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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/>.
======================================================================*/
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#ifndef MOCKUASMANAGER_H
#define MOCKUASMANAGER_H
#include "UASManagerInterface.h"
#include "MockUAS.h"
/// @file
/// @brief This is a mock implementation of a UASManager used for writing Unit Tests. In order
/// to use it you must call UASManager::setMockUASManager which will then cause all further
/// calls to UASManager::instance to return the mock UASManager instead of the normal one.
///
/// @author Don Gagne <don@thegagnes.com>
class MockUASManager : public UASManagerInterface
{
Q_OBJECT
signals:
// The following signals from UASManager interface are supported
void activeUASSet(UASInterface* UAS);
void activeUASSet(int systemId);
void activeUASStatusChanged(UASInterface* UAS, bool active);
void activeUASStatusChanged(int systemId, bool active);
public:
// Implemented UASManagerInterface overrides
virtual UASInterface* getActiveUAS(void);
public:
// MockUASManager methods
MockUASManager(void);
/// Sets the currently active mock UAS
/// @param mockUAS new mock uas, NULL for no active UAS
void setMockActiveUAS(MockUAS* mockUAS);
public:
// Unimplemented UASManagerInterface overrides
virtual UASWaypointManager *getActiveUASWaypointManager() { Q_ASSERT(false); return NULL; }
virtual UASInterface* silentGetActiveUAS() { Q_ASSERT(false); return NULL; }
virtual UASInterface* getUASForId(int id) { Q_ASSERT(false); Q_UNUSED(id); return NULL; }
virtual QList<UASInterface*> getUASList() { Q_ASSERT(false); return _bogusQListUASInterface; }
virtual double getHomeLatitude() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
virtual double getHomeLongitude() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
virtual double getHomeAltitude() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
virtual int getHomeFrame() const { Q_ASSERT(false); return 0; }
virtual Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
{ Q_ASSERT(false); Q_UNUSED(latitude); Q_UNUSED(longitude); Q_UNUSED(altitude); return _bogusEigenVector3d; }
virtual Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef)
{ Q_ASSERT(false); Q_UNUSED(ecef); return _bogusEigenVector3d; }
virtual void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
{ Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(east); Q_UNUSED(north); Q_UNUSED(up); }
virtual void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
{ Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
virtual void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
{ Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
virtual void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2)
{ Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); }
virtual bool isInLocalNEDSafetyLimits(double x, double y, double z)
{ Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); return false; }
public slots:
// Unimplemented UASManagerInterface overrides
virtual void setActiveUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); }
virtual void addUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); }
virtual void removeUAS(UASInterface* uas) { Q_ASSERT(false); Q_UNUSED(uas);}
virtual bool launchActiveUAS() { Q_ASSERT(false); return false; }
virtual bool haltActiveUAS() { Q_ASSERT(false); return false; }
virtual bool continueActiveUAS() { Q_ASSERT(false); return false; }
virtual bool returnActiveUAS() { Q_ASSERT(false); return false; }
virtual bool stopActiveUAS() { Q_ASSERT(false); return false; }
virtual bool killActiveUAS() { Q_ASSERT(false); return false; }
virtual void configureActiveUAS() { Q_ASSERT(false); }
virtual bool shutdownActiveUAS() { Q_ASSERT(false); return false; }
virtual bool setHomePosition(double lat, double lon, double alt)
{ Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; }
virtual bool setHomePositionAndNotify(double lat, double lon, double alt)
{ Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; }
virtual void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2)
{ Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); }
virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt)
{ Q_ASSERT(false); Q_UNUSED(uav); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
virtual void loadSettings() { Q_ASSERT(false); }
virtual void storeSettings() { Q_ASSERT(false); }
private:
MockUAS* _mockUAS;
// Bogus variables used for return types of NYI methods
QList<UASInterface*> _bogusQListUASInterface;
Eigen::Vector3d _bogusEigenVector3d;
public:
/* Need to align struct pointer to prevent a memory assertion:
* See http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html
* for details
*/
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
#endif