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Commit 26b98354 authored by Don Gagne's avatar Don Gagne
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Merge pull request #1930 from DonLakeFlyer/MissionManagerUTRead 

MissionManager read hardening unit test
parents 23399a22 25ea9ddf
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Showing with 202 additions and 68 deletions
src/MissionManager/MissionManager.cc
View file @ 26b98354
......@@ -130,6 +130,8 @@ void MissionManager::_retryRead(void)
mavlink_message_t message;
mavlink_mission_request_list_t request;
_clearMissionItems();
request.target_system = _vehicle->id();
request.target_component = MAV_COMP_ID_MISSIONPLANNER;
......@@ -137,7 +139,6 @@ void MissionManager::_retryRead(void)
_vehicle->sendMessage(message);
_startAckTimeout(AckMissionCount);
emit inProgressChanged(true);
}
void MissionManager::_ackTimeout(void)
......@@ -356,7 +357,14 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
{
mavlink_mission_ack_t missionAck;
if (!_stopAckTimeout(AckMissionRequest)) {
// Save th retry ack before calling _stopAckTimeout since we'll need it to determine what
// type of a protocol sequence we are in.
AckType_t savedRetryAck = _retryAck;
// We can get a MISSION_ACK with an error at any time, so if the Acks don't match it is not
// a protocol sequence error. Call _stopAckTimeout with _retryAck so it will succeed no
// matter what.
if (!_stopAckTimeout(_retryAck)) {
return;
}
......@@ -364,6 +372,28 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
qCDebug(MissionManagerLog) << "_handleMissionAck type:" << missionAck.type;
switch (savedRetryAck) {
case AckNone:
// State machine is idle. Vehicle is confused.
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack while state machine is idle: type:" << missionAck.type;
_sendError(VehicleError, "Vehicle sent unexpected MISSION_ACK message.");
break;
case AckMissionCount:
// MISSION_COUNT message expected
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack when MISSION_COUNT expected: type:" << missionAck.type;
if (!_retrySequence(AckMissionCount)) {
_sendError(VehicleError, QString("Vehicle returned error: %1. Partial list of mission items may have been returned.").arg(missionAck.type));
}
break;
case AckMissionItem:
// MISSION_ITEM expected
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack when MISSION_ITEM expected: type:" << missionAck.type;
if (!_retrySequence(AckMissionItem)) {
_sendError(VehicleError, QString("Vehicle returned error: %1. Partial list of mission items may have been returned.").arg(missionAck.type));
}
break;
case AckMissionRequest:
// MISSION_REQUEST is expected, or MISSION_ACK to end sequence
if (missionAck.type == MAV_MISSION_ACCEPTED) {
if (_expectedSequenceNumber == _missionItems.count()) {
qCDebug(MissionManagerLog) << "_handleMissionAck write sequence complete";
......@@ -371,15 +401,17 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
} else {
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle did not reqeust all items: _expectedSequenceNumber:_missionItems.count" << _expectedSequenceNumber << _missionItems.count();
if (!_retrySequence(AckMissionRequest)) {
_sendError(MissingRequestsError, QString("Vehicle did not request all items during write sequence %1:%2").arg(_expectedSequenceNumber).arg(_missionItems.count()));
_sendError(MissingRequestsError, QString("Vehicle did not request all items during write sequence %1:%2. Vehicle only has partial list of mission items.").arg(_expectedSequenceNumber).arg(_missionItems.count()));
}
}
} else {
qCDebug(MissionManagerLog) << "_handleMissionAck ack error:" << missionAck.type;
if (!_retrySequence(AckMissionRequest)) {
_sendError(VehicleError, QString("Vehicle returned error: %1").arg(missionAck.type));
_sendError(VehicleError, QString("Vehicle returned error: %1. Vehicle only has partial list of mission items.").arg(missionAck.type));
