Add system test for geofence upload/download round-trip

Self-contained test using GroundStation + Autopilot MAVSDK instances
over local UDP with MissionRawServer. No PX4 SITL dependency.

Author: PavelGuzenfeld

cpp/src/system_tests/CMakeLists.txt

@@ -15,6 +15,7 @@ add_executable(system_tests_runner
     param_get_all.cpp
     mission_raw_upload.cpp
     telemetry_subscription.cpp
+    geofence_download.cpp
     fs_helpers.cpp
     ftp_download_file.cpp
     ftp_download_file_burst.cpp

cpp/src/system_tests/geofence_download.cpp

@@ -0,0 +1,74 @@
+#include "log.h"
+#include "mavsdk.h"
+#include "plugins/geofence/geofence.h"
+#include "plugins/mission_raw_server/mission_raw_server.h"
+#include <future>
+#include <gtest/gtest.h>
+
+using namespace mavsdk;
+
+TEST(SystemTest, GeofenceUploadDownloadRoundTrip)
+{
+    Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
+    Mavsdk mavsdk_autopilot{Mavsdk::Configuration{ComponentType::Autopilot}};
+
+    ASSERT_EQ(
+        mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17012"),
+        ConnectionResult::Success);
+    ASSERT_EQ(
+        mavsdk_autopilot.add_any_connection("udpout://127.0.0.1:17012"),
+        ConnectionResult::Success);
+
+    auto mission_raw_server = MissionRawServer{mavsdk_autopilot.server_component()};
+
+    auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
+    ASSERT_TRUE(maybe_system);
+    auto system = maybe_system.value();
+
+    auto geofence = Geofence{system};
+
+    // Build test geofence data: 1 inclusion polygon + 1 exclusion circle
+    Geofence::GeofenceData upload_data;
+
+    Geofence::Polygon polygon;
+    polygon.fence_type = Geofence::FenceType::Inclusion;
+    polygon.points.push_back({47.3977, 8.5456});
+    polygon.points.push_back({47.3980, 8.5460});
+    polygon.points.push_back({47.3975, 8.5465});
+    polygon.points.push_back({47.3972, 8.5458});
+    upload_data.polygons.push_back(polygon);
+
+    Geofence::Circle circle;
+    circle.fence_type = Geofence::FenceType::Exclusion;
+    circle.point = {47.3978, 8.5459};
+    circle.radius = 50.0f;
+    upload_data.circles.push_back(circle);
+
+    // Upload
+    auto upload_result = geofence.upload_geofence(upload_data);
+    ASSERT_EQ(upload_result, Geofence::Result::Success);
+
+    // Download
+    auto [download_result, download_data] = geofence.download_geofence();
+    ASSERT_EQ(download_result, Geofence::Result::Success);
+
+    // Verify polygon
+    ASSERT_EQ(download_data.polygons.size(), 1u);
+    EXPECT_EQ(download_data.polygons[0].fence_type, Geofence::FenceType::Inclusion);
+    ASSERT_EQ(download_data.polygons[0].points.size(), 4u);
+    EXPECT_NEAR(download_data.polygons[0].points[0].latitude_deg, 47.3977, 1e-5);
+    EXPECT_NEAR(download_data.polygons[0].points[0].longitude_deg, 8.5456, 1e-5);
+    EXPECT_NEAR(download_data.polygons[0].points[3].latitude_deg, 47.3972, 1e-5);
+    EXPECT_NEAR(download_data.polygons[0].points[3].longitude_deg, 8.5458, 1e-5);
+
+    // Verify circle
+    ASSERT_EQ(download_data.circles.size(), 1u);
+    EXPECT_EQ(download_data.circles[0].fence_type, Geofence::FenceType::Exclusion);
+    EXPECT_NEAR(download_data.circles[0].point.latitude_deg, 47.3978, 1e-5);
+    EXPECT_NEAR(download_data.circles[0].point.longitude_deg, 8.5459, 1e-5);
+    EXPECT_FLOAT_EQ(download_data.circles[0].radius, 50.0f);
+
+    // Clear
+    auto clear_result = geofence.clear_geofence();
+    EXPECT_EQ(clear_result, Geofence::Result::Success);
+}