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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.
*
****************************************************************************/
#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 {
newMissionItemsAvailableSignalIndex = 0,
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