Mirrors_Framework/PX4-Autopilot
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mavsdk_tests: fix mission finished state

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This is an attempt to use MAVSDK's is_mission_finished APIs instead.
This commit is contained in:
Julian Oes
2025-06-17 13:50:00 +12:00
committed by Ramon Roche
parent 8c5dcbea12
commit d03b1171f9
2 changed files with 19 additions and 33 deletions
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2
test/mavsdk_tests/MAVSDK_VERSION
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@@ -1 +1 @@
3.4.0
3.6.0

50
test/mavsdk_tests/autopilot_tester.cpp
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@@ -324,8 +324,8 @@ void AutopilotTester::execute_mission_and_lose_mag()
// We except the mission to continue without mag just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
auto result = _mission->is_mission_finished();
return result.first == Mission::Result::Success && result.second;
}, std::chrono::seconds(90)));
}
@@ -340,8 +340,8 @@ void AutopilotTester::execute_mission_and_lose_baro()
// We except the mission to continue without baro just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
auto result = _mission->is_mission_finished();
return result.first == Mission::Result::Success && result.second;
}, std::chrono::seconds(90)));
}
@@ -356,8 +356,8 @@ void AutopilotTester::execute_mission_and_get_baro_stuck()
// We except the mission to continue with a stuck baro just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
auto result = _mission->is_mission_finished();
return result.first == Mission::Result::Success && result.second;
}, std::chrono::seconds(90)));
}
@@ -372,8 +372,8 @@ void AutopilotTester::execute_mission_and_get_mag_stuck()
// We except the mission to continue with a stuck mag just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
auto result = _mission->is_mission_finished();
return result.first == Mission::Result::Success && result.second;
}, std::chrono::seconds(120)));
}
@@ -974,34 +974,20 @@ void AutopilotTester::wait_until_speed_lower_than(float speed, std::chrono::seco
void AutopilotTester::wait_for_mission_finished(std::chrono::seconds timeout)
{
auto prom = std::promise<void> {};
auto fut = prom.get_future();
Mission::MissionProgressHandle handle = _mission->subscribe_mission_progress(
[&prom, &handle, this](Mission::MissionProgress progress) {
if (progress.current == progress.total) {
_mission->unsubscribe_mission_progress(handle);
prom.set_value();
}
});
REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
REQUIRE(poll_condition_with_timeout(
[ = ]() {
auto result = _mission->is_mission_finished();
return result.first == Mission::Result::Success && result.second;
}, timeout));
}
void AutopilotTester::wait_for_mission_raw_finished(std::chrono::seconds timeout)
{
auto prom = std::promise<void> {};
auto fut = prom.get_future();
MissionRaw::MissionProgressHandle handle = _mission_raw->subscribe_mission_progress(
[&prom, &handle, this](MissionRaw::MissionProgress progress) {
if (progress.current == progress.total) {
_mission_raw->unsubscribe_mission_progress(handle);
prom.set_value();
}
});
REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
REQUIRE(poll_condition_with_timeout(
[ = ]() {
auto result = _mission_raw->is_mission_finished();
return result.first == MissionRaw::Result::Success && result.second;
}, timeout));
}
void AutopilotTester::move_mission_raw_here(std::vector<MissionRaw::MissionItem> &mission_items)