Mock implementations of UAS, UASManager and QGCUASParamManger

Used for unit testing

qgroundcontrol.pro

@@ -511,7 +511,9 @@ HEADERS += src/MG.h \
     src/ui/px4_configuration/QGCPX4MulticopterConfig.h \
     src/ui/px4_configuration/QGCPX4SensorCalibration.h \
     src/ui/designer/QGCXYPlot.h \
-    src/ui/menuactionhelper.h
+    src/ui/menuactionhelper.h \
+    src/uas/UASManagerInterface.h \
+    src/uas/QGCUASParamManagerInterface.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -737,7 +739,7 @@ SOURCES += \
     src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
     src/ui/designer/QGCXYPlot.cc \
     src/ui/menuactionhelper.cpp
-
+    
 CONFIG(debug, debug|release) {
     # Unit Test sources/headers go here
     
@@ -746,10 +748,16 @@ CONFIG(debug, debug|release) {
 
     HEADERS += \
         src/qgcunittest/AutoTest.h \
-        src/qgcunittest/UASUnitTest.h
+        src/qgcunittest/UASUnitTest.h \
+        src/qgcunittest/MockUASManager.h \
+        src/qgcunittest/MockUAS.h \
+        src/qgcunittest/MockQGCUASParamManager.h
 
     SOURCES += \
-        src/qgcunittest/UASUnitTest.cc
+        src/qgcunittest/UASUnitTest.cc \
+        src/qgcunittest/MockUASManager.cc \
+        src/qgcunittest/MockUAS.cc \
+        src/qgcunittest/MockQGCUASParamManager.cc 
 }
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler

src/qgcunittest/MockQGCUASParamManager.cc

+#include "MockQGCUASParamManager.h"
+#include <QTest>
+#include <QDebug>
+
+MockQGCUASParamManager::MockQGCUASParamManager(void)
+{
+    
+}
+
+bool MockQGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const
+{
+    Q_UNUSED(component);
+    
+    if (_mapParams.contains(parameter)) {
+        value = _mapParams[parameter];
+    }
+    return false;
+}
+
+void MockQGCUASParamManager::setParameter(int component, QString parameterName, QVariant value)
+{
+    Q_UNUSED(component);
+
+    _mapParamsSet[parameterName] = value;
+}

