23911409490

Committed 02 Apr 2026 04:40PM UTC coverage: 50.475% (+1.4%) from 49.029%

Build # 23911409490

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2833 from bansiesta/v3-cherry-picks

Backport recent main fixes and features to v3

Coverage Stats

632 of 815 new or added lines in 29 files covered. (77.55%)

34 existing lines in 11 files now uncovered.

19249 of 38136 relevant lines covered (50.47%)

671.0 hits per line

Source File
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93.51

/src/system_tests/camera_definition.cpp

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

using namespace mavsdk;

// Wait for camera list to be populated and the definition to be fetched and parsed.
// Returns true if a non-empty list of setting options is available within the timeout.
static bool wait_for_camera_definition(
    Camera& camera, std::chrono::milliseconds timeout_ms, size_t expected_settings)
{
    const auto deadline = std::chrono::steady_clock::now() + timeout_ms;

    // Wait for camera list first
    while (std::chrono::steady_clock::now() < deadline) {
        if (camera.camera_list().cameras.size() > 0) {
            break;
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    if (camera.camera_list().cameras.empty()) {
        return false;
    }

    const int component_id = camera.camera_list().cameras[0].component_id;

    while (std::chrono::steady_clock::now() < deadline) {
        auto [result, options] = camera.get_possible_setting_options(component_id);
        if (result == Camera::Result::Success && options.size() == expected_settings) {
            return true;
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(200));
    }

    return false;
}

static std::shared_ptr<System>
wait_for_camera_system(Mavsdk& mavsdk_groundstation, std::chrono::seconds timeout)
{
    auto prom = std::make_shared<std::promise<std::shared_ptr<System>>>();
    auto fut = prom->get_future();
    auto flag = std::make_shared<std::once_flag>();

    auto handle =
        mavsdk_groundstation.subscribe_on_new_system([&mavsdk_groundstation, prom, flag]() {
            const auto system = mavsdk_groundstation.systems().back();
            if (system->is_connected() && system->has_camera()) {
                std::call_once(*flag, [&]() { prom->set_value(system); });
            }
        });

    if (fut.wait_for(timeout) != std::future_status::ready) {
        mavsdk_groundstation.unsubscribe_on_new_system(handle);
        return nullptr;
    }

    mavsdk_groundstation.unsubscribe_on_new_system(handle);
    return fut.get();
}

TEST(SystemTest, CameraDefinitionUncompressed)
{
    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 ftp_server = FtpServer{mavsdk_camera.server_component()};
    EXPECT_EQ(ftp_server.set_root_dir("src/mavsdk/plugins/camera/"), FtpServer::Result::Success);

    auto camera_server = CameraServer{mavsdk_camera.server_component()};
    CameraServer::Information information{};
    information.vendor_name = "UVC";
    information.model_name = "Logitech C270HD Webcam";
    information.firmware_version = "4.0.0";
    information.definition_file_version = 2;
    information.definition_file_uri = "mavlinkftp://uvc_camera.xml";
    EXPECT_EQ(camera_server.set_information(information), CameraServer::Result::Success);

    auto system = wait_for_camera_system(mavsdk_groundstation, std::chrono::seconds(2));
    ASSERT_NE(system, nullptr);

    auto camera = Camera{system};
    // With UVC XML defaults (WB_MODE=1 auto, EXP_MODE=3 aperture-priority) two settings
    // are excluded: WB_TEMP and EXP_ABSOLUTE — so 10 of the 12 control params are visible.
    ASSERT_TRUE(wait_for_camera_definition(camera, std::chrono::seconds(10), 10))
        << "Camera definition (uncompressed) was not loaded within timeout";
}

TEST(SystemTest, CameraDefinitionCompressedXz)
{
    Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
    Mavsdk mavsdk_camera{Mavsdk::Configuration{ComponentType::Camera}};

