forked from Archive/PX4-Autopilot
131 lines
3.9 KiB
C++
131 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#define CATCH_CONFIG_RUNNER
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#include "catch2/catch.hpp"
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#include <mavsdk/mavsdk.h>
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#include <iostream>
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#include <string>
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#include "autopilot_tester.h"
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static void usage(const std::string &bin_name);
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static void remove_argv(int &argc, char **argv, int pos);
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int main(int argc, char **argv)
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{
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for (int i = 0; i < argc; ++i) {
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const std::string argv_string(argv[i]);
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if (argv_string == "-h") {
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usage(argv[0]);
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return 0;
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}
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if (argv_string == "--url") {
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if (argc > i + 1) {
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connection_url = argv[i + 1];
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remove_argv(argc, argv, i);
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remove_argv(argc, argv, i);
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--i;
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} else {
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std::cerr << "No connection URL supplied" << std::endl;
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usage(argv[0]);
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return -1;
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}
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}
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if (argv_string == "--speed-factor") {
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if (argc > i + 1) {
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try {
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speed_factor = std::make_optional(std::stof(argv[i + 1]));
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} catch (const std::invalid_argument &) {
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std::cerr << "Speed factor could not be parsed" << std::endl;
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return -1;
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} catch (const std::out_of_range &) {
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std::cerr << "Speed factor is out of range" << std::endl;
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return -1;
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}
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remove_argv(argc, argv, i);
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remove_argv(argc, argv, i);
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--i;
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} else {
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std::cerr << "No speed factor supplied" << std::endl;
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usage(argv[0]);
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return -1;
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}
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}
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}
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Catch::Session session;
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const int catch_ret = session.applyCommandLine(argc, argv);
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if (catch_ret != 0) {
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return catch_ret;
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}
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return session.run();
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}
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void usage(const std::string &bin_name)
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{
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std::cout << std::endl
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<< "Usage : " << bin_name << " [--url CONNECTION_URL] [--speed-factor SPEED_FACTOR] [catch2 arguments]\n"
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<< "\n"
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<< " --url Connection URL format should be :\n"
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<< " For TCP : tcp://[server_host][:server_port]\n"
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<< " For UDP : udp://[bind_host][:bind_port]\n"
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<< " For Serial : serial:///path/to/serial/dev[:baudrate]\n"
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<< " For example, to connect to the simulator use URL: udp://:14540\n"
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<< "\n"
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<< " --speed-factor Speed factor to compare against, for information only\n"
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<< std::flush;
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}
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void remove_argv(int &argc, char **argv, int pos)
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{
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for (int i = pos; i + 1 < argc; ++i) {
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argv[i] = argv[i + 1];
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}
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argv[--argc] = nullptr;
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}
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