src/qgcunittest/MockQGCUASParamManager.h

+#ifndef MOCKQGCUASPARAMMANAGER_H
+#define MOCKQGCUASPARAMMANAGER_H
+
+#include "QGCUASParamManagerInterface.h"
+
+/// @file
+///     @brief This is a mock implementation of QGCUASParamManager for writing Unit Tests.
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+
+class MockQGCUASParamManager : public QGCUASParamManagerInterface
+{
+    Q_OBJECT
+    
+signals:
+    // The following QGCSUASParamManagerInterface signals are supported
+    // currently none
+    
+public:
+    // Implemented QGCSUASParamManager overrides
+    virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const;
+    virtual int getDefaultComponentId(void) { return 0; }
+    virtual int countOnboardParams(void) { return _mapParams.count(); }
+    
+    public slots:
+    // Implemented QGCSUASParamManager overrides
+    void setParameter(int component, QString parameterName, QVariant value);
+    
+public:
+    // MockQGCUASParamManager methods
+    MockQGCUASParamManager(void);
+    
+    /// QMap of parameters, QString key is paremeter name, QVariant value is parameter value
+    typedef QMap<QString, QVariant> ParamMap_t;
+    
+    /// Sets current set of parameters to support calls like getParameterValue
+    void setMockParameters(ParamMap_t& map) { _mapParams = map; }
+    
+    /// Returns the parameters which were set by calls to setParameter calls
+    ParamMap_t getMockSetParameters(void) { return _mapParamsSet; }
+    /// Clears the set of parameters set by setParameter calls
+    void clearMockSetParameters(void) { _mapParamsSet.clear(); }
+    
+public:
+    // Unimplemented QGCUASParamManagerInterface overrides
+    virtual QList<int> getComponentForParam(const QString& parameter) const { Q_ASSERT(false); Q_UNUSED(parameter); return _bogusQListInt; }
+    virtual void setParamDescriptions(const QMap<QString,QString>& paramDescs) { Q_ASSERT(false); Q_UNUSED(paramDescs); }
+    virtual int countPendingParams() { Q_ASSERT(false); return 0; }
+    virtual UASParameterDataModel* dataModel() { Q_ASSERT(false); return NULL; }
+    
+public slots:
+    // Unimplemented QGCUASParamManagerInterface overrides
+    virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false)
+        { Q_ASSERT(false); Q_UNUSED(persistAfterSend); Q_UNUSED(forceSend); }
+    virtual void requestParameterList() { Q_ASSERT(false); }
+    virtual void requestParameterListIfEmpty() { Q_ASSERT(false); }
+    virtual void setPendingParam(int componentId,  const QString& key,  const QVariant& value, bool forceSend = false)
+        { Q_ASSERT(false); Q_UNUSED(componentId); Q_UNUSED(key); Q_UNUSED(value); Q_UNUSED(forceSend); }
+    virtual void clearAllPendingParams() { Q_ASSERT(false); }
+    virtual void requestParameterUpdate(int component, const QString& parameter)
+        { Q_ASSERT(false); Q_UNUSED(component); Q_UNUSED(parameter); }
+    virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName)
+        { Q_ASSERT(false); Q_UNUSED(stream); Q_UNUSED(uasName); }
+    virtual void readPendingParamsFromStream(QTextStream &stream) { Q_ASSERT(false); Q_UNUSED(stream); }
+    virtual void requestRcCalibrationParamsUpdate() { Q_ASSERT(false); }
+    virtual void copyVolatileParamsToPersistent() { Q_ASSERT(false); }
+    virtual void copyPersistentParamsToVolatile() { Q_ASSERT(false); }
+    
+private:
+    ParamMap_t          _mapParams;
+    ParamMap_t          _mapParamsSet;
+
+    // Bogus variables used for return types of NYI methods
+    QList<int>          _bogusQListInt;
+};
+
+#endif
\ No newline at end of file

src/qgcunittest/MockUAS.cc

+#include "MockUAS.h"
+
+QString MockUAS::_bogusStaticString;
+
+MockUAS::MockUAS(void) :
+    _systemType(MAV_TYPE_QUADROTOR),
+    _systemId(1)
+{
+    
+}
+
+void MockUAS::setMockParametersAndSignal(MockQGCUASParamManager::ParamMap_t& map)
+{
+    _paramManager.setMockParameters(map);
+    
+    QMapIterator<QString, QVariant> i(map);
+    while (i.hasNext()) {
+        i.next();
+        emit parameterChanged(_systemId, 0, i.key(), i.value());
+    }
+}
\ No newline at end of file

src/qgcunittest/MockUASManager.cc

+#include "MockUASManager.h"
+
+MockUASManager::MockUASManager(void) :
+    _mockUAS(NULL)
+{
+    
+}
+
+UASInterface* MockUASManager::getActiveUAS(void)
+{
+    return _mockUAS;
+}
+
+void MockUASManager::setMockActiveUAS(MockUAS* mockUAS)
+{
+    // Signal components that the last UAS is no longer active.
+    if (_mockUAS != NULL) {
+        emit activeUASStatusChanged(_mockUAS, false);
+        emit activeUASStatusChanged(_mockUAS->getUASID(), false);
+    }
+    _mockUAS = mockUAS;
+    
+    // And signal that a new UAS is.
+    emit activeUASSet(_mockUAS);
+    if (_mockUAS)
+    {
+        // We don't support swiching between different UAS
+        //_mockUAS->setSelected();
+        emit activeUASSet(_mockUAS->getUASID());
+        emit activeUASStatusChanged(_mockUAS, true);
+        emit activeUASStatusChanged(_mockUAS->getUASID(), true);
+    }
+}
+

