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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef PX4RCCALIBRATIONTEST_H
#define PX4RCCALIBRATIONTEST_H
#include "AutoTest.h"
#include "MockUASManager.h"
#include "MockUAS.h"
#include "px4_configuration/PX4RCCalibration.h"
/// @file
/// @brief QGCPX4RCCAlibration Widget unit test
///
/// @author Don Gagne <don@thegagnes.com>
class PX4RCCalibrationTest : public QObject
{
Q_OBJECT
public:
PX4RCCalibrationTest(void);
private slots:
void init(void);
void cleanup(void);
void _setUAS_test(void);
void _minRCChannels_test(void);
//void _liveRC_test(void);
void _beginState_test(void);
void _identifyState_test(void);
void _identifyStateSkipOptional_test(void);
void _minMaxState_test(void);
void _centerThrottleState_test(void);
void _detectInversionState_test(void);
void _trimsState_test(void);
void _fullCalibration_test(void);
private:
void _centerAllChannels(void);
void _beginState_worker(bool standaloneTest);
void _identifyState_worker(bool standaloneTest, bool skipOptional);
void _minMaxState_worker(bool standaloneTest);
void _centerThrottleState_worker(bool standaloneTest);
void _detectInversionState_worker(bool standaloneTest);
void _trimsState_worker(bool standaloneTest);
enum {
validateMinMaxMask = 1 << 0,
validateTrimsMask = 1 << 1,
validateReversedMask = 1 << 2,
validateMappingMask = 1 << 3,
validateAllMask = 0xFFFF
};
void _validateParameters(int validateMask, bool skipOptional = false);
MockUASManager* _mockUASManager;
MockUAS* _mockUAS;
PX4RCCalibration* _calWidget;
enum {
nextButtonMask = 1 << 0,
cancelButtonMask = 1 << 1,
skipButtonMask = 1 << 2,
tryAgainButtonMask = 1 << 3
};
QPushButton* _nextButton;
QPushButton* _cancelButton;
QPushButton* _skipButton;
QPushButton* _tryAgainButton;
QLabel* _statusLabel;
RCChannelWidget* _rgRadioWidget[PX4RCCalibration::_chanMax];