}
}
break;
}
}
/// Called when a new mavlink message for out vehicle is received
......@@ -435,26 +467,31 @@ bool MissionManager::_retrySequence(AckType_t ackType)
{
qCDebug(MissionManagerLog) << "_retrySequence ackType:" << ackType << "_retryCount" << _retryCount;
if (++_retryCount <= _maxRetryCount) {
switch (ackType) {
case AckMissionCount:
case AckMissionItem:
if (++_retryCount <= _maxRetryCount) {
// We are in the middle of a read sequence, start over
_retryRead();
return true;
} else {
// Read sequence failed, signal for what we have up to this point
emit newMissionItemsAvailable();
return false;
}
break;
case AckMissionRequest:
if (++_retryCount <= _maxRetryCount) {
// We are in the middle of a write sequence, start over
_retryWrite();
return true;
} else {
return false;
}
break;
default:
qCWarning(MissionManagerLog) << "_retrySequence fell through switch: ackType:" << ackType;
_sendError(InternalError, QString("Internal error occured during Mission Item communication: _retrySequence fell through switch: ackType:").arg(ackType));
return false;
}
} else {
qCDebug(MissionManagerLog) << "Retries exhausted";
return false;
}
}
src/MissionManager/MissionManagerTest.cc
View file @ 26b98354
......@@ -232,10 +232,16 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
_multiSpy->clearAllSignals();
}
void MissionManagerTest::_roundTripItems(void)
void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly)
{
_writeItems(MockLinkMissionItemHandler::FailNone, MissionManager::InternalError, false);
_mockLink->setMissionItemFailureMode(failureMode, failFirstTimeOnly);
if (failFirstTimeOnly) {
// Should fail first time, then retry should succed
failureMode = MockLinkMissionItemHandler::FailNone;
}
// Read the items back from the vehicle
_missionManager->requestMissionItems();
......@@ -246,21 +252,69 @@ void MissionManagerTest::_roundTripItems(void)
_multiSpy->clearAllSignals();
// Now wait for read sequence to complete. We should get both a newMissionItemsAvailable and a
// inProgressChanged signal to signal completion.
_multiSpy->waitForSignalByIndex(newMissionItemsAvailableSignalIndex, 1000);
_multiSpy->waitForSignalByIndex(inProgressChangedSignalIndex, 1000);
if (failureMode == MockLinkMissionItemHandler::FailNone) {
// This should be clean run
// Now wait for read sequence to complete. We should get:
// inProgressChanged(false) signal to signal completion
// newMissionItemsAvailable signal
_multiSpy->waitForSignalByIndex(inProgressChangedSignalIndex, 10000);
QCOMPARE(_multiSpy->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
QCOMPARE(_multiSpy->checkNoSignalByMask(canEditChangedSignalMask), true);
_checkInProgressValues(false);
} else {
// This should be a failed run
const size_t cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
QCOMPARE(_missionManager->missionItems()->count(), (int)cTestCases);
QCOMPARE(_missionManager->canEdit(), true);
// Wait for read sequence to complete. We should get:
// inProgressChanged(false) signal to signal completion
// error(errorCode, QString) signal
// newMissionItemsAvailable signal
_multiSpy->waitForSignalByIndex(inProgressChangedSignalIndex, 10000);
QCOMPARE(_multiSpy->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask | errorSignalMask), true);
// Validate the returned items against our test data
// Validate inProgressChanged signal value
_checkInProgressValues(false);
for (size_t i=0; i<cTestCases; i++) {
// Validate error signal values
QSignalSpy* spy = _multiSpy->getSpyByIndex(errorSignalIndex);
QList<QVariant> signalArgs = spy->takeFirst();
QCOMPARE(signalArgs.count(), 2);
qDebug() << signalArgs[1].toString();
QCOMPARE(signalArgs[0].toInt(), (int)errorCode);
}
_multiSpy->clearAllSignals();
// Validate returned items
size_t cMissionItemsExpected;
if (failureMode == MockLinkMissionItemHandler::FailNone || failFirstTimeOnly == true) {
cMissionItemsExpected = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
