backend: add armed to telemetry

mavlink · Apr 26, 2018 · 7684889 · 7684889
1 parent e1a34af
commit 7684889
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Showing 3 changed files with 105 additions and 2 deletions.
diff --git a/backend/src/plugins/telemetry/telemetry_service_impl.h b/backend/src/plugins/telemetry/telemetry_service_impl.h
@@ -92,6 +92,20 @@ class TelemetryServiceImpl final : public dronecore::rpc::telemetry::TelemetrySe
         return grpc::Status::OK;
     }
 
+    grpc::Status SubscribeArmed(grpc::ServerContext * /* context */,
+                                const dronecore::rpc::telemetry::SubscribeArmedRequest * /* request */,
+                                grpc::ServerWriter<rpc::telemetry::ArmedResponse> *writer) override
+    {
+        _telemetry.armed_async([&writer](bool is_armed) {
+            dronecore::rpc::telemetry::ArmedResponse rpc_armed_response;
+            rpc_armed_response.set_is_armed(is_armed);
+            writer->Write(rpc_armed_response);
+        });
+
+        _stop_future.wait();
+        return grpc::Status::OK;
+    }
+
     void stop()
     {
         _stop_promise.set_value();

diff --git a/backend/test/telemetry_service_impl_test.cpp b/backend/test/telemetry_service_impl_test.cpp
@@ -66,6 +66,9 @@ class TelemetryServiceImplTest : public ::testing::Test
     void checkSendsInAirEvents(const std::vector<bool> &in_air_events) const;
     std::future<void> subscribeInAirAsync(std::vector<bool> &in_air_events) const;
 
+    void checkSendsArmedEvents(const std::vector<bool> &armed_events) const;
+    std::future<void> subscribeArmedAsync(std::vector<bool> &armed_events) const;
+
     std::unique_ptr<grpc::Server> _server;
     std::unique_ptr<TelemetryService::Stub> _stub;
     std::unique_ptr<MockTelemetry> _telemetry;
@@ -363,7 +366,8 @@ TEST_F(TelemetryServiceImplTest, sendsOneHome)
     checkSendsHomePositions(home_positions);
 }
 
-void TelemetryServiceImplTest::checkSendsHomePositions(const std::vector<Position> &home_positions) const
+void TelemetryServiceImplTest::checkSendsHomePositions(const std::vector<Position> &home_positions)
+const
 {
     std::promise<void> subscription_promise;
     auto subscription_future = subscription_promise.get_future();
@@ -408,7 +412,8 @@ TEST_F(TelemetryServiceImplTest, registersToTelemetryInAirAsync)
     in_air_stream_future.wait();
 }
 
-std::future<void> TelemetryServiceImplTest::subscribeInAirAsync(std::vector<bool> &in_air_events) const
+std::future<void> TelemetryServiceImplTest::subscribeInAirAsync(std::vector<bool> &in_air_events)
+const
 {
     return std::async(std::launch::async, [&]() {
         grpc::ClientContext context;
@@ -478,4 +483,87 @@ TEST_F(TelemetryServiceImplTest, sendsMultipleInAirEvents)
     checkSendsInAirEvents(in_air_events);
 }
 
+TEST_F(TelemetryServiceImplTest, registersToTelemetryArmedAsync)
+{
+    EXPECT_CALL(*_telemetry, armed_async(_))
+    .Times(1);
+
+    std::vector<bool> armed_events;
+    auto armed_stream_future = subscribeArmedAsync(armed_events);
+
+    _telemetry_service->stop();
+    armed_stream_future.wait();
+}
+
+std::future<void>
+TelemetryServiceImplTest::subscribeArmedAsync(std::vector<bool> &armed_events) const
+{
+    return std::async(std::launch::async, [&]() {
+        grpc::ClientContext context;
+        dronecore::rpc::telemetry::SubscribeArmedRequest request;
+        auto response_reader = _stub->SubscribeArmed(&context, request);
+
+        dronecore::rpc::telemetry::ArmedResponse response;
+        while (response_reader->Read(&response)) {
+            auto is_armed = response.is_armed();
+            armed_events.push_back(is_armed);
+        }
+
+        response_reader->Finish();
+    });
+}
+
+TEST_F(TelemetryServiceImplTest, doesNotSendArmedIfCallbackNotCalled)
+{
+    std::vector<bool> armed_events;
+    auto armed_stream_future = subscribeArmedAsync(armed_events);
+
+    _telemetry_service->stop();
+    armed_stream_future.wait();
+
+    EXPECT_EQ(0, armed_events.size());
+}
+
+TEST_F(TelemetryServiceImplTest, sendsOneArmedEvent)
+{
+    std::vector<bool> armed_events;
+    armed_events.push_back(generateRandomBool());
+
+    checkSendsInAirEvents(armed_events);
+}
+
+void TelemetryServiceImplTest::checkSendsArmedEvents(const std::vector<bool> &armed_events) const
+{
+    std::promise<void> subscription_promise;
+    auto subscription_future = subscription_promise.get_future();
+    dronecore::Telemetry::armed_callback_t armed_callback;
+    EXPECT_CALL(*_telemetry, armed_async(_))
+    .WillOnce(SaveCallback(&armed_callback, &subscription_promise));
+
+    std::vector<bool> received_armed_events;
+    auto armed_stream_future = subscribeArmedAsync(received_armed_events);
+    subscription_future.wait();
+    for (const auto is_armed : armed_events) {
+        armed_callback(is_armed);
+    }
+    _telemetry_service->stop();
+    armed_stream_future.wait();
+
+    ASSERT_EQ(armed_events.size(), received_armed_events.size());
+    for (size_t i = 0; i < armed_events.size(); i++) {
+        EXPECT_EQ(armed_events.at(i), received_armed_events.at(i));
+    }
+}
+
+TEST_F(TelemetryServiceImplTest, sendsMultipleArmedEvents)
+{
+    std::vector<bool> armed_events;
+
+    for (int i = 0; i < 10; i++) {
+        armed_events.push_back(generateRandomBool());
+    }
+
+    checkSendsArmedEvents(armed_events);
+}
+
 } // namespace
diff --git a/plugins/telemetry/mocks/telemetry_mock.h b/plugins/telemetry/mocks/telemetry_mock.h
@@ -12,6 +12,7 @@ class MockTelemetry
     MOCK_CONST_METHOD1(health_async, void(Telemetry::health_callback_t));
     MOCK_CONST_METHOD1(home_position_async, void(Telemetry::position_callback_t));
     MOCK_CONST_METHOD1(in_air_async, void(Telemetry::in_air_callback_t));
+    MOCK_CONST_METHOD1(armed_async, void(Telemetry::armed_callback_t));
 };
 
 } // namespace testing