MissionControllerTest.h 2.44 KB
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/****************************************************************************
 *
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 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

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#ifndef MissionControllerTest_H
#define MissionControllerTest_H

#include "UnitTest.h"
#include "MockLink.h"
#include "MissionManager.h"
#include "MultiSignalSpy.h"
#include "MissionControllerManagerTest.h"
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#include "PlanMasterController.h"
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#include "MissionController.h"
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#include "SimpleMissionItem.h"
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#include <QGeoCoordinate>

class MissionControllerTest : public MissionControllerManagerTest
{
    Q_OBJECT
    
public:
    MissionControllerTest(void);

private slots:
    void cleanup(void);

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    void _testGimbalRecalc(void);
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    void _testLoadJsonSectionAvailable(void);
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    void _testEmptyVehicleAPM(void);
    void _testEmptyVehiclePX4(void);
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private:
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#if 0
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    void _testOfflineToOnlineAPM(void);
    void _testOfflineToOnlinePX4(void);
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#endif
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private:
    void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
    void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
    void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
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#if 0
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    void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType);
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#endif
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    void _setupVisualItemSignals(VisualMissionItem* visualItem);
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    // MissiomItems signals

    enum {
        coordinateChangedSignalIndex = 0,
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        visualItemMaxSignalIndex
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    };

    enum {
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        coordinateChangedSignalMask =   1 << coordinateChangedSignalIndex,
        visualItemMaxSignalMask =       1 << visualItemMaxSignalIndex,
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    };

    // MissionController signals
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    enum {
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        visualItemsChangedSignalIndex = 0,
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        missionControllerMaxSignalIndex
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    };

    enum {
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        visualItemsChangedSignalMask =                 1 << visualItemsChangedSignalIndex,
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    };

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    MultiSignalSpy*     _multiSpyMissionController;
    static const size_t _cMissionControllerSignals = missionControllerMaxSignalIndex;
    const char*         _rgMissionControllerSignals[_cMissionControllerSignals];

    MultiSignalSpy*     _multiSpyMissionItem;
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    static const size_t _cVisualItemSignals = visualItemMaxSignalIndex;
    const char*         _rgVisualItemSignals[_cVisualItemSignals];
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    PlanMasterController*   _masterController;
    MissionController*      _missionController;
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};

#endif