65	LogInfo() << "Cancelling mission upload...";	1✔
66	mission.cancel_mission_upload();	1✔
67
68	// Wait for cancellation to complete
69	future_status = fut.wait_for(std::chrono::milliseconds(500));	1✔
70	EXPECT_EQ(future_status, std::future_status::ready);	1✔
71	auto future_result = fut.get();	1✔
72	EXPECT_EQ(future_result, Mission::Result::TransferCancelled);	1✔
73	LogInfo() << "Mission upload cancelled successfully.";	1✔
74
75	std::this_thread::sleep_for(std::chrono::milliseconds(100));	1✔
76	}	1✔
77
78	TEST(SystemTest, MissionDownloadCancellation)	4✔
79	{
80	// Create two MAVSDK instances: groundstation and autopilot
81	Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};	1✔
82	Mavsdk mavsdk_autopilot{Mavsdk::Configuration{ComponentType::Autopilot}};	1✔
83
84	ASSERT_EQ(	1✔
85	mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
86	ConnectionResult::Success);	1✔
87	ASSERT_EQ(	1✔
88	mavsdk_autopilot.add_any_connection("udpout://127.0.0.1:17000"), ConnectionResult::Success);	1✔
89
90	// Set up the autopilot side with MissionRawServer
91	auto mission_raw_server = MissionRawServer{mavsdk_autopilot.server_component()};	1✔
92
93	// Wait for groundstation to discover autopilot
94	auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);	1✔
95	ASSERT_TRUE(maybe_system);	1✔
96	auto system = maybe_system.value();	1✔
97	ASSERT_TRUE(system->has_autopilot());	1✔
98
99	auto mission = Mission{system};	1✔
100
101	Mission::MissionPlan mission_plan{};	1✔
102
103	// Create a large mission (1000 items) to ensure we have time to cancel during download
104	for (unsigned i = 0; i < 1000; ++i) {	1,001✔
105	mission_plan.mission_items.push_back(	1,000✔
106	add_waypoint(47.3981703270545, 8.54564902186397, 20.0, 3.0, true, -90.0, 0.0, false));	2,000✔
107	}
108
109	// First upload the mission
110	{
111	std::promise<Mission::Result> prom{};	1✔
112	std::future<Mission::Result> fut = prom.get_future();	1✔
113
114	LogInfo() << "Uploading mission first...";	1✔
115	mission.upload_mission_async(mission_plan, [&prom](Mission::Result result) {	3✔
116	LogInfo() << "Upload mission result: " << result;	1✔
117	prom.set_value(result);	1✔
118	});	1✔
119
120	auto future_result = fut.get();	1✔
121	EXPECT_EQ(future_result, Mission::Result::Success);	1✔
122	LogInfo() << "Mission uploaded successfully.";	1✔
123	}	1✔
124
125	// Now try to download and cancel
126	{
127	std::promise<Mission::Result> prom{};	1✔
128	std::future<Mission::Result> fut = prom.get_future();	1✔
129
130	LogInfo() << "Starting mission download...";	1✔
131	mission.download_mission_async([&prom](Mission::Result result, Mission::MissionPlan) {	3✔
132	LogInfo() << "Download mission result: " << result;	1✔
133	prom.set_value(result);	1✔
134	});	1✔
135
136	// We should not be finished yet (only wait 100ms)
137	auto future_status = fut.wait_for(std::chrono::milliseconds(100));	1✔
138	EXPECT_EQ(future_status, std::future_status::timeout);	1✔
139
140	LogInfo() << "Cancelling mission download...";	1✔
141	mission.cancel_mission_download();	1✔
142
143	// Wait for cancellation to complete
144	future_status = fut.wait_for(std::chrono::milliseconds(500));	1✔
145	EXPECT_EQ(future_status, std::future_status::ready);	1✔
146	auto future_result = fut.get();	1✔
147	EXPECT_EQ(future_result, Mission::Result::TransferCancelled);	1✔
148	LogInfo() << "Mission download cancelled successfully.";	1✔
149	}	1✔
150
151	std::this_thread::sleep_for(std::chrono::milliseconds(100));	1✔
152	}	1✔
153
154	Mission::MissionItem add_waypoint(	2,000✔
155	double latitude_deg,
156	double longitude_deg,
157	float relative_altitude_m,
158	float speed_m_s,
159	bool is_fly_through,
160	float gimbal_pitch_deg,
161	float gimbal_yaw_deg,
162	bool take_photo)
163	{
164	Mission::MissionItem new_item{};	2,000✔
165	new_item.latitude_deg = latitude_deg;	2,000✔
166	new_item.longitude_deg = longitude_deg;	2,000✔
167	new_item.relative_altitude_m = relative_altitude_m;	2,000✔
168	new_item.speed_m_s = speed_m_s;	2,000✔
169	new_item.is_fly_through = is_fly_through;	2,000✔
170
171	new_item.gimbal_pitch_deg = gimbal_pitch_deg;	2,000✔
172	new_item.gimbal_yaw_deg = gimbal_yaw_deg;	2,000✔
173	if (take_photo) {	2,000✔
NEW 174	new_item.camera_action = Mission::MissionItem::CameraAction::TakePhoto;	×
175	}
176	return new_item;	2,000✔
177	}

mavlink / MAVSDK / 21338287353

Source File Press 'n' to go to next uncovered line, 'b' for previous

Source File
Press 'n' to go to next uncovered line, 'b' for previous