added eland service test

test/control_manager/CMakeLists.txt

@@ -5,3 +5,5 @@ add_subdirectory(eland_control_error)
 add_subdirectory(eland_innovation)
 
 add_subdirectory(failsafe_control_error)
+
+add_subdirectory(eland_service)

test/control_manager/eland_service/CMakeLists.txt

@@ -0,0 +1,16 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test)

test/control_manager/eland_service/eland_service.test

@@ -0,0 +1,35 @@
+<launch>
+
+  <arg name="this_path" default="$(dirname)" />
+
+  <arg name="UAV_NAME" default="uav1" />
+  <arg name="UAV_TYPE" default="x500" />
+
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
+    <arg name="automatic_start" default="false" />
+    <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+    <param name="test" value="$(arg test_name)" />
+    <param name="uav_name" value="$(arg UAV_NAME)" />
+  </test>
+
+</launch>

test/control_manager/eland_service/test.cpp

@@ -0,0 +1,119 @@
+#include <gtest/gtest.h>
+
+#include <mrs_uav_testing/test_generic.h>
+
+/* class Tester //{ */
+
+class Tester : public mrs_uav_testing::TestGeneric {
+
+public:
+  bool test();
+
+  Tester();
+
+  mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_eland_;
+
+  std::tuple<bool, std::string> eland();
+};
+
+Tester::Tester() {
+
+  sch_eland_ = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "/" + _uav_name_ + "/control_manager/eland");
+}
+
+std::tuple<bool, std::string> Tester::eland() {
+
+  {
+    std_srvs::Trigger srv;
+
+    {
+      bool service_call = sch_eland_.call(srv);
+
+      if (!service_call || !srv.response.success) {
+        return {false, "offboard service call failed"};
+      }
+    }
+  }
+
+  return {true, "service called"};
+}
+
+//}
+
+bool Tester::test() {
+
+  {
+    auto [success, message] = activateMidAir();
+
+    if (!success) {
+      ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  // | ---------------------- trigger eland --------------------- |
+
+  {
+    auto [success, message] = eland();
+
+    if (!success) {
+      ROS_ERROR("[%s]: eland call failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  // | -------------- wait for the eland to trigger ------------- |
+
+  while (true) {
+
+    if (!ros::ok()) {
+      return false;
+    }
+
+    if (!isFlyingNormally() && getActiveController() == "EmergencyController" && getActiveTracker() == "LandoffTracker") {
+      break;
+    }
+
+    sleep(0.01);
+  }
+
+  // | -------------------- wait for landing -------------------- |
+
+  while (true) {
+
+    if (!ros::ok()) {
+      return false;
+    }
+
+    if (!this->isOutputEnabled()) {
+      return true;
+    }
+
+    sleep(0.01);
+  }
+
+  return false;
+}
+
+
+TEST(TESTSuite, test) {
+
+  Tester tester;
+
+  bool result = tester.test();
+
+  if (result) {
+    GTEST_SUCCEED();
+  } else {
+    GTEST_FAIL();
+  }
+}
+
+int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) {
+
+  ros::init(argc, argv, "test");
+
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}