logging.cpp

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

using namespace mavsdk;

TEST(SitlTest, PX4Logging)
{
    Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};

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

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

    auto system = mavsdk.systems().at(0);
    ASSERT_TRUE(system->has_autopilot());
    auto logging = std::make_shared<Logging>(system);
    Logging::Result log_ret = logging->start_logging();

    if (log_ret == Logging::Result::COMMAND_DENIED) {
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
        logging->stop_logging();
        // ASSERT_EQ(log_ret, Logging::Result::SUCCESS);
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
        log_ret = logging->start_logging();
    }

    ASSERT_EQ(log_ret, Logging::Result::SUCCESS);

    for (unsigned i = 0; i < 10; ++i) {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    log_ret = logging->stop_logging();
    ASSERT_EQ(log_ret, Logging::Result::SUCCESS);
}