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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "SendMavCommandTest.h"
#include "MultiVehicleManager.h"
#include "QGCApplication.h"
void SendMavCommandTest::_noFailure(void)
{
_connectMockLink(MAV_AUTOPILOT_ARDUPILOTMEGA);
MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
Vehicle* vehicle = vehicleMgr->activeVehicle();
QVERIFY(vehicle);
vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_1, true /* showError */);
QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
QCOMPARE(spyResult.wait(10000), true);
QList<QVariant> arguments = spyResult.takeFirst();
QCOMPARE(arguments.count(), 5);
QCOMPARE(arguments.at(0).toInt(), vehicle->id());
QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_1);
QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_ACCEPTED);
QCOMPARE(arguments.at(4).toBool(), false);
}
void SendMavCommandTest::_failureShowError(void)
{
// Will pop error about request failure
setExpectedMessageBox(QMessageBox::Ok);
_connectMockLink(MAV_AUTOPILOT_ARDUPILOTMEGA);
MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
Vehicle* vehicle = vehicleMgr->activeVehicle();
QVERIFY(vehicle);
vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_2, true /* showError */);
QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
QCOMPARE(spyResult.wait(10000), true);
QList<QVariant> arguments = spyResult.takeFirst();
QCOMPARE(arguments.count(), 5);
QCOMPARE(arguments.at(0).toInt(), vehicle->id());
QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_2);
QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_FAILED);
QCOMPARE(arguments.at(4).toBool(), false);
// User should have been notified
checkExpectedMessageBox();
}
void SendMavCommandTest::_failureNoShowError(void)
{
_connectMockLink(MAV_AUTOPILOT_ARDUPILOTMEGA);
MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
Vehicle* vehicle = vehicleMgr->activeVehicle();
QVERIFY(vehicle);
vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_2, false /* showError */);
QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
QCOMPARE(spyResult.wait(10000), true);
QList<QVariant> arguments = spyResult.takeFirst();
QCOMPARE(arguments.count(), 5);
QCOMPARE(arguments.at(0).toInt(), vehicle->id());
QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_2);
QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_FAILED);
QCOMPARE(arguments.at(4).toBool(), false);
}
void SendMavCommandTest::_noFailureAfterRetry(void)
{
_connectMockLink(MAV_AUTOPILOT_ARDUPILOTMEGA);
MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
Vehicle* vehicle = vehicleMgr->activeVehicle();
QVERIFY(vehicle);
vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_3, true /* showError */);
QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
QCOMPARE(spyResult.wait(10000), true);
QList<QVariant> arguments = spyResult.takeFirst();
QCOMPARE(arguments.count(), 5);
QCOMPARE(arguments.at(0).toInt(), vehicle->id());
QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_3);
QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_ACCEPTED);
QCOMPARE(arguments.at(4).toBool(), false);
}
void SendMavCommandTest::_failureAfterRetry(void)
{
// Will pop error about request failure
setExpectedMessageBox(QMessageBox::Ok);
_connectMockLink(MAV_AUTOPILOT_ARDUPILOTMEGA);
MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
Vehicle* vehicle = vehicleMgr->activeVehicle();
QVERIFY(vehicle);
vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_4, true /* showError */);
QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
QCOMPARE(spyResult.wait(10000), true);
QList<QVariant> arguments = spyResult.takeFirst();
QCOMPARE(arguments.count(), 5);
QCOMPARE(arguments.at(0).toInt(), vehicle->id());
QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_4);
QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_FAILED);
QCOMPARE(arguments.at(4).toBool(), false);
// User should have been notified
checkExpectedMessageBox();
}
void SendMavCommandTest::_failureAfterNoReponse(void)
{
// Will pop error about request failure
setExpectedMessageBox(QMessageBox::Ok);
_connectMockLink(MAV_AUTOPILOT_ARDUPILOTMEGA);
MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
Vehicle* vehicle = vehicleMgr->activeVehicle();
QVERIFY(vehicle);
vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_5, true /* showError */);
QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
QCOMPARE(spyResult.wait(20000), true);
QList<QVariant> arguments = spyResult.takeFirst();
QCOMPARE(arguments.count(), 5);
QCOMPARE(arguments.at(0).toInt(), vehicle->id());
QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_5);
QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_FAILED);
QCOMPARE(arguments.at(4).toBool(), true);
// User should have been notified
checkExpectedMessageBox();
}