    ASSERT_EQ(
        mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17001"),
        ConnectionResult::Success);
    ASSERT_EQ(
        mavsdk_camera.add_any_connection("udpout://127.0.0.1:17001"), ConnectionResult::Success);

    auto ftp_server = FtpServer{mavsdk_camera.server_component()};
    EXPECT_EQ(ftp_server.set_root_dir("src/mavsdk/plugins/camera/"), FtpServer::Result::Success);

    auto camera_server = CameraServer{mavsdk_camera.server_component()};
    CameraServer::Information information{};
    information.vendor_name = "UVC";
    information.model_name = "Logitech C270HD Webcam";
    information.firmware_version = "4.0.0";
    information.definition_file_version =
        3; // different version to avoid cache collision with uncompressed test
    information.definition_file_uri = "mavlinkftp://uvc_camera.xml.xz";
    EXPECT_EQ(camera_server.set_information(information), CameraServer::Result::Success);

    auto system = wait_for_camera_system(mavsdk_groundstation, std::chrono::seconds(2));
    ASSERT_NE(system, nullptr);

    auto camera = Camera{system};
    // Same UVC XML defaults as the uncompressed test: 10 visible control settings.
    ASSERT_TRUE(wait_for_camera_definition(camera, std::chrono::seconds(10), 10))
        << "Camera definition (xz compressed) was not loaded within timeout";
}