src/qgcunittest/MockUASManager.h

+#ifndef MOCKUASMANAGER_H
+#define MOCKUASMANAGER_H
+
+#include "UASManagerInterface.h"
+#include "MockUAS.h"
+
+/// @file
+///     @brief This is a mock implementation of a UASManager used for writing Unit Tests. In order
+///         to use it you must call UASManager::setMockUASManager which will then cause all further
+///         calls to UASManager::instance to return the mock UASManager instead of the normal one.
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+class MockUASManager : public UASManagerInterface
+{
+    Q_OBJECT
+    
+signals:
+    // The following signals from UASManager interface are supported
+    void activeUASSet(UASInterface* UAS);
+    void activeUASSet(int systemId);
+    void activeUASStatusChanged(UASInterface* UAS, bool active);
+    void activeUASStatusChanged(int systemId, bool active);
+    
+public:
+    // Implemented UASManagerInterface overrides
+    virtual UASInterface* getActiveUAS(void);
+    
+public:
+    // MockUASManager methods
+    MockUASManager(void);
+    
+    /// Sets the currently active mock UAS
+    /// @param mockUAS new mock uas, NULL for no active UAS
+    void setMockActiveUAS(MockUAS* mockUAS);
+
+public:
+    // Unimplemented UASManagerInterface overrides
+    virtual UASWaypointManager *getActiveUASWaypointManager() { Q_ASSERT(false); return NULL; }
+    virtual UASInterface* silentGetActiveUAS() { Q_ASSERT(false); return NULL; }
+    virtual UASInterface* getUASForId(int id) { Q_ASSERT(false); Q_UNUSED(id); return NULL; }
+    virtual QList<UASInterface*> getUASList() { Q_ASSERT(false); return _bogusQListUASInterface; }
+    virtual double getHomeLatitude() const  { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
+    virtual double getHomeLongitude() const  { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
+    virtual double getHomeAltitude() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
+    virtual int getHomeFrame() const { Q_ASSERT(false); return 0; }
+    virtual Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
+        { Q_ASSERT(false); Q_UNUSED(latitude); Q_UNUSED(longitude); Q_UNUSED(altitude); return _bogusEigenVector3d; }
+    virtual Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef)
+        { Q_ASSERT(false); Q_UNUSED(ecef); return _bogusEigenVector3d; }
+    virtual void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
+        { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(east); Q_UNUSED(north); Q_UNUSED(up); }
+    virtual void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
+        { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
+    virtual void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
+        { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
+    virtual void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2)
+        { Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); }
+    virtual bool isInLocalNEDSafetyLimits(double x, double y, double z)
+        { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); return false; }
+    
+public slots:
+    // Unimplemented UASManagerInterface overrides
+    virtual void setActiveUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); }
+    virtual void addUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); }
+    virtual void removeUAS(UASInterface* uas) { Q_ASSERT(false); Q_UNUSED(uas);}
+    virtual bool launchActiveUAS() { Q_ASSERT(false); return false; }
+    virtual bool haltActiveUAS() { Q_ASSERT(false); return false; }
+    virtual bool continueActiveUAS() { Q_ASSERT(false); return false; }
+    virtual bool returnActiveUAS() { Q_ASSERT(false); return false; }
+    virtual bool stopActiveUAS() { Q_ASSERT(false); return false; }
+    virtual bool killActiveUAS() { Q_ASSERT(false); return false; }
+    virtual void configureActiveUAS() { Q_ASSERT(false); }
+    virtual bool shutdownActiveUAS() { Q_ASSERT(false); return false; }
+    virtual bool setHomePosition(double lat, double lon, double alt)
+        { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; }
+    virtual bool setHomePositionAndNotify(double lat, double lon, double alt)
+        { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; }
+    virtual void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2)
+        { Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); }
+    virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt)
+        { Q_ASSERT(false); Q_UNUSED(uav); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
+    virtual void loadSettings() { Q_ASSERT(false); }
+    virtual void storeSettings() { Q_ASSERT(false); }
+    
+private:
+    MockUAS*                _mockUAS;
+    
+    // Bogus variables used for return types of NYI methods
+    QList<UASInterface*>    _bogusQListUASInterface;
+    Eigen::Vector3d         _bogusEigenVector3d;
+    
+public:
+    /* Need to align struct pointer to prevent a memory assertion:
+     * See http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html
+     * for details
+     */
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+#endif
\ No newline at end of file