More work on vehicle connect state machine(s)

src/comm/QGCMAVLink.cc

@@ -60,3 +60,23 @@ bool QGCMAVLink::isVTOL(MAV_TYPE mavType)
         return false;
     }
 }
+
+QString  QGCMAVLink::mavResultToString(MAV_RESULT result)
+{
+    switch (result) {
+    case MAV_RESULT_ACCEPTED:
+        return QStringLiteral("MAV_RESULT_ACCEPTED");
+    case MAV_RESULT_TEMPORARILY_REJECTED:
+        return QStringLiteral("MAV_RESULT_TEMPORARILY_REJECTED");
+    case MAV_RESULT_DENIED:
+        return QStringLiteral("MAV_RESULT_DENIED");
+    case MAV_RESULT_UNSUPPORTED:
+        return QStringLiteral("MAV_RESULT_UNSUPPORTED");
+    case MAV_RESULT_FAILED:
+        return QStringLiteral("MAV_RESULT_FAILED");
+    case MAV_RESULT_IN_PROGRESS:
+        return QStringLiteral("MAV_RESULT_IN_PROGRESS");
+    default:
+        return QStringLiteral("MAV_RESULT unknown %1").arg(result);
+    }
+}

src/comm/QGCMAVLink.h

@@ -7,15 +7,10 @@
  *
  ****************************************************************************/
 
-
-/**
- * @file
- *   @brief MAVLink header file for QGroundControl
- *   @author Lorenz Meier <pixhawk@switched.com>
- */
-
 #pragma once
 
+#include <QString>
+
 #define MAVLINK_USE_MESSAGE_INFO
 #define MAVLINK_EXTERNAL_RX_STATUS  // Single m_mavlink_status instance is in QGCApplication.cc
 #include <stddef.h>                 // Hack workaround for Mav 2.0 header problem with respect to offsetof usage
@@ -47,11 +42,12 @@ extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
 
 class QGCMAVLink {
 public:
-    static bool isFixedWing(MAV_TYPE mavType);
-    static bool isRover(MAV_TYPE mavType);
-    static bool isSub(MAV_TYPE mavType);
-    static bool isMultiRotor(MAV_TYPE mavType);
-    static bool isVTOL(MAV_TYPE mavType);
+    static bool     isFixedWing         (MAV_TYPE mavType);
+    static bool     isRover             (MAV_TYPE mavType);
+    static bool     isSub               (MAV_TYPE mavType);
+    static bool     isMultiRotor        (MAV_TYPE mavType);
+    static bool     isVTOL              (MAV_TYPE mavType);
+    static QString  mavResultToString   (MAV_RESULT result);
 };
 
 

src/qgcunittest/UnitTest.cc

@@ -389,21 +389,25 @@ void UnitTest::_connectMockLink(MAV_AUTOPILOT autopilot)
     case MAV_AUTOPILOT_GENERIC:
         _mockLink = MockLink::startGenericMockLink(false);
         break;
+    case MAV_AUTOPILOT_INVALID:
+        _mockLink = MockLink::startNoInitialConnectMockLink(false);
+        break;
     default:
         qWarning() << "Type not supported";
         break;
     }
 
     // Wait for the Vehicle to get created
-    QSignalSpy spyVehicle(qgcApp()->toolbox()->multiVehicleManager(), SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
+    QSignalSpy spyVehicle(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged);
     QCOMPARE(spyVehicle.wait(10000), true);
-    QVERIFY(qgcApp()->toolbox()->multiVehicleManager()->parameterReadyVehicleAvailable());
     _vehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
     QVERIFY(_vehicle);
 
-    // Wait for initial connect sequence to complete
-    QSignalSpy spyPlan(_vehicle, SIGNAL(initialConnectComplete()));
-    QCOMPARE(spyPlan.wait(10000), true);
+    if (autopilot != MAV_AUTOPILOT_INVALID) {
+        // Wait for initial connect sequence to complete
+        QSignalSpy spyPlan(_vehicle, &Vehicle::initialConnectComplete);
+        QCOMPARE(spyPlan.wait(30000), true);
+    }
 }
 
 void UnitTest::_disconnectMockLink(void)

src/qgcunittest/UnitTest.h

@@ -120,6 +120,7 @@ protected slots:
 
 protected:
     void _connectMockLink(MAV_AUTOPILOT autopilot = MAV_AUTOPILOT_PX4);
+    void _connectMockLinkNoInitialConnectSequence(void) { _connectMockLink(MAV_AUTOPILOT_INVALID); }
     void _disconnectMockLink(void);
     void _createMainWindow(void);
     void _closeMainWindow(bool cancelExpected = false);

src/qgcunittest/UnitTestList.cc

@@ -30,7 +30,8 @@
 #include "ParameterManagerTest.h"
 #include "MissionCommandTreeTest.h"
 //#include "LogDownloadTest.h"
-#include "SendMavCommandTest.h"
+#include "SendMavCommandWithSignallingTest.h"
+#include "SendMavCommandWithHandlerTest.h"
 #include "VisualMissionItemTest.h"
 #include "CameraSectionTest.h"
 #include "SpeedSectionTest.h"
@@ -44,6 +45,7 @@
 #include "TransectStyleComplexItemTest.h"
 #include "CameraCalcTest.h"
 #include "FWLandingPatternTest.h"
+#include "RequestMessageTest.h"
 
 UT_REGISTER_TEST(FactSystemTestGeneric)
 UT_REGISTER_TEST(FactSystemTestPX4)
@@ -51,6 +53,9 @@ UT_REGISTER_TEST(FactSystemTestPX4)
 UT_REGISTER_TEST(GeoTest)
 UT_REGISTER_TEST(LinkManagerTest)
 //UT_REGISTER_TEST(MessageBoxTest)
+UT_REGISTER_TEST(SendMavCommandWithSignallingTest)
+UT_REGISTER_TEST(SendMavCommandWithHandlerTest)
+UT_REGISTER_TEST(RequestMessageTest)
 UT_REGISTER_TEST(MissionItemTest)
 UT_REGISTER_TEST(SimpleMissionItemTest)
 UT_REGISTER_TEST(MissionControllerTest)
@@ -61,7 +66,6 @@ UT_REGISTER_TEST(TCPLinkTest)
 UT_REGISTER_TEST(ParameterManagerTest)
 UT_REGISTER_TEST(MissionCommandTreeTest)
 //UT_REGISTER_TEST(LogDownloadTest)
-UT_REGISTER_TEST(SendMavCommandTest)
 UT_REGISTER_TEST(SurveyComplexItemTest)
 UT_REGISTER_TEST(CameraSectionTest)
 UT_REGISTER_TEST(SpeedSectionTest)