From 3e5dc4b4a6715e40bb0d35faedd6c375a30237cf Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 4 Nov 2021 16:31:16 -0700
Subject: [PATCH] integration_tests: add test for camera capture

---
 src/integration_tests/CMakeLists.txt          |  1 +
 src/integration_tests/camera_capture_info.cpp | 37 +++++++++++++++++++
 2 files changed, 38 insertions(+)
 create mode 100644 src/integration_tests/camera_capture_info.cpp

diff --git a/src/integration_tests/CMakeLists.txt b/src/integration_tests/CMakeLists.txt
index 3ca271027e..f474d7b476 100644
--- a/src/integration_tests/CMakeLists.txt
+++ b/src/integration_tests/CMakeLists.txt
@@ -30,6 +30,7 @@ add_executable(integration_tests_runner
     action_goto.cpp
     action_hold.cpp
     calibration.cpp
+    camera_capture_info.cpp
     camera_mode.cpp
     camera_settings.cpp
     camera_status.cpp
diff --git a/src/integration_tests/camera_capture_info.cpp b/src/integration_tests/camera_capture_info.cpp
new file mode 100644
index 0000000000..c8c1707adb
--- /dev/null
+++ b/src/integration_tests/camera_capture_info.cpp
@@ -0,0 +1,37 @@
+#include "integration_test_helper.h"
+#include "mavsdk.h"
+#include <iostream>
+#include <functional>
+#include <atomic>
+#include "plugins/camera/camera.h"
+
+using namespace mavsdk;
+
+TEST(CameraTest, CaptureInfo)
+{
+    Mavsdk mavsdk;
+
+    ConnectionResult ret = mavsdk.add_udp_connection();
+    ASSERT_EQ(ret, ConnectionResult::Success);
+
+    // Wait for system to connect via heartbeat.
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+
+    ASSERT_EQ(mavsdk.systems().size(), 1);
+
+    auto system = mavsdk.systems().at(0);
+    auto camera = Camera{system};
+
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+
+    EXPECT_EQ(camera.take_photo(), Camera::Result::Success);
+
+    bool received_capture_info = false;
+    camera.subscribe_capture_info([&received_capture_info](Camera::CaptureInfo capture_info) {
+        received_capture_info = true;
+        LogInfo() << capture_info;
+    });
+
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+    EXPECT_TRUE(received_capture_info);
+}