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Fix NED -> Ned typo in mavsdk_server #821

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merged 1 commit into from
Jul 28, 2019
Merged

Fix NED -> Ned typo in mavsdk_server #821

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2 changes: 1 addition & 1 deletion src/backend/proto
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Submodule proto updated from 12f26d to 766f93
8 changes: 4 additions & 4 deletions src/backend/src/plugins/offboard/offboard_service_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -154,15 +154,15 @@ class OffboardServiceImpl final : public rpc::offboard::OffboardService::Service
{
if (request != nullptr) {
auto requested_position_ned_yaw =
translateRPCPositionNEDYaw(request->position_ned_yaw());
translateRPCPositionNedYaw(request->position_ned_yaw());
_offboard.set_position_ned(requested_position_ned_yaw);
}

return grpc::Status::OK;
}

static mavsdk::Offboard::PositionNEDYaw
translateRPCPositionNEDYaw(const rpc::offboard::PositionNEDYaw& rpc_position_ned_yaw)
translateRPCPositionNedYaw(const rpc::offboard::PositionNedYaw& rpc_position_ned_yaw)
{
mavsdk::Offboard::PositionNEDYaw position_ned_yaw;

Expand Down Expand Up @@ -208,15 +208,15 @@ class OffboardServiceImpl final : public rpc::offboard::OffboardService::Service
{
if (request != nullptr) {
auto requested_velocity_ned_yaw =
translateRPCVelocityNEDYaw(request->velocity_ned_yaw());
translateRPCVelocityNedYaw(request->velocity_ned_yaw());
_offboard.set_velocity_ned(requested_velocity_ned_yaw);
}

return grpc::Status::OK;
}

static mavsdk::Offboard::VelocityNEDYaw
translateRPCVelocityNEDYaw(const rpc::offboard::VelocityNEDYaw& rpc_velocity_ned_yaw)
translateRPCVelocityNedYaw(const rpc::offboard::VelocityNedYaw& rpc_velocity_ned_yaw)
{
mavsdk::Offboard::VelocityNEDYaw velocity_ned_yaw;

Expand Down
32 changes: 16 additions & 16 deletions src/backend/test/offboard_service_impl_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,10 +50,10 @@ class OffboardServiceImplTest : public ::testing::TestWithParam<InputPair> {

std::unique_ptr<mavsdk::rpc::offboard::Attitude> createArbitraryRPCAttitude() const;
std::unique_ptr<mavsdk::rpc::offboard::AttitudeRate> createArbitraryRPCAttitudeRate() const;
std::unique_ptr<mavsdk::rpc::offboard::PositionNEDYaw> createArbitraryRPCPositionNEDYaw() const;
std::unique_ptr<mavsdk::rpc::offboard::PositionNedYaw> createArbitraryRPCPositionNedYaw() const;
std::unique_ptr<mavsdk::rpc::offboard::VelocityBodyYawspeed>
createArbitraryRPCVelocityBodyYawspeed() const;
std::unique_ptr<mavsdk::rpc::offboard::VelocityNEDYaw> createArbitraryRPCVelocityNedYaw() const;
std::unique_ptr<mavsdk::rpc::offboard::VelocityNedYaw> createArbitraryRPCVelocityNedYaw() const;
std::unique_ptr<mavsdk::rpc::offboard::ActuatorControl>
createArbitraryRPCActuatorControl() const;
};
Expand Down Expand Up @@ -312,31 +312,31 @@ TEST_F(OffboardServiceImplTest, setsAttitudeRateCorrectly)
offboardService.SetAttitudeRate(nullptr, &request, nullptr);
}

TEST_F(OffboardServiceImplTest, setPositionNEDYawDoesNotFailWithAllNullParams)
TEST_F(OffboardServiceImplTest, setPositionNedYawDoesNotFailWithAllNullParams)
{
MockOffboard offboard;
OffboardServiceImpl offboardService(offboard);

offboardService.SetPositionNed(nullptr, nullptr, nullptr);
}

TEST_F(OffboardServiceImplTest, setPositionNEDYawDoesNotFailWithNullResponse)
TEST_F(OffboardServiceImplTest, setPositionNedYawDoesNotFailWithNullResponse)
{
MockOffboard offboard;
OffboardServiceImpl offboardService(offboard);
mavsdk::rpc::offboard::SetPositionNedRequest request;

