system_tests: add test for component_metadata

src/system_tests/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_executable(system_tests_runner
     camera_take_photo.cpp
-    component_information.cpp
+    component_metadata.cpp
     action_arm_disarm.cpp
     param_set_and_get.cpp
     param_get_all.cpp

src/system_tests/component_metadata.cpp

@@ -0,0 +1,220 @@
+#include <iostream>
+#include <fstream>
+#include <vector>
+#include <atomic>
+#include <future>
+#include <thread>
+
+#include "mavsdk.h"
+#include "log.h"
+#include "plugins/component_metadata/component_metadata.h"
+#include "plugins/component_metadata_server/component_metadata_server.h"
+#include <gtest/gtest.h>
+
+using namespace mavsdk;
+
+static constexpr const char* parameter_json_metadata = R"JSON({
+  "parameters": [
+    {
+      "category": "Standard",
+      "default": 1,
+      "group": "Autotune",
+      "longDesc": "After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.",
+      "name": "MC_AT_APPLY",
+      "shortDesc": "Controls when to apply the new gains",
+      "type": "Int32",
+      "values": [
+        {
+          "description": "Do not apply the new gains (logging only)",
+          "value": 0
+        },
+        {
+          "description": "Apply the new gains after disarm",
+          "value": 1
+        },
+        {
+          "description": "WARNING Apply the new gains in air",
+          "value": 2
+        }
+      ]
+    },
+    {
+      "category": "Standard",
+      "default": 0,
+      "group": "Autotune",
+      "name": "MC_AT_EN",
+      "shortDesc": "Multicopter autotune module enable",
+      "type": "Int32",
+      "values": [
+        {
+          "description": "Disabled",
+          "value": 0
+        },
+        {
+          "description": "Enabled",
+          "value": 1
+        }
+      ]
+    },
+    {
+      "category": "Standard",
+      "decimalPlaces": 2,
+      "default": 0.14,
+      "group": "Autotune",
+      "max": 0.5,
+      "min": 0.01,
+      "name": "MC_AT_RISE_TIME",
+      "shortDesc": "Desired angular rate closed-loop rise time",
+      "type": "Float",
+      "units": "s"
+    },
+    {
+      "category": "Standard",
+      "default": 0,
+      "group": "Autotune",
+      "longDesc": "WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio",
+      "name": "MC_AT_START",
+      "shortDesc": "Start the autotuning sequence",
+      "type": "Int32",
+      "values": [
+        {
+          "description": "Disabled",
+          "value": 0
+        },
+        {
+          "description": "Enabled",
+          "value": 1
+        }
+      ]
+    },
+    {
+      "category": "Standard",
+      "decimalPlaces": 1,
+      "default": 0.7,
+      "group": "Autotune",
+      "max": 6.0,
+      "min": 0.1,
+      "name": "MC_AT_SYSID_AMP",
+      "shortDesc": "Amplitude of the injected signal",
+      "type": "Float"
+    },
+    {
+      "category": "Standard",
+      "decimalPlaces": 0,
+      "default": -1.0,
+      "group": "Battery Calibration",
+      "increment": 50.0,
+      "longDesc": "Defines the capacity of battery 1 in mAh.",
+      "max": 100000.0,
+      "min": -1.0,
+      "name": "BAT1_CAPACITY",
+      "rebootRequired": true,
+      "shortDesc": "Battery 1 capacity",
+      "type": "Float",
+      "units": "mAh"
+    }
+  },
+  "version": 1
+}
+)JSON";
+
+static constexpr const char* events_json_metadata = R"JSON({
+  "components": {
+    "1": {
+      "event_groups": {
+        "default": {
+          "events": {
+            "10072599": {
+              "message": "Calibration: Disabling RC input",
+              "name": "commander_calib_rc_off"
+            },
+            "10162376": {
+              "message": "Mission land item could not be read",
+              "name": "rtl_failed_to_read_land_item"
+            },
+            "10229254": {
+              "arguments": [
+                {
+                  "name": "arg0",
+                  "type": "int32_t"
+                }
+              ],
+              "message": "RTL Mission Land: climb to {1m_v}",
+              "name": "rtl_mission_land_climb"
+            },
+            "10452355": {
+              "message": "Takeoff airspeed reached, climbout",
+              "name": "runway_takeoff_reached_airspeed"
+            },
+            "10493596": {
+              "message": "Airspeed sensor failure detected. Return to launch (RTL) is advised",
+              "name": "airspeed_selector_sensor_failure"
+            }
+        }
+      }
+    }
+  },
+  "version": 2
+}
+)JSON";
+
+TEST(SystemTest, ComponentInformationConnect)
+{
+    Mavsdk mavsdk_groundstation{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+    ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);
+
+    Mavsdk mavsdk_companion{Mavsdk::Configuration{Mavsdk::ComponentType::CompanionComputer}};
+    ASSERT_EQ(
+        mavsdk_companion.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);
+
+    // Wait for companion system to connect
+    auto prom = std::promise<std::shared_ptr<System>>();
+    std::once_flag flag;
+    mavsdk_groundstation.subscribe_on_new_system([&]() {
+        std::call_once(flag, [&prom, &mavsdk_groundstation]() {
+            prom.set_value(mavsdk_groundstation.systems().at(0));
+        });
+    });
+    auto fut = prom.get_future();
+    ASSERT_EQ(fut.wait_for(std::chrono::seconds(5)), std::future_status::ready);
+    auto system = fut.get();
+
+    auto server = ComponentMetadataServer{mavsdk_companion.server_component()};
+
+    // Register metadata
+    std::vector<ComponentMetadataServer::Metadata> metadata;
+    metadata.push_back(
+        {ComponentMetadataServer::MetadataType::Parameter, std::string(parameter_json_metadata)});
+    metadata.push_back(
+        {ComponentMetadataServer::MetadataType::Events, std::string(events_json_metadata)});
+    server.set_metadata(metadata);
+
+    // Ask for metadata
+    auto client = ComponentMetadata{system, {MAV_COMP_ID_ONBOARD_COMPUTER}};
+    std::atomic_bool received_parameters{false};
+    std::atomic_bool received_events{false};
+    client.register_notification_callback(
+        [&received_events, &received_parameters](
+            ComponentMetadata::MetadataType type, uint32_t compid, const std::string& json_data) {
+            LogInfo() << "Got metadata, type: " << static_cast<int>(type);
+            EXPECT_EQ(compid, MAV_COMP_ID_ONBOARD_COMPUTER);
+            switch (type) {
+                case ComponentMetadata::MetadataType::Parameter:
+                    EXPECT_EQ(json_data, parameter_json_metadata);
+                    received_parameters = true;
+                    break;
+                case ComponentMetadata::MetadataType::Events:
+                    EXPECT_EQ(json_data, events_json_metadata);
+                    received_events = true;
+                    break;
+                default:
+                    ASSERT_TRUE(false) << "Unexpected metadata type " << static_cast<int>(type);
+            }
+        });
+
+    for (int i = 0; i < 100 && (!received_events || !received_parameters); ++i) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+    ASSERT_TRUE(received_events) << "timeout, metadata not received";
+    ASSERT_TRUE(received_parameters) << "timeout, metadata not received";
+}