Base class for MissionManager/ControllerTest

src/MissionManager/MissionControllerManagerTest.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#include "MissionControllerManagerTest.h"
+#include "LinkManager.h"
+#include "MultiVehicleManager.h"
+
+UT_REGISTER_TEST(MissionControllerManagerTest)
+
+MissionControllerManagerTest::MissionControllerManagerTest(void)
+    : _mockLink(NULL)
+{
+    
+}
+
+void MissionControllerManagerTest::cleanup(void)
+{
+    delete _multiSpyMissionManager;
+    _multiSpyMissionManager = NULL;
+
+    LinkManager::instance()->disconnectLink(_mockLink);
+    _mockLink = NULL;
+    QTest::qWait(1000); // Need to allow signals to move between threads
+
+    UnitTest::cleanup();
+}
+
+void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
+{
+    UnitTest::init();
+    
+    LinkManager* linkMgr = LinkManager::instance();
+    Q_CHECK_PTR(linkMgr);
+    
+    _mockLink = new MockLink();
+    Q_CHECK_PTR(_mockLink);
+    _mockLink->setFirmwareType(firmwareType);
+    LinkManager::instance()->_addLink(_mockLink);
+    
+    linkMgr->connectLink(_mockLink);
+    
+    // Wait for the Vehicle to work it's way through the various threads
+    
+    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*)));
+    QCOMPARE(spyVehicle.wait(5000), true);
+    
+    // Wait for the Mission Manager to finish it's initial load
+    
+    _missionManager = MultiVehicleManager::instance()->activeVehicle()->missionManager();
+    QVERIFY(_missionManager);
+    
+    _rgMissionManagerSignals[canEditChangedSignalIndex] =             SIGNAL(canEditChanged(bool));
+    _rgMissionManagerSignals[newMissionItemsAvailableSignalIndex] =   SIGNAL(newMissionItemsAvailable(void));
+    _rgMissionManagerSignals[inProgressChangedSignalIndex] =          SIGNAL(inProgressChanged(bool));
+    _rgMissionManagerSignals[errorSignalIndex] =                      SIGNAL(error(int, const QString&));
+
+    _multiSpyMissionManager = new MultiSignalSpy();
+    Q_CHECK_PTR(_multiSpyMissionManager);
+    QCOMPARE(_multiSpyMissionManager->init(_missionManager, _rgMissionManagerSignals, _cMissionManagerSignals), true);
+    
+    if (_missionManager->inProgress()) {
+        _multiSpyMissionManager->waitForSignalByIndex(newMissionItemsAvailableSignalIndex, _missionManagerSignalWaitTime);
+        _multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
+        QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
+        QCOMPARE(_multiSpyMissionManager->checkNoSignalByMask(canEditChangedSignalIndex), true);
+    }
+    
+    QVERIFY(!_missionManager->inProgress());
+    QCOMPARE(_missionManager->missionItems()->count(), 0);
+    _multiSpyMissionManager->clearAllSignals();
+}
+
+/// Checks the state of the inProgress value and signal to match the specified value
+void MissionControllerManagerTest::_checkInProgressValues(bool inProgress)
+{
+    QCOMPARE(_missionManager->inProgress(), inProgress);
+    QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(inProgressChangedSignalIndex);
+    QList<QVariant> signalArgs = spy->takeFirst();
+    QCOMPARE(signalArgs.count(), 1);
+    QCOMPARE(signalArgs[0].toBool(), inProgress);
+}

src/MissionManager/MissionControllerManagerTest.h

+/*=====================================================================
+ 
+ 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);
+    
+    MockLink*       _mockLink;
+    MissionManager* _missionManager;
+    
+    typedef struct {
+        int            sequenceNumber;
+        QGeoCoordinate coordinate;
+        int            command;
+        double         param1;
+        double         param2;
+        double         param3;
+        double         param4;
+        bool           autocontinue;
+        bool           isCurrentItem;
+        int            frame;
+    } ItemInfo_t;
+    
+    typedef struct {
+        const char*         itemStream;
+        const ItemInfo_t    expectedItem;
+    } TestCase_t;
+
+    typedef enum {
+        canEditChangedSignalIndex = 0,
+        newMissionItemsAvailableSignalIndex,
+        inProgressChangedSignalIndex,
+        errorSignalIndex,
+        maxSignalIndex
+    } MissionManagerSignalIndex_t;
+
+    typedef enum {
+        canEditChangedSignalMask =              1 << canEditChangedSignalIndex,
+        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