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mavsdk_tests: consolidate level of abstraction

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This moves the CHECK/REQUIRE inside of AutopilotTester.
This commit is contained in:
Julian Oes
2020-03-06 12:41:28 +01:00
committed by Nuno Marques
parent 6a4a4bd0d6
commit a5d1ce91e4
3 changed files with 32 additions and 18 deletions
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23
test/mavsdk_tests/autopilot_tester.cpp
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@@ -42,6 +42,17 @@ void AutopilotTester::wait_until_ready_local_position_only()
}, std::chrono::seconds(20)));
}
void AutopilotTester::store_home()
{
request_ground_truth();
_home = get_ground_truth_position();
}
void AutopilotTester::check_home_within(float acceptance_radius_m)
{
CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m));
}
void AutopilotTester::set_takeoff_altitude(const float altitude_m)
{
CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(altitude_m));
@@ -94,12 +105,12 @@ void AutopilotTester::wait_until_hovering()
void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
{
const auto ct = _get_coordinate_transformation();
const auto ct = get_coordinate_transformation();
std::vector<std::shared_ptr<MissionItem>> mission_items {};
mission_items.push_back(_create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
mission_items.push_back(_create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, mission_options, ct));
mission_items.push_back(_create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, mission_options, ct));
mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
@@ -132,7 +143,7 @@ void AutopilotTester::execute_mission()
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
}
CoordinateTransformation AutopilotTester::_get_coordinate_transformation()
CoordinateTransformation AutopilotTester::get_coordinate_transformation()
{
const auto home = _telemetry->home_position();
REQUIRE(std::isfinite(home.latitude_deg));
@@ -140,7 +151,7 @@ CoordinateTransformation AutopilotTester::_get_coordinate_transformation()
return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
}
std::shared_ptr<MissionItem> AutopilotTester::_create_mission_item(
std::shared_ptr<MissionItem> AutopilotTester::create_mission_item(
const CoordinateTransformation::LocalCoordinate& local_coordinate,
const MissionOptions& mission_options,
const CoordinateTransformation& ct)

17
test/mavsdk_tests/autopilot_tester.h
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@@ -27,6 +27,8 @@ public:
void connect(const std::string uri);
void wait_until_ready();
void wait_until_ready_local_position_only();
void store_home();
void check_home_within(float acceptance_radius_m);
void set_takeoff_altitude(const float altitude_m);
void arm();
void takeoff();
@@ -41,25 +43,28 @@ public:
void offboard_goto(const Offboard::PositionNEDYaw& target, float acceptance_radius = 0.3f,
std::chrono::seconds timeout_duration = std::chrono::seconds(60));
void offboard_land();
bool estimated_position_close_to(const Offboard::PositionNEDYaw& target_position, float acceptance_radius_m);
bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m);
void request_ground_truth();
Telemetry::GroundTruth get_ground_truth_position();
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m);
private:
mavsdk::geometry::CoordinateTransformation _get_coordinate_transformation();
std::shared_ptr<mavsdk::MissionItem> _create_mission_item(
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
std::shared_ptr<mavsdk::MissionItem> create_mission_item(
const mavsdk::geometry::CoordinateTransformation::LocalCoordinate& local_coordinate,
const MissionOptions& mission_options,
const mavsdk::geometry::CoordinateTransformation& ct);
Telemetry::GroundTruth get_ground_truth_position();
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m);
bool estimated_position_close_to(const Offboard::PositionNEDYaw& target_position, float acceptance_radius_m);
bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m);
mavsdk::Mavsdk _mavsdk{};
std::unique_ptr<mavsdk::Telemetry> _telemetry{};
std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Mission> _mission{};
std::unique_ptr<mavsdk::Offboard> _offboard{};
Telemetry::GroundTruth _home{NAN, NAN, NAN};
};
template<typename Rep, typename Period>

10
test/mavsdk_tests/test_multicopter_offboard.cpp
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@@ -17,13 +17,12 @@ TEST_CASE("Takeoff and Land (Multicopter offboard)", "[multicopter_offboard]")
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.request_ground_truth();
Telemetry::GroundTruth home = tester.get_ground_truth_position();
tester.store_home();
tester.arm();
tester.offboard_goto(takeoff_position, 0.5f);
tester.offboard_land();
tester.wait_until_disarmed();
REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 0.5f));
tester.check_home_within(0.5f);
}
TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
@@ -35,8 +34,7 @@ TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.request_ground_truth();
Telemetry::GroundTruth home = tester.get_ground_truth_position();
tester.store_home();
tester.arm();
tester.offboard_goto(takeoff_position, 0.5f);
tester.offboard_goto(setpoint_1, 1.0f);
@@ -45,5 +43,5 @@ TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
tester.offboard_goto(takeoff_position, 0.2f);
tester.offboard_land();
tester.wait_until_disarmed();
REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 1.0f));
tester.check_home_within(1.0f);
}