} else {
switch (failureMode) {
case MockLinkMissionItemHandler::FailReadRequestListNoResponse:
case MockLinkMissionItemHandler::FailReadRequest0NoResponse:
case MockLinkMissionItemHandler::FailReadRequest0IncorrectSequence:
case MockLinkMissionItemHandler::FailReadRequest0ErrorAck:
cMissionItemsExpected = 0;
break;
case MockLinkMissionItemHandler::FailReadRequest1NoResponse:
case MockLinkMissionItemHandler::FailReadRequest1IncorrectSequence:
case MockLinkMissionItemHandler::FailReadRequest1ErrorAck:
cMissionItemsExpected = 1;
break;
default:
// Internal error
Q_ASSERT(false);
break;
}
}
QCOMPARE(_missionManager->missionItems()->count(), (int)cMissionItemsExpected);
QCOMPARE(_missionManager->canEdit(), true);
for (size_t i=0; i<cMissionItemsExpected; i++) {
const TestCase_t* testCase = &_rgTestCases[i];
MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(i));
......@@ -276,9 +330,52 @@ void MissionManagerTest::_roundTripItems(void)
QCOMPARE(actual->autoContinue(), testCase->expectedItem.autocontinue);
QCOMPARE(actual->frame(), testCase->expectedItem.frame);
}
}
void MissionManagerTest::_testWriteFailureHandling(void)
{
/*
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }
/// Called to send a MISSION_ITEM message while the MissionManager is in idle state
void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); }
/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state
void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); }
*/
typedef struct {
const char* failureText;
MockLinkMissionItemHandler::FailureMode_t failureMode;
MissionManager::ErrorCode_t errorCode;
} TestCase_t;
static const TestCase_t rgTestCases[] = {
{ "No Failure", MockLinkMissionItemHandler::FailNone, MissionManager::AckTimeoutError },
{ "FailWriteRequest0NoResponse", MockLinkMissionItemHandler::FailWriteRequest0NoResponse, MissionManager::AckTimeoutError },
{ "FailWriteRequest1NoResponse", MockLinkMissionItemHandler::FailWriteRequest1NoResponse, MissionManager::AckTimeoutError },
{ "FailWriteRequest0IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest0IncorrectSequence, MissionManager::ItemMismatchError },
{ "FailWriteRequest1IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest1IncorrectSequence, MissionManager::ItemMismatchError },
{ "FailWriteRequest0ErrorAck", MockLinkMissionItemHandler::FailWriteRequest0ErrorAck, MissionManager::VehicleError },
{ "FailWriteRequest1ErrorAck", MockLinkMissionItemHandler::FailWriteRequest1ErrorAck, MissionManager::VehicleError },
{ "FailWriteFinalAckNoResponse", MockLinkMissionItemHandler::FailWriteFinalAckNoResponse, MissionManager::AckTimeoutError },
{ "FailWriteFinalAckErrorAck", MockLinkMissionItemHandler::FailWriteFinalAckErrorAck, MissionManager::VehicleError },
{ "FailWriteFinalAckMissingRequests", MockLinkMissionItemHandler::FailWriteFinalAckMissingRequests, MissionManager::MissingRequestsError },
};
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
qDebug() << "TEST CASE " << rgTestCases[i].failureText << "errorCode:" << rgTestCases[i].errorCode << "failFirstTimeOnly:false";
_writeItems(rgTestCases[i].failureMode, rgTestCases[i].errorCode, false);
_mockLink->resetMissionItemHandler();
qDebug() << "TEST CASE " << rgTestCases[i].failureText << "errorCode:" << rgTestCases[i].errorCode << "failFirstTimeOnly:true";
_writeItems(rgTestCases[i].failureMode, rgTestCases[i].errorCode, true);
_mockLink->resetMissionItemHandler();
}
}
void MissionManagerTest::_testReadFailureHandling(void)
{
/*
FailReadRequestListNoResponse, // Don't send MISSION_COUNT in response to MISSION_REQUEST_LIST
......@@ -318,23 +415,21 @@ void MissionManagerTest::_testWriteFailureHandling(void)
static const TestCase_t rgTestCases[] = {
{ "No Failure", MockLinkMissionItemHandler::FailNone, MissionManager::AckTimeoutError },
{ "FailWriteRequest0NoResponse", MockLinkMissionItemHandler::FailWriteRequest0NoResponse, MissionManager::AckTimeoutError },
