px4_autopilot/test/mavsdk_tests/autopilot_tester.h

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 * modification, are permitted provided that the following conditions
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#pragma once

#include <mavsdk/mavsdk.h>
#include <mavsdk/geometry.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/mission/mission.h>
#include <mavsdk/plugins/offboard/offboard.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include "catch2/catch.hpp"
#include <chrono>
#include <memory>
#include <thread>

extern std::string connection_url;

using namespace mavsdk;
using namespace mavsdk::geometry;

class AutopilotTester
{
public:
	struct MissionOptions {
		double leg_length_m {20.0};
		double relative_altitude_m {10.0};
		bool rtl_at_end {false};
	};

	void connect(const std::string uri);
	void wait_until_ready();
	void wait_until_ready_local_position_only();
	void store_home();
	void check_home_within(float acceptance_radius_m);
	void set_takeoff_altitude(const float altitude_m);
	void arm();
	void takeoff();
	void land();
	void transition_to_fixedwing();
	void transition_to_multicopter();
	void wait_until_disarmed();
	void wait_until_hovering();
	void prepare_square_mission(MissionOptions mission_options);
	void execute_mission();
	void execute_rtl();
	void offboard_goto(const Offboard::PositionNEDYaw &target, float acceptance_radius_m = 0.3f,
			   std::chrono::seconds timeout_duration = std::chrono::seconds(60));
	void offboard_land();
	void request_ground_truth();


private:
	mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
	std::shared_ptr<mavsdk::MissionItem> create_mission_item(
		const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate,
		const MissionOptions &mission_options,
		const mavsdk::geometry::CoordinateTransformation &ct);
	Telemetry::GroundTruth get_ground_truth_position();

	bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
	bool estimated_position_close_to(const Offboard::PositionNEDYaw &target_position, float acceptance_radius_m);
	bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m);

	mavsdk::Mavsdk _mavsdk{};
	std::unique_ptr<mavsdk::Telemetry> _telemetry{};
	std::unique_ptr<mavsdk::Action> _action{};
	std::unique_ptr<mavsdk::Mission> _mission{};
	std::unique_ptr<mavsdk::Offboard> _offboard{};

	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 / 10);

		if (iteration++ >= 10) {
			return false;
		}
	}

	return true;
}

inline float sq(float x) { return x * x; };