backend: add StartPhotoInterval to camera

mavlink · May 24, 2018 · ee6d592 · ee6d592
1 parent e2184d9
commit ee6d592
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Showing 3 changed files with 66 additions and 1 deletion.
diff --git a/backend/src/plugins/camera/camera_service_impl.h b/backend/src/plugins/camera/camera_service_impl.h
@@ -25,7 +25,7 @@ class CameraServiceImpl final : public rpc::camera::CameraService::Service
     }
 
     template <typename ResponseType>
-    void fillResponseWithResult(ResponseType *response, dronecore::Camera::Result &camera_result) const
+    void fillResponseWithResult(ResponseType *response, dronecore::Camera::Result camera_result) const
     {
         auto rpc_result = static_cast<rpc::camera::CameraResult::Result>(camera_result);
 
@@ -36,6 +36,23 @@ class CameraServiceImpl final : public rpc::camera::CameraService::Service
         response->set_allocated_camera_result(rpc_camera_result);
     }
 
+    grpc::Status StartPhotoInterval(grpc::ServerContext * /* context */,
+                                    const rpc::camera::StartPhotoIntervalRequest *request,
+                                    rpc::camera::StartPhotoIntervalResponse *response) override
+    {
+        if (request == nullptr && response != nullptr) {
+            fillResponseWithResult(response, dronecore::Camera::Result::WRONG_ARGUMENT);
+        } else {
+            auto camera_result = _camera.start_photo_interval(request->interval_s());
+
+            if (response != nullptr) {
+                fillResponseWithResult(response, camera_result);
+            }
+        }
+
+        return grpc::Status::OK;
+    }
+
 private:
     Camera &_camera;
 };

diff --git a/backend/test/camera_service_impl_test.cpp b/backend/test/camera_service_impl_test.cpp
@@ -5,6 +5,7 @@
 
 namespace {
 
+using testing::_;
 using testing::NiceMock;
 using testing::Return;
 
@@ -14,6 +15,8 @@ using CameraServiceImpl = dronecore::backend::CameraServiceImpl<MockCamera>;
 using CameraResult = dronecore::rpc::camera::CameraResult;
 using InputPair = std::pair<std::string, dronecore::Camera::Result>;
 
+static constexpr auto ARBITRARY_FLOAT = 24.2f;
+
 std::vector<InputPair> generateInputPairs();
 
 class CameraServiceImplTest : public ::testing::TestWithParam<InputPair>
@@ -45,6 +48,49 @@ TEST_F(CameraServiceImplTest, takesPhotoEvenWhenArgsAreNull)
     _camera_service.TakePhoto(nullptr, nullptr, nullptr);
 }
 
+TEST_P(CameraServiceImplTest, startPhotoIntervalResultIsTranslatedCorrectly)
+{
+    ON_CALL(_camera, start_photo_interval(_))
+    .WillByDefault(Return(GetParam().second));
+    dronecore::rpc::camera::StartPhotoIntervalRequest request;
+    request.set_interval_s(ARBITRARY_FLOAT);
+    dronecore::rpc::camera::StartPhotoIntervalResponse response;
+
+    _camera_service.StartPhotoInterval(nullptr, &request, &response);
+
+    EXPECT_EQ(GetParam().first, CameraResult::Result_Name(response.camera_result().result()));
+}
+
+TEST_F(CameraServiceImplTest, startsPhotoIntervalEvenWhenContextAndResponseAreNull)
+{
+    EXPECT_CALL(_camera, start_photo_interval(_))
+    .Times(1);
+    dronecore::rpc::camera::StartPhotoIntervalRequest request;
+    request.set_interval_s(ARBITRARY_FLOAT);
+
+    _camera_service.StartPhotoInterval(nullptr, &request, nullptr);
+}
+
+TEST_F(CameraServiceImplTest, startsPhotoIntervalWithRightParameter)
+{
+    auto expected_interval = ARBITRARY_FLOAT;
+    EXPECT_CALL(_camera, start_photo_interval(expected_interval))
+    .Times(1);
+    dronecore::rpc::camera::StartPhotoIntervalRequest request;
+    request.set_interval_s(expected_interval);
+
+    _camera_service.StartPhotoInterval(nullptr, &request, nullptr);
+}
+
+TEST_F(CameraServiceImplTest, startPhotoIntervalReturnsWrongArgumentErrorIfRequestIsNull)
+{
+    dronecore::rpc::camera::StartPhotoIntervalResponse response;
+
+    _camera_service.StartPhotoInterval(nullptr, nullptr, &response);
+
+    EXPECT_EQ("WRONG_ARGUMENT", CameraResult::Result_Name(response.camera_result().result()));
+}
+
 INSTANTIATE_TEST_CASE_P(CameraResultCorrespondences,
                         CameraServiceImplTest,
                         ::testing::ValuesIn(generateInputPairs()));

diff --git a/plugins/camera/mocks/camera_mock.h b/plugins/camera/mocks/camera_mock.h
@@ -9,6 +9,8 @@ class MockCamera
 {
 public:
     MOCK_CONST_METHOD0(take_photo, Camera::Result());
+    MOCK_CONST_METHOD1(start_photo_interval, Camera::Result(float));
+    MOCK_CONST_METHOD0(stop_photo_interval, Camera::Result());
 };
 
 } // namespace testing