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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.h
+27 -22
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@@ -37,6 +37,7 @@
#include <mavsdk/geometry.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/failure/failure.h>
#include <mavsdk/plugins/info/info.h>
#include <mavsdk/plugins/mission/mission.h>
#include <mavsdk/plugins/offboard/offboard.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
@@ -108,9 +109,35 @@ private:
bool estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
bool estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
std::chrono::milliseconds adjust_to_lockstep_speed(std::chrono::milliseconds duration_ms);
template<typename Rep, typename Period>
bool poll_condition_with_timeout(
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
{
// We need millisecond resolution for sleeping.
std::chrono::milliseconds duration_ms(duration);
adjust_to_lockstep_speed(duration_ms);
unsigned iteration = 0;
while (!fun()) {
std::this_thread::sleep_for(duration_ms / 100);
if (iteration++ >= 100) {
return false;
}
}
return true;
}
static float sq(float x) { return x * x; };
mavsdk::Mavsdk _mavsdk{};
std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Failure> _failure{};
std::unique_ptr<mavsdk::Info> _info{};
std::unique_ptr<mavsdk::Mission> _mission{};
std::unique_ptr<mavsdk::Offboard> _offboard{};
std::unique_ptr<mavsdk::Param> _param{};
@@ -118,25 +145,3 @@ private:
Telemetry::GroundTruth _home{NAN, NAN, NAN};
};
template<typename Rep, typename Period>
bool poll_condition_with_timeout(
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
{
// We need millisecond resolution for sleeping.
const std::chrono::milliseconds duration_ms(duration);
unsigned iteration = 0;
while (!fun()) {
std::this_thread::sleep_for(duration_ms / 100);
if (iteration++ >= 100) {
return false;
}
}
return true;
}
inline float sq(float x) { return x * x; };