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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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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>