info.cpp

#include <iostream>
#include "integration_test_helper.h"
#include "mavsdk.h"
#include "plugins/info/info.h"

using namespace mavsdk;

TEST(SitlTest, PX4Info)
{
    Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};

    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
    ASSERT_EQ(ret, ConnectionResult::Success);

    // Wait for system to connect via heartbeat.
    std::this_thread::sleep_for(std::chrono::seconds(2));
    ASSERT_TRUE(mavsdk.systems().size() > 0);

    auto system = mavsdk.systems().at(0);
    ASSERT_TRUE(system->has_autopilot());
    auto info = std::make_shared<Info>(system);

    // FIXME: we need to wait some time until Info has determined the version.
    std::this_thread::sleep_for(std::chrono::seconds(1));

    for (unsigned i = 0; i < 3; ++i) {
        std::pair<Info::Result, Info::Version> version_result = info->get_version();

        EXPECT_EQ(version_result.first, Info::Result::Success);

        if (version_result.first == Info::Result::Success) {
            std::cout << "Flight version: " << version_result.second.flight_sw_major << "."
                      << version_result.second.flight_sw_minor << "."
                      << version_result.second.flight_sw_patch << " ("
                      << std::string(version_result.second.flight_sw_git_hash) << ")" << '\n';
            std::cout << "Flight vendor version: " << version_result.second.flight_sw_vendor_major
                      << "." << version_result.second.flight_sw_vendor_minor << "."
                      << version_result.second.flight_sw_vendor_patch << '\n';
            std::cout << "OS version: " << version_result.second.os_sw_major << "."
                      << version_result.second.os_sw_minor << "."
                      << version_result.second.os_sw_patch << " ("
                      << std::string(version_result.second.os_sw_git_hash) << ")" << '\n';

            EXPECT_NE(version_result.second.flight_sw_major, 0);
        } else {
            LogWarn() << "Version request result: " << version_result.first;
        }

        std::pair<Info::Result, Info::Product> product_result = info->get_product();
        EXPECT_EQ(product_result.first, Info::Result::Success);

        if (product_result.first == Info::Result::Success) {
            std::cout << "Vendor: " << product_result.second.vendor_name << '\n';
            std::cout << "Product: " << product_result.second.product_name << '\n';
        } else {
            LogWarn() << "Product request result: " << product_result.first;
        }

        std::pair<Info::Result, Info::Identification> identification_result =
            info->get_identification();

        EXPECT_EQ(identification_result.first, Info::Result::Success);

        if (identification_result.first == Info::Result::Success) {
            std::cout << "Hardware UID: " << identification_result.second.hardware_uid << '\n';
        } else {
            LogWarn() << "Identification request result: " << identification_result.first;
        }

        std::pair<Info::Result, Info::FlightInfo> flight_info_result =
            info->get_flight_information();
        EXPECT_EQ(flight_info_result.first, Info::Result::Success);

        if (flight_info_result.first == Info::Result::Success) {
            std::cout << flight_info_result.second << '\n';
        } else {
            LogWarn() << "Flight info request result: " << flight_info_result.first;
        }

        std::this_thread::sleep_for(std::chrono::seconds(2));
    }
}