Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 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 MissionControllerManagerTest_H
#define MissionControllerManagerTest_H
#include "UnitTest.h"
#include "MockLink.h"
#include "MissionManager.h"
#include "MultiSignalSpy.h"
#include <QGeoCoordinate>
/// This is the base class for the MissionManager and MissionController unit tests.
class MissionControllerManagerTest : public UnitTest
{
Q_OBJECT
public:
MissionControllerManagerTest(void);
protected slots:
void cleanup(void);
protected:
void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
void _checkInProgressValues(bool inProgress);
MissionManager* _missionManager;
typedef struct {
int sequenceNumber;
QGeoCoordinate coordinate;
MAV_CMD command;
double param1;
double param2;
double param3;
double param4;
bool autocontinue;
bool isCurrentItem;
MAV_FRAME frame;
} ItemInfo_t;
typedef struct {
const char* itemStream;
const ItemInfo_t expectedItem;
} TestCase_t;
typedef enum {
inProgressChangedSignalIndex,
errorSignalIndex,
maxSignalIndex
} MissionManagerSignalIndex_t;
typedef enum {
newMissionItemsAvailableSignalMask = 1 << newMissionItemsAvailableSignalIndex,
inProgressChangedSignalMask = 1 << inProgressChangedSignalIndex,
errorSignalMask = 1 << errorSignalIndex,
} MissionManagerSignalMask_t;
MultiSignalSpy* _multiSpyMissionManager;
static const size_t _cMissionManagerSignals = maxSignalIndex;
const char* _rgMissionManagerSignals[_cMissionManagerSignals];
static const int _missionManagerSignalWaitTime = MissionManager::_ackTimeoutMilliseconds * MissionManager::_maxRetryCount * 2;
};
#endif