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/mission/mission.h>
  #include <mavsdk/plugins/offboard/offboard.h>
  #include <mavsdk/plugins/telemetry/telemetry.h>
  #include "catch2/catch.hpp"
  #include <chrono>
  #include <memory>
  #include <thread>
  
  extern std::string connection_url;
  
  using namespace mavsdk;
  using namespace mavsdk::geometry;
  
  class AutopilotTester
  {
  public:
  	struct MissionOptions {
  		double leg_length_m {20.0};
  		double relative_altitude_m {10.0};
  		bool rtl_at_end {false};
  	};
  
  	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 set_takeoff_altitude(const float altitude_m);
  	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(90));
  	void wait_until_hovering();
  	void prepare_square_mission(MissionOptions mission_options);
  	void execute_mission();
  	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 request_ground_truth();
  
  
  private:
  	mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
  	std::shared_ptr<mavsdk::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 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);
  
  	mavsdk::Mavsdk _mavsdk{};
  	std::unique_ptr<mavsdk::Telemetry> _telemetry{};
  	std::unique_ptr<mavsdk::Action> _action{};
  	std::unique_ptr<mavsdk::Mission> _mission{};
  	std::unique_ptr<mavsdk::Offboard> _offboard{};
  
  	Telemetry::GroundTruth _home{NAN, NAN, NAN};
  };
  
  template<typename Rep, typename Period>
  bool poll_condition_with_timeout(
  	std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
  {
  	// We need millisecond resolution for sleeping.
  	const std::chrono::milliseconds duration_ms(duration);
  
  	unsigned iteration = 0;
  
  	while (!fun()) {
  		std::this_thread::sleep_for(duration_ms / 10);
  
  		if (iteration++ >= 10) {
  			return false;
  		}
  	}
  
  	return true;
  }
  
  inline float sq(float x) { return x * x; };
  