auto rpc_position_ned_yaw = createArbitraryRPCPositionNEDYaw();
auto rpc_position_ned_yaw = createArbitraryRPCPositionNedYaw();
request.set_allocated_position_ned_yaw(rpc_position_ned_yaw.release());

offboardService.SetPositionNed(nullptr, &request, nullptr);
}

std::unique_ptr<mavsdk::rpc::offboard::PositionNEDYaw>
OffboardServiceImplTest::createArbitraryRPCPositionNEDYaw() const
std::unique_ptr<mavsdk::rpc::offboard::PositionNedYaw>
OffboardServiceImplTest::createArbitraryRPCPositionNedYaw() const
{
auto rpc_position_ned_yaw = std::unique_ptr<mavsdk::rpc::offboard::PositionNEDYaw>(
new mavsdk::rpc::offboard::PositionNEDYaw());
auto rpc_position_ned_yaw = std::unique_ptr<mavsdk::rpc::offboard::PositionNedYaw>(
new mavsdk::rpc::offboard::PositionNedYaw());
rpc_position_ned_yaw->set_north_m(ARBITRARY_NORTH_M);
rpc_position_ned_yaw->set_east_m(ARBITRARY_EAST_M);
rpc_position_ned_yaw->set_down_m(ARBITRARY_DOWN_M);
Expand All @@ -345,15 +345,15 @@ OffboardServiceImplTest::createArbitraryRPCPositionNEDYaw() const
return rpc_position_ned_yaw;
}

TEST_F(OffboardServiceImplTest, setsPositionNEDYawCorrectly)
TEST_F(OffboardServiceImplTest, setsPositionNedYawCorrectly)
{
MockOffboard offboard;
OffboardServiceImpl offboardService(offboard);
mavsdk::rpc::offboard::SetPositionNedRequest request;

auto rpc_position_ned_yaw = createArbitraryRPCPositionNEDYaw();
auto rpc_position_ned_yaw = createArbitraryRPCPositionNedYaw();
const auto expected_position_ned_yaw =
OffboardServiceImpl::translateRPCPositionNEDYaw(*rpc_position_ned_yaw);
OffboardServiceImpl::translateRPCPositionNedYaw(*rpc_position_ned_yaw);
EXPECT_CALL(offboard, set_position_ned(expected_position_ned_yaw)).Times(1);

request.set_allocated_position_ned_yaw(rpc_position_ned_yaw.release());
Expand Down Expand Up @@ -430,11 +430,11 @@ TEST_F(OffboardServiceImplTest, setVelocityNedDoesNotFailWithNullResponse)
offboardService.SetVelocityNed(nullptr, &request, nullptr);
}

std::unique_ptr<mavsdk::rpc::offboard::VelocityNEDYaw>
std::unique_ptr<mavsdk::rpc::offboard::VelocityNedYaw>
OffboardServiceImplTest::createArbitraryRPCVelocityNedYaw() const
{
auto rpc_velocity_ned = std::unique_ptr<mavsdk::rpc::offboard::VelocityNEDYaw>(
new mavsdk::rpc::offboard::VelocityNEDYaw());
auto rpc_velocity_ned = std::unique_ptr<mavsdk::rpc::offboard::VelocityNedYaw>(
new mavsdk::rpc::offboard::VelocityNedYaw());
rpc_velocity_ned->set_north_m_s(ARBITRARY_VELOCITY_MID);
rpc_velocity_ned->set_east_m_s(ARBITRARY_VELOCITY_LOW);
rpc_velocity_ned->set_down_m_s(ARBITRARY_VELOCITY_NEG);
Expand All @@ -451,7 +451,7 @@ TEST_F(OffboardServiceImplTest, setsVelocityNedCorrectly)

auto rpc_velocity_ned = createArbitraryRPCVelocityNedYaw();
const auto expected_velocity_ned =
OffboardServiceImpl::translateRPCVelocityNEDYaw(*rpc_velocity_ned);
OffboardServiceImpl::translateRPCVelocityNedYaw(*rpc_velocity_ned);
EXPECT_CALL(offboard, set_velocity_ned(expected_velocity_ned)).Times(1);

request.set_allocated_velocity_ned_yaw(rpc_velocity_ned.release());
Expand Down