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 <future>
6	#include <mutex>
7	#include <thread>
8	#include <gtest/gtest.h>
9
10	using namespace mavsdk;
11
12	// Wait for camera list to be populated and the definition to be fetched and parsed.
13	// Returns true if a non-empty list of setting options is available within the timeout.
14	static bool wait_for_camera_definition(	2✔
15	Camera& camera, std::chrono::milliseconds timeout_ms, size_t expected_settings)
16	{
17	const auto deadline = std::chrono::steady_clock::now() + timeout_ms;	2✔
18
19	// Wait for camera list first
20	while (std::chrono::steady_clock::now() < deadline) {	6✔
21	if (camera.camera_list().cameras.size() > 0) {	6✔
22	break;	2✔
23	}
24	std::this_thread::sleep_for(std::chrono::milliseconds(100));	4✔
25	}
26
27	if (camera.camera_list().cameras.empty()) {	2✔
NEW 28	return false;	×
29	}
30
31	const int component_id = camera.camera_list().cameras[0].component_id;	2✔
32
33	while (std::chrono::steady_clock::now() < deadline) {	2✔
34	auto [result, options] = camera.get_possible_setting_options(component_id);	2✔
35	if (result == Camera::Result::Success && options.size() == expected_settings) {	2✔
36	return true;	2✔
37	}
NEW 38	std::this_thread::sleep_for(std::chrono::milliseconds(200));	×
39	}	2✔
40
NEW 41	return false;	×
42	}
43
44	static std::shared_ptr<System>
45	wait_for_camera_system(Mavsdk& mavsdk_groundstation, std::chrono::seconds timeout)	2✔
46	{
47	auto prom = std::make_shared<std::promise<std::shared_ptr<System>>>();	2✔
48	auto fut = prom->get_future();	2✔
49	auto flag = std::make_shared<std::once_flag>();	2✔
50
51	auto handle =
52	mavsdk_groundstation.subscribe_on_new_system([&mavsdk_groundstation, prom, flag]() {	2✔
53	const auto system = mavsdk_groundstation.systems().back();	2✔
54	if (system->is_connected() && system->has_camera()) {	2✔
55	std::call_once(*flag, [&]() { prom->set_value(system); });	4✔
56	}
57	});	2✔
58
59	if (fut.wait_for(timeout) != std::future_status::ready) {	2✔
NEW 60	mavsdk_groundstation.unsubscribe_on_new_system(handle);	×
NEW 61	return nullptr;	×
62	}
63
64	mavsdk_groundstation.unsubscribe_on_new_system(handle);	2✔
65	return fut.get();	2✔
66	}	2✔
67
68	TEST(SystemTest, CameraDefinitionUncompressed)	4✔
69	{
70	Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};	1✔
71	Mavsdk mavsdk_camera{Mavsdk::Configuration{ComponentType::Camera}};	1✔
72
73	ASSERT_EQ(	1✔
74	mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
75	ConnectionResult::Success);	1✔
76	ASSERT_EQ(	1✔
77	mavsdk_camera.add_any_connection("udpout://127.0.0.1:17000"), ConnectionResult::Success);	1✔
78
79	auto ftp_server = FtpServer{mavsdk_camera.server_component()};	1✔
80	EXPECT_EQ(ftp_server.set_root_dir("src/mavsdk/plugins/camera/"), FtpServer::Result::Success);	1✔
81
82	auto camera_server = CameraServer{mavsdk_camera.server_component()};	1✔
83	CameraServer::Information information{};	1✔
84	information.vendor_name = "UVC";	1✔
85	information.model_name = "Logitech C270HD Webcam";	1✔
86	information.firmware_version = "4.0.0";	1✔
87	information.definition_file_version = 2;	1✔
88	information.definition_file_uri = "mavlinkftp://uvc_camera.xml";	1✔
89	EXPECT_EQ(camera_server.set_information(information), CameraServer::Result::Success);	1✔
90
91	auto system = wait_for_camera_system(mavsdk_groundstation, std::chrono::seconds(2));	1✔
92	ASSERT_NE(system, nullptr);	1✔
93
94	auto camera = Camera{system};	1✔
95	// With UVC XML defaults (WB_MODE=1 auto, EXP_MODE=3 aperture-priority) two settings
96	// are excluded: WB_TEMP and EXP_ABSOLUTE — so 10 of the 12 control params are visible.
97	ASSERT_TRUE(wait_for_camera_definition(camera, std::chrono::seconds(10), 10))	1✔
98	<< "Camera definition (uncompressed) was not loaded within timeout";	1✔
99	}	1✔
100
101	TEST(SystemTest, CameraDefinitionCompressedXz)	4✔
102	{
103	Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};	1✔
104	Mavsdk mavsdk_camera{Mavsdk::Configuration{ComponentType::Camera}};	1✔
105
106	ASSERT_EQ(	1✔
107	mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17001"),
108	ConnectionResult::Success);	1✔
109	ASSERT_EQ(	1✔
110	mavsdk_camera.add_any_connection("udpout://127.0.0.1:17001"), ConnectionResult::Success);	1✔
111
112	auto ftp_server = FtpServer{mavsdk_camera.server_component()};	1✔
113	EXPECT_EQ(ftp_server.set_root_dir("src/mavsdk/plugins/camera/"), FtpServer::Result::Success);	1✔
114
115	auto camera_server = CameraServer{mavsdk_camera.server_component()};	1✔
116	CameraServer::Information information{};	1✔
117	information.vendor_name = "UVC";	1✔
118	information.model_name = "Logitech C270HD Webcam";	1✔
119	information.firmware_version = "4.0.0";	1✔
120	information.definition_file_version =	1✔
121	3; // different version to avoid cache collision with uncompressed test
122	information.definition_file_uri = "mavlinkftp://uvc_camera.xml.xz";	1✔
123	EXPECT_EQ(camera_server.set_information(information), CameraServer::Result::Success);	1✔
124
125	auto system = wait_for_camera_system(mavsdk_groundstation, std::chrono::seconds(2));	1✔
126	ASSERT_NE(system, nullptr);	1✔
127
128	auto camera = Camera{system};	1✔
129	// Same UVC XML defaults as the uncompressed test: 10 visible control settings.
130	ASSERT_TRUE(wait_for_camera_definition(camera, std::chrono::seconds(10), 10))	1✔
131	<< "Camera definition (xz compressed) was not loaded within timeout";	1✔
132	}	1✔

mavlink / MAVSDK / 23911409490

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