forked from Archive/PX4-Autopilot
65 lines
2.6 KiB
C++
65 lines
2.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include "autopilot_tester.h"
|
|
|
|
#include <mavsdk/mavsdk.h>
|
|
#include <mavsdk/plugins/action/action.h>
|
|
#include <mavsdk/plugins/failure/failure.h>
|
|
|
|
|
|
class AutopilotTesterFailure : public AutopilotTester
|
|
{
|
|
public:
|
|
AutopilotTesterFailure() = default;
|
|
~AutopilotTesterFailure() = default;
|
|
|
|
void set_param_sys_failure_en(bool value);
|
|
void set_param_fd_act_en(bool value);
|
|
void set_param_mc_airmode(int value);
|
|
void set_param_ca_failure_mode(int value);
|
|
void set_param_com_act_fail_act(int value);
|
|
|
|
void enable_actuator_output_status();
|
|
void ensure_motor_stopped(unsigned index, unsigned num_motors);
|
|
|
|
void inject_failure(mavsdk::Failure::FailureUnit failure_unit, mavsdk::Failure::FailureType failure_type, int instance,
|
|
mavsdk::Failure::Result expected_result);
|
|
void connect(const std::string uri);
|
|
|
|
private:
|
|
std::unique_ptr<mavsdk::Failure> _failure{};
|
|
};
|