hitl emulator integration test

modules/mavlink/flight_controller.py

@@ -319,6 +319,23 @@ def get_odometry(self) -> "tuple[bool, drone_odometry_global.DroneOdometryGlobal
 
         return True, odometry_data
 
+    def get_location(self) -> "tuple[bool, tuple[float, float, float] | None]":
+        """Return (lat, lon, alt) if available via the drone, otherwise (False, None)."""
+        try:
+            loc = self.drone.location
+        except Exception:  # pylint: disable=broad-except
+            print("HITL get_location error")
+            return False, None
+
+        if loc is None or loc.global_frame is None:
+            return False, None
+
+        gf = loc.global_frame
+        if gf.lat is None or gf.lon is None or gf.alt is None:
+            return False, None
+
+        return True, (gf.lat, gf.lon, gf.alt)
+
     def get_home_position(
         self, timeout: float
     ) -> "tuple[bool, position_global.PositionGlobal | None]":

tests/integration/hitl/test_hitl_emulator_check.py

@@ -0,0 +1,129 @@
+"""
+HITL Test - GPS + Camera Feed Verification
+
+"""
+
+import cv2
+import os
+import time
+
+from modules.mavlink import flight_controller
+
+
+# Physical connection to Pixhawk: /dev/ttyAMA0
+# Simulated connection to Pixhawk: tcp:localhost:5762
+PIXHAWK_ADDRESS = "/dev/ttyAMA0"
+TEST_DURATION = 10
+
+
+def test_camera_feed() -> bool:
+    """
+    Returns True if camera feed is available, False otherwise.
+    """
+    try:
+        camera = cv2.VideoCapture(2)
+
+        if not camera.isOpened():
+            camera.release()
+            return False
+
+        ret, frame = camera.read()
+        camera.release()
+
+        if ret and frame is not None and frame.size > 0:
+            return True
+
+        return False
+
+    except Exception:
+        return False
+
+
+def main() -> int:
+    """
+    GPS data reading + camera feed check.
+    Returns 0 on success, non-zero on failure.
+    """
+    images_path = os.path.join("tests", "integration", "camera_emulator", "images")
+
+    print("HITL Test")
+    print("=============")
+
+    # Create FlightController with HITL enabled
+    result, controller = flight_controller.FlightController.create(
+        PIXHAWK_ADDRESS, 57600, True, True, True, images_path
+    )
+
+    if not result or controller is None:
+        print("ERROR: FlightController creation failed")
+        return -1
+
+    print("FlightController created")
+
+    # Start HITL emulators
+    if controller.hitl_instance is not None:
+        controller.hitl_instance.start()
+        print("HITL emulators started")
+
+        print("Waiting for camera creation...")
+        time.sleep(5)
+
+        print("Checking for camera...")
+        camera_available = test_camera_feed()
+        if camera_available:
+            print("Camera: detected")
+        else:
+            print("Camera: not detected")
+
+    else:
+        print("ERROR: HITL instance not created")
+        return -1
+
+    try:
+        print(f"\nRunning test for {TEST_DURATION}s...")
+        start_time = time.time()
+        gps_count = 0
+        camera_count = 0
+
+        while time.time() - start_time < TEST_DURATION:
+            current_time = time.time() - start_time
+
+            # Test GPS data every 2 seconds
+            if int(current_time) % 2 == 0 and current_time > 0:
+                success, location = controller.get_location()
+                if success and location is not None:
+                    lat, lon, alt = location
+                    gps_count += 1
+                    print(f"GPS: {lat:.6f}, {lon:.6f}, {alt:.1f}m")
+                else:
+                    print("GPS: No data")
+
+            # Test camera feed every 3 seconds
+            if int(current_time) % 3 == 0 and current_time > 1:
+                if test_camera_feed():
+                    camera_count += 1
+                    print("Camera: Feed available")
+                else:
+                    print("Camera: No feed")
+
+            time.sleep(0.5)
+
+        # Results
+        print(f"\nResults:")
+        print(f"GPS readings: {gps_count}")
+        print(f"Camera frames: {camera_count}")
+
+        success = gps_count > 0 and camera_count > 0
+        print("PASS" if success else "FAIL")
+        return 0 if success else 1
+
+    except Exception as exc:
+        print(f"Test error: {exc}")
+        return 1
+    finally:
+        if controller.hitl_instance is not None:
+            controller.hitl_instance.shutdown()
+
+
+if __name__ == "__main__":
+    exit(main())