camera: move interval integration test to system tests

src/system_tests/CMakeLists.txt

@@ -1,5 +1,6 @@
 add_executable(system_tests_runner
     camera_take_photo.cpp
+    camera_take_photo_interval.cpp
     camera_format_storage.cpp
     camera_settings.cpp
     camera_storage.cpp

src/system_tests/camera_storage.cpp

@@ -19,8 +19,7 @@ TEST(SystemTest, CameraStorage)
         mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
         ConnectionResult::Success);
     ASSERT_EQ(
-        mavsdk_camera.add_any_connection("udpout://127.0.0.1:17000"),
-        ConnectionResult::Success);
+        mavsdk_camera.add_any_connection("udpout://127.0.0.1:17000"), ConnectionResult::Success);
 
     auto camera_server = CameraServer{mavsdk_camera.server_component()};
 
@@ -66,7 +65,7 @@ TEST(SystemTest, CameraStorage)
     });
 
     bool got_storage = false;
-    for (unsigned i = 0; i < 10; ++i) {
+    for (unsigned i = 0; i < 60; ++i) {
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         auto ret = camera.get_storage(1);
         if (ret.first == Camera::Result::Unavailable) {

src/system_tests/camera_take_photo_interval.cpp

@@ -0,0 +1,78 @@
+#include "mavsdk.h"
+#include "plugins/camera/camera.h"
+#include "plugins/camera_server/camera_server.h"
+#include "log.h"
+#include <future>
+#include <mutex>
+#include <thread>
+#include <gtest/gtest.h>
+
+using namespace mavsdk;
+
+TEST(SystemTest, CameraTakePhotoInterval)
+{
+    Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
+
+    Mavsdk mavsdk_camera{Mavsdk::Configuration{ComponentType::Camera}};
+
+    ASSERT_EQ(
+        mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
+        ConnectionResult::Success);
+    ASSERT_EQ(
+        mavsdk_camera.add_any_connection("udpout://127.0.0.1:17000"), ConnectionResult::Success);
+
+    auto camera_server = CameraServer{mavsdk_camera.server_component()};
+
+    CameraServer::Information information{};
+    information.vendor_name = "CoolCameras";
+    information.model_name = "Frozen Super";
+    information.firmware_version = "4.0.0";
+    information.definition_file_version = 1;
+    information.definition_file_uri = "";
+    camera_server.set_information(information);
+
+    camera_server.subscribe_take_photo([&camera_server](int32_t index) {
+        LogInfo() << "Let's take photo " << index;
+
+        CameraServer::CaptureInfo info;
+        info.index = index;
+        info.is_success = true;
+
+        camera_server.respond_take_photo(CameraServer::CameraFeedback::Ok, info);
+    });
+
+    auto prom = std::promise<std::shared_ptr<System>>();
+    auto fut = prom.get_future();
+    std::once_flag flag;
+
+    auto handle = mavsdk_groundstation.subscribe_on_new_system([&]() {
+        const auto system = mavsdk_groundstation.systems().back();
+        if (system->is_connected() && system->has_camera()) {
+            std::call_once(flag, [&]() { prom.set_value(system); });
+        }
+    });
+
+    ASSERT_EQ(fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);
+    mavsdk_groundstation.unsubscribe_on_new_system(handle);
+    auto system = fut.get();
+
+    auto camera = Camera{system};
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    // We expect to find one camera.
+    ASSERT_EQ(camera.camera_list().cameras.size(), 1);
+
+    unsigned captured = 0;
+
+    Camera::CaptureInfoHandle capture_handle = camera.subscribe_capture_info(
+        [&](Camera::CaptureInfo capture_info) {
+            LogInfo() << "Received captured info for image: " << capture_info.index;
+            ++captured;
+        });
+
+    EXPECT_EQ(camera.start_photo_interval(1, 0.1f), Camera::Result::Success);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(250));
+    EXPECT_EQ(camera.stop_photo_interval(1), Camera::Result::Success);
+    EXPECT_GE(captured, 2);
+}