22170517996

Committed 19 Feb 2026 06:01AM UTC coverage: 48.97% (-0.04%) from 49.009%

Build # 22170517996

Build Type

Pull #2771

github

Committed by

web-flow

Commit Message

Merge fff04f030 into 17ad598f0

Pull Request Pull Request #2771: Fix: setting current mission item

Coverage Stats

18355 of 37482 relevant lines covered (48.97%)

664.74 hits per line

Source File
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98.08

/cpp/src/system_tests/camera_storage.cpp

#include "mavsdk.h"
#include "plugins/camera/camera.h"
#include "plugins/camera_server/camera_server.h"
#include "plugins/ftp_server/ftp_server.h"
#include "log.h"
#include <future>
#include <mutex>
#include <thread>
#include <gtest/gtest.h>

using namespace mavsdk;

TEST(SystemTest, CameraStorage)
{
    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 = "UVC";
    information.model_name = "Some random camera";
    information.firmware_version = "1.0.0";
    information.definition_file_uri = "";
    EXPECT_EQ(camera_server.set_information(information), CameraServer::Result::Success);

    camera_server.subscribe_storage_information([&](int32_t) {
        CameraServer::StorageInformation storage_info{};
        storage_info.available_storage_mib = 1000.0f;
        storage_info.storage_status = CameraServer::StorageInformation::StorageStatus::Formatted;
        camera_server.respond_storage_information(CameraServer::CameraFeedback::Ok, storage_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(2)), 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(1500));
    EXPECT_EQ(camera.camera_list().cameras.size(), 1);

    std::this_thread::sleep_for(std::chrono::milliseconds(500));

    camera.subscribe_storage([](const Camera::StorageUpdate& update) {
        EXPECT_EQ(update.storage.available_storage_mib, 1000.0f);
        EXPECT_EQ(update.storage.storage_status, Camera::Storage::StorageStatus::Formatted);
    });

    bool got_storage = false;
    for (unsigned i = 0; i < 60; ++i) {
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
        auto ret = camera.get_storage(camera.camera_list().cameras[0].component_id);
        if (ret.first == Camera::Result::Unavailable) {
            continue;
        }
        EXPECT_EQ(ret.first, Camera::Result::Success);
        EXPECT_EQ(ret.second.available_storage_mib, 1000.0f);
        EXPECT_EQ(ret.second.storage_status, Camera::Storage::StorageStatus::Formatted);
        got_storage = true;
    }
    EXPECT_TRUE(got_storage);
}

1	#include "mavsdk.h"
2	#include "plugins/camera/camera.h"
3	#include "plugins/camera_server/camera_server.h"
4	#include "plugins/ftp_server/ftp_server.h"
5	#include "log.h"
6	#include <future>
7	#include <mutex>
8	#include <thread>
9	#include <gtest/gtest.h>
10
11	using namespace mavsdk;
12
13	TEST(SystemTest, CameraStorage)	4 ✔
14	{
15	Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};	1 ✔
16	Mavsdk mavsdk_camera{Mavsdk::Configuration{ComponentType::Camera}};	1 ✔
17
18	ASSERT_EQ(	1 ✔
19	mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
20	ConnectionResult::Success);	1 ✔
21	ASSERT_EQ(	1 ✔
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()};	1 ✔
25
26	CameraServer::Information information{};	1 ✔
27	information.vendor_name = "UVC";	1 ✔
28	information.model_name = "Some random camera";	1 ✔
29	information.firmware_version = "1.0.0";	1 ✔
30	information.definition_file_uri = "";	1 ✔
31	EXPECT_EQ(camera_server.set_information(information), CameraServer::Result::Success);	1 ✔
32
33	camera_server.subscribe_storage_information([&](int32_t) {	3 ✔
34	CameraServer::StorageInformation storage_info{};	2 ✔
35	storage_info.available_storage_mib = 1000.0f;	2 ✔
36	storage_info.storage_status = CameraServer::StorageInformation::StorageStatus::Formatted;	2 ✔
37	camera_server.respond_storage_information(CameraServer::CameraFeedback::Ok, storage_info);	2 ✔
38	});	2 ✔
39
40	auto prom = std::promise<std::shared_ptr<System>>();	1 ✔
41	auto fut = prom.get_future();	1 ✔
42	std::once_flag flag;	1 ✔
43
44	auto handle = mavsdk_groundstation.subscribe_on_new_system([&]() {	2 ✔
45	const auto system = mavsdk_groundstation.systems().back();	1 ✔
46	if (system->is_connected() && system->has_camera()) {	1 ✔
47	std::call_once(flag, [&]() { prom.set_value(system); });	2 ✔
48	}
49	});	1 ✔
50
51	ASSERT_EQ(fut.wait_for(std::chrono::seconds(2)), std::future_status::ready);	1 ✔
52	mavsdk_groundstation.unsubscribe_on_new_system(handle);	1 ✔
53	auto system = fut.get();	2 ✔
54
55	auto camera = Camera{system};	2 ✔
56
57	std::this_thread::sleep_for(std::chrono::milliseconds(1500));	1 ✔
58	EXPECT_EQ(camera.camera_list().cameras.size(), 1);	1 ✔
59
60	std::this_thread::sleep_for(std::chrono::milliseconds(500));	1 ✔
61
62	camera.subscribe_storage([](const Camera::StorageUpdate& update) {	3 ✔
63	EXPECT_EQ(update.storage.available_storage_mib, 1000.0f);	2 ✔
64	EXPECT_EQ(update.storage.storage_status, Camera::Storage::StorageStatus::Formatted);	2 ✔
65	});	2 ✔
66
67	bool got_storage = false;	1 ✔
68	for (unsigned i = 0; i < 60; ++i) {	61 ✔
69	std::this_thread::sleep_for(std::chrono::milliseconds(100));	60 ✔
70	auto ret = camera.get_storage(camera.camera_list().cameras[0].component_id);	60 ✔
71	if (ret.first == Camera::Result::Unavailable) {	60 ✔
72	continue;	×
73	}
74	EXPECT_EQ(ret.first, Camera::Result::Success);	60 ✔
75	EXPECT_EQ(ret.second.available_storage_mib, 1000.0f);	60 ✔
76	EXPECT_EQ(ret.second.storage_status, Camera::Storage::StorageStatus::Formatted);	60 ✔
77	got_storage = true;	60 ✔
78	}	60 ✔
79	EXPECT_TRUE(got_storage);	1 ✔
80	}	1 ✔

mavlink / MAVSDK / 22170517996

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