text: /****************************************************************************
   *
   *   Copyright (c) 2020 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 <mavsdk/mavsdk.h>
  #include <mavsdk/geometry.h>
  #include <mavsdk/plugins/action/action.h>
  #include <mavsdk/plugins/failure/failure.h>
  #include <mavsdk/plugins/info/info.h>
  #include <mavsdk/plugins/manual_control/manual_control.h>
  #include <mavsdk/plugins/mission/mission.h>
  #include <mavsdk/plugins/offboard/offboard.h>
  #include <mavsdk/plugins/telemetry/telemetry.h>
  #include <mavsdk/plugins/param/param.h>
  #include "catch2/catch.hpp"
  #include <chrono>
  #include <ctime>
  #include <iostream>
  #include <memory>
  #include <thread>
  
  extern std::string connection_url;
  
  using namespace mavsdk;
  using namespace mavsdk::geometry;
  
  
  inline std::string time_str()
  {
  	time_t rawtime;
  	time(&rawtime);
  	struct tm *timeinfo = localtime(&rawtime);
  	char time_buffer[18];
  	strftime(time_buffer, 18, "[%I:%M:%S|Info ] ", timeinfo);
  	return time_buffer;
  }
  
  class AutopilotTester
  {
  public:
  	struct MissionOptions {
  		double leg_length_m {20.0};
  		double relative_altitude_m {10.0};
  		bool rtl_at_end {false};
  		bool fly_through {false};
  	};
  
  	enum class HeightSource {
  		Baro,
  		Gps
  	};
  
  	void connect(const std::string uri);
  	void wait_until_ready();
  	void wait_until_ready_local_position_only();
  	void store_home();
  	void check_home_within(float acceptance_radius_m);
  	void check_home_not_within(float min_distance_m);
  	void set_takeoff_altitude(const float altitude_m);
  	void set_height_source(HeightSource height_source);
  	void arm();
  	void takeoff();
  	void land();
  	void transition_to_fixedwing();
  	void transition_to_multicopter();
  	void wait_until_disarmed(std::chrono::seconds timeout_duration = std::chrono::seconds(60));
  	void wait_until_hovering();
  	void prepare_square_mission(MissionOptions mission_options);
  	void prepare_straight_mission(MissionOptions mission_options);
  	void execute_mission();
  	void execute_mission_and_lose_gps();
  	void execute_mission_and_lose_mag();
  	void execute_mission_and_get_mag_stuck();
  	void execute_mission_and_lose_baro();
  	void execute_mission_and_get_baro_stuck();
  	void execute_rtl();
  	void offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m = 0.3f,
  			   std::chrono::seconds timeout_duration = std::chrono::seconds(60));
  	void offboard_land();
  	void fly_forward_in_posctl();
  	void fly_forward_in_altctl();
  	void request_ground_truth();
  	void check_mission_item_speed_above(int item_index, float min_speed_m_s);
  	void check_tracks_mission(float corridor_radius_m = 1.5f);
  
  
  private:
  	mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
  	mavsdk::Mission::MissionItem create_mission_item(
  		const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate,
  		const MissionOptions &mission_options,
  		const mavsdk::geometry::CoordinateTransformation &ct);
  
  	bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
  	bool ground_truth_horizontal_position_far_from(const Telemetry::GroundTruth &target_pos, float min_distance_m);
  	bool estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
  	bool estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
  	void start_and_wait_for_first_mission_item();
  	void wait_for_flight_mode(Telemetry::FlightMode flight_mode, std::chrono::seconds timeout);
  	void wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout);
  	void wait_for_mission_finished(std::chrono::seconds timeout);
  
  	template<typename Rep, typename Period>
  	bool poll_condition_with_timeout(
  		std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
  	{
  		static constexpr unsigned check_resolution = 100;
  
  		const std::chrono::microseconds duration_us(duration);
  
  		if (_telemetry && _telemetry->attitude_quaternion().timestamp_us != 0) {
  			// A system is connected. We can base the timeouts on the autopilot time.
  			const int64_t start_time_us = _telemetry->attitude_quaternion().timestamp_us;
  
  			while (!fun()) {
  				std::this_thread::sleep_for(duration_us / check_resolution);
  
  				// This might potentially loop forever and the test needs to be killed by a watchdog outside.
  				// The reason not to include an absolute timeout here is that it can happen if the host is
  				// busy and PX4 doesn't run fast enough.
  				const int64_t elapsed_time_us = _telemetry->attitude_quaternion().timestamp_us - start_time_us;
  
  				std::cout << time_str() << "start_time_us: " << start_time_us << ", elapsed_time_us: " << elapsed_time_us << '\n';
  
  				if (elapsed_time_us > duration_us.count()) {
  					std::cout << time_str() << "Timeout, connected to vehicle but waiting for test for " << static_cast<double>
  						  (elapsed_time_us) / 1e6 << " seconds\n";
  					return false;
  				}
  			}
  
  		} else {
  			// Nothing is connected yet. Use the host time.
  			const auto start_time = std::chrono::steady_clock::now();
  
  			while (!fun()) {
  				std::this_thread::sleep_for(duration_us / check_resolution);
  				const auto elapsed_time_us = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::steady_clock::now() -
  							     start_time);
  
  				if (elapsed_time_us > duration_us) {
  					std::cout << time_str() << "Timeout, waiting for the vehicle for "
  						  << elapsed_time_us.count() * std::chrono::steady_clock::period::num
  						  / static_cast<double>(std::chrono::steady_clock::period::den)
  						  << " seconds\n";
  					return false;
  				}
  			}
  		}
  
  		return true;
  	}
  
  	template<typename Rep, typename Period>
  	void sleep_for(std::chrono::duration<Rep, Period> duration)
  	{
  		const std::chrono::microseconds duration_us(duration);
  
  		if (_telemetry && _telemetry->attitude_quaternion().timestamp_us != 0) {
  
  			const int64_t start_time_us = _telemetry->attitude_quaternion().timestamp_us;
  
  			while (true) {
  				// Hopefully this is often enough not to have PX4 time out on us.
  				std::this_thread::sleep_for(std::chrono::milliseconds(1));
  
  				const int64_t elapsed_time_us = _telemetry->attitude_quaternion().timestamp_us - start_time_us;
  
  				if (elapsed_time_us > duration_us.count()) {
  					return;
  				}
  			}
  
  		} else {
  			std::this_thread::sleep_for(duration);
  		}
  	}
  
  	mavsdk::Mavsdk _mavsdk{};
  	std::unique_ptr<mavsdk::Action> _action{};
  	std::unique_ptr<mavsdk::Failure> _failure{};
  	std::unique_ptr<mavsdk::Info> _info{};
  	std::unique_ptr<mavsdk::ManualControl> _manual_control{};
  	std::unique_ptr<mavsdk::Mission> _mission{};
  	std::unique_ptr<mavsdk::Offboard> _offboard{};
  	std::unique_ptr<mavsdk::Param> _param{};
  	std::unique_ptr<mavsdk::Telemetry> _telemetry{};
  
  	Telemetry::GroundTruth _home{NAN, NAN, NAN};
  };
  