{ "FailWriteRequest1NoResponse", MockLinkMissionItemHandler::FailWriteRequest1NoResponse, MissionManager::AckTimeoutError },
{ "FailWriteRequest0IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest0IncorrectSequence, MissionManager::ItemMismatchError },
{ "FailWriteRequest1IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest1IncorrectSequence, MissionManager::ItemMismatchError },
{ "FailWriteRequest0ErrorAck", MockLinkMissionItemHandler::FailWriteRequest0ErrorAck, MissionManager::VehicleError },
{ "FailWriteRequest1ErrorAck", MockLinkMissionItemHandler::FailWriteRequest1ErrorAck, MissionManager::VehicleError },
{ "FailWriteFinalAckNoResponse", MockLinkMissionItemHandler::FailWriteFinalAckNoResponse, MissionManager::AckTimeoutError },
{ "FailWriteFinalAckErrorAck", MockLinkMissionItemHandler::FailWriteFinalAckErrorAck, MissionManager::VehicleError },
{ "FailWriteFinalAckMissingRequests", MockLinkMissionItemHandler::FailWriteFinalAckMissingRequests, MissionManager::MissingRequestsError },
{ "FailReadRequestListNoResponse", MockLinkMissionItemHandler::FailReadRequestListNoResponse, MissionManager::AckTimeoutError },
{ "FailReadRequest0NoResponse", MockLinkMissionItemHandler::FailReadRequest0NoResponse, MissionManager::AckTimeoutError },
{ "FailReadRequest1NoResponse", MockLinkMissionItemHandler::FailReadRequest1NoResponse, MissionManager::AckTimeoutError },
{ "FailReadRequest0IncorrectSequence", MockLinkMissionItemHandler::FailReadRequest0IncorrectSequence, MissionManager::ItemMismatchError },
{ "FailReadRequest1IncorrectSequence", MockLinkMissionItemHandler::FailReadRequest1IncorrectSequence, MissionManager::ItemMismatchError },
{ "FailReadRequest0ErrorAck", MockLinkMissionItemHandler::FailReadRequest0ErrorAck, MissionManager::VehicleError },
{ "FailReadRequest1ErrorAck", MockLinkMissionItemHandler::FailReadRequest1ErrorAck, MissionManager::VehicleError },
};
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
qDebug() << "TEST CASE " << rgTestCases[i].failureText << "errorCode:" << rgTestCases[i].errorCode << "failFirstTimeOnly:false";
_writeItems(rgTestCases[i].failureMode, rgTestCases[i].errorCode, false);
_roundTripItems(rgTestCases[i].failureMode, rgTestCases[i].errorCode, false);
_mockLink->resetMissionItemHandler();
qDebug() << "TEST CASE " << rgTestCases[i].failureText << "errorCode:" << rgTestCases[i].errorCode << "failFirstTimeOnly:true";
_writeItems(rgTestCases[i].failureMode, rgTestCases[i].errorCode, true);
_roundTripItems(rgTestCases[i].failureMode, rgTestCases[i].errorCode, true);
_mockLink->resetMissionItemHandler();
}
}
src/MissionManager/MissionManagerTest.h
View file @ 26b98354
......@@ -40,14 +40,16 @@ private slots:
void init(void);
void cleanup(void);
void _readEmptyVehicle(void);
void _roundTripItems(void);
void _testWriteFailureHandling(void);
void _testReadFailureHandling(void);
private:
void _checkInProgressValues(bool inProgress);
void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
void _readEmptyVehicle(void);
void _testWriteFailureHandling(void);
MockLink* _mockLink;
MissionManager* _missionManager;
......
src/comm/MockLinkMissionItemHandler.cc
View file @ 26b98354
......@@ -129,8 +129,8 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
Q_ASSERT(request.target_system == _mockLink->vehicleId());
Q_ASSERT(request.seq < _missionItems.count());
if ((_failureMode == FailReadRequest0NoResponse && request.seq != 0) ||
(_failureMode == FailReadRequest1NoResponse && request.seq != 1)) {
if ((_failureMode == FailReadRequest0NoResponse && request.seq == 0) ||
(_failureMode == FailReadRequest1NoResponse && request.seq == 1)) {
qCDebug(MockLinkMissionItemHandlerLog) << "_handleMissionRequest not responding due to failure mode";
} else {
// FIXME: Track whether all items are requested, or requested in sequence
......
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