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
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
/****************************************************************************
*
* (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.
*
****************************************************************************/
#ifndef MissionControllerTest_H
#define MissionControllerTest_H
#include "UnitTest.h"
#include "MockLink.h"
#include "MissionManager.h"
#include "MultiSignalSpy.h"
#include "MissionControllerManagerTest.h"
#include "PlanMasterController.h"
#include "MissionController.h"
#include "SimpleMissionItem.h"
#include <QGeoCoordinate>
class MissionControllerTest : public MissionControllerManagerTest
{
Q_OBJECT
public:
MissionControllerTest(void);
private slots:
void cleanup(void);
void _testGimbalRecalc(void);
void _testLoadJsonSectionAvailable(void);
void _testEmptyVehicleAPM(void);
void _testEmptyVehiclePX4(void);
void _testAddWayppointAPM(void);
void _testAddWayppointPX4(void);
private:
#if 0
void _testOfflineToOnlineAPM(void);
void _testOfflineToOnlinePX4(void);
#endif
private:
void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
#if 0
void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType);
#endif
void _setupVisualItemSignals(VisualMissionItem* visualItem);
// MissiomItems signals
enum {
coordinateChangedSignalIndex = 0,
visualItemMaxSignalIndex
};
enum {
coordinateChangedSignalMask = 1 << coordinateChangedSignalIndex,
visualItemMaxSignalMask = 1 << visualItemMaxSignalIndex,
};
// MissionController signals
enum {
visualItemsChangedSignalIndex = 0,
waypointLinesChangedSignalIndex,
missionControllerMaxSignalIndex
};
enum {
visualItemsChangedSignalMask = 1 << visualItemsChangedSignalIndex,
waypointLinesChangedSignalMask = 1 << waypointLinesChangedSignalIndex,
};
MultiSignalSpy* _multiSpyMissionController;
static const size_t _cMissionControllerSignals = missionControllerMaxSignalIndex;
const char* _rgMissionControllerSignals[_cMissionControllerSignals];
MultiSignalSpy* _multiSpyMissionItem;
static const size_t _cVisualItemSignals = visualItemMaxSignalIndex;
const char* _rgVisualItemSignals[_cVisualItemSignals];
PlanMasterController* _masterController;
MissionController* _missionController;
};
#endif