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mavsdk_tests: adjust timeouts by lockstep speed up

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This commit is contained in:
Julian Oes
2020-07-09 16:42:13 +02:00
committed by Daniel Agar
parent 4d76ed34f3
commit 1eaceb17dc
3 changed files with 49 additions and 23 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+21 -1
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@@ -97,12 +97,13 @@ void AutopilotTester::connect(const std::string uri)
std::cout << "Waiting for system connect" << std::endl;
REQUIRE(poll_condition_with_timeout(
[this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(25)));
[this]() { return _mavsdk.is_connected(); }, adjust_to_lockstep_speed(std::chrono::seconds(25))));
auto &system = _mavsdk.system();
_action.reset(new Action(system));
_failure.reset(new Failure(system));
_info.reset(new Info(system));
_mission.reset(new Mission(system));
_offboard.reset(new Offboard(system));
_param.reset(new Param(system));
@@ -569,3 +570,22 @@ bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry:
return pass;
}
std::chrono::milliseconds AutopilotTester::adjust_to_lockstep_speed(std::chrono::milliseconds duration_ms)
{
if (_info == nullptr) {
return duration_ms;
}
auto speed_factor = _info->get_speed_factor();
if (speed_factor.first == Info::Result::Success) {
return static_cast<std::chrono::milliseconds>(
static_cast<unsigned long>(
std::round(
static_cast<double>(duration_ms.count()) / speed_factor.second)));
} else {
return duration_ms;
}
}