test_main.cpp
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/****************************************************************************
*
* 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.
*
****************************************************************************/
#define CATCH_CONFIG_RUNNER
#include "catch2/catch.hpp"
#include <mavsdk/mavsdk.h>
#include <iostream>
#include <string>
#include "autopilot_tester.h"
static void usage(const std::string &bin_name);
static void remove_argv(int &argc, char **argv, int pos);
int main(int argc, char **argv)
{
for (int i = 0; i < argc; ++i) {
const std::string argv_string(argv[i]);
if (argv_string == "-h") {
usage(argv[0]);
}
if (argv_string == "--url") {
if (argc > i + 1) {
connection_url = argv[i + 1];
remove_argv(argc, argv, i);
remove_argv(argc, argv, i);
} else {
std::cerr << "No connection URL supplied" << std::endl;
usage(argv[0]);
return -1;
}
}
}
Catch::Session session;
const int catch_ret = session.applyCommandLine(argc, argv);
if (catch_ret != 0) {
return catch_ret;
}
return session.run();
}
void usage(const std::string &bin_name)
{
std::cout << std::endl
<< "Usage : " << bin_name << " [--url CONNECTION_URL] [catch2 arguments]" << std::endl
<< "Connection URL format should be :" << std::endl
<< " For TCP : tcp://[server_host][:server_port]" << std::endl
<< " For UDP : udp://[bind_host][:bind_port]" << std::endl
<< " For Serial : serial:///path/to/serial/dev[:baudrate]" << std::endl
<< "For example, to connect to the simulator use URL: udp://:14540" << std::endl
<< std::endl;
}
void remove_argv(int &argc, char **argv, int pos)
{
for (int i = pos; i + 1 < argc; ++i) {
argv[i] = argv[i + 1];
}
argv[--argc] = nullptr;
}