Changed for a simpler way unit tests can be set up and run. Now tests can be...

 Changed for a simpler way unit tests can be set up and run. Now tests can be simple classes which implement the tests

qgcunittest/AutoTest.h

+/**
+* @author Rob Caldecott
+* @note This was obtained from http://qtcreator.blogspot.com/2010/04/sample-multiple-unit-test-project.html
+*
+*/
+
+#ifndef AUTOTEST_H
+#define AUTOTEST_H
+
+#include <QTest>
+#include <QList>
+#include <QString>
+#include <QSharedPointer>
+
+namespace AutoTest
+{
+    typedef QList<QObject*> TestList;
+
+    inline TestList& testList()
+    {
+	static TestList list;
+	return list;
+    }
+
+    inline bool findObject(QObject* object)
+    {
+	TestList& list = testList();
+	if (list.contains(object))
+	{
+	    return true;
+	}
+	foreach (QObject* test, list)
+	{
+	    if (test->objectName() == object->objectName())
+	    {
+		return true;
+	    }
+	}
+	return false;
+    }
+
+    inline void addTest(QObject* object)
+    {
+	TestList& list = testList();
+	if (!findObject(object))
+	{
+	    list.append(object);
+	}
+    }
+
+    inline int run(int argc, char *argv[])
+    {
+	int ret = 0;
+
+	foreach (QObject* test, testList())
+	{
+	    ret += QTest::qExec(test, argc, argv);
+	}
+
+	return ret;
+    }
+}
+
+template <class T>
+class Test
+{
+public:
+    QSharedPointer<T> child;
+
+    Test(const QString& name) : child(new T)
+    {
+	child->setObjectName(name);
+	AutoTest::addTest(child.data());
+    }
+};
+
+#define DECLARE_TEST(className) static Test<className> t(#className);
+
+#define TEST_MAIN \
+    int main(int argc, char *argv[]) \
+    { \
+      return AutoTest::run(argc, argv); \
+  }
+
+#endif // AUTOTEST_H

qgcunittest/SlugsMavUnitTest.cc

+#include "SlugsMavUnitTest.h"
+
+SlugsMavUnitTest::SlugsMavUnitTest()
+{
+}
+
+void SlugsMavUnitTest::initTestCase()
+{
+
+}
+
+void SlugsMavUnitTest::cleanupTestCase()
+{
+
+}
+
+void SlugsMavUnitTest::first_test()
+{
+  QCOMPARE(1,2);
+}

qgcunittest/SlugsMavUnitTest.h

+#ifndef SLUGSMAVUNITTEST_H
+#define SLUGSMAVUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+
+class SlugsMavUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+  SlugsMavUnitTest();
+signals:
+
+private slots:
+  void initTestCase();
+  void cleanupTestCase();
+  void first_test();
+};
+
+DECLARE_TEST(SlugsMavUnitTest)
+
+#endif // SLUGSMAVUNITTEST_H

qgcunittest/UASUnitTest.cc

+#include "UASUnitTest.h"
+
+UASUnitTest::UASUnitTest()
+{
+}
+
+void UASUnitTest::initTestCase()
+{
+  mav= new MAVLinkProtocol();
+  uas=new UAS(mav,UASID);
+}
+
+void UASUnitTest::cleanupTestCase()
+{
+  delete uas;
+  delete mav;
+
+}
+
+void UASUnitTest::getUASID_test()
+{
+    // Test a default ID of zero is assigned
+    UAS* uas2 = new UAS(mav);
+    QCOMPARE(uas2->getUASID(), 0);
+    delete uas2;
+
+    // Test that the chosen ID was assigned at construction
+    QCOMPARE(uas->getUASID(), UASID);
+
+    // Make sure that no other ID was sert
+    QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue);
+    QCOMPARE(uas->getUASID(), 0);
+}
+
+void UASUnitTest::getUASName_test()
+{
+  // Test that the name is build as MAV + ID
+  QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
+
+}
+
+void UASUnitTest::getUpTime_test()
+{
+  UAS* uas2 = new UAS(mav);
+  // Test that the uptime starts at zero to a
+  // precision of seconds
+  QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
+
+  // Sleep for three seconds
+  QTest::qSleep(3000);
+
+  // Test that the up time is computed correctly to a
+  // precision of seconds
+  QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
+
+  delete uas2;
+}
+
+void UASUnitTest::getCommunicationStatus_test()
+{
+  // Verify that upon construction the Comm status is disconnected
+  QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
+}
+
+void UASUnitTest::filterVoltage_test()
+{
+    float verificar=uas->filterVoltage(0.4f);
+  // Verify that upon construction the Comm status is disconnected
+  QCOMPARE(verificar, 8.52f);
+}
+void UASUnitTest:: getAutopilotType_test()
+{
+    int verificar=uas->getAutopilotType();
+  // Verify that upon construction the autopilot is set to -1
+  QCOMPARE(verificar, -1);
+}
+void UASUnitTest::setAutopilotType_test()
+{
+  uas->setAutopilotType(2);
+  // Verify that the autopilot is set
+  QCOMPARE(uas->getAutopilotType(), 2);
+}
+
+void UASUnitTest::getStatusForCode_test()
+{
+  QString state, desc;
+  state = "";
+  desc = "";
+
+  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
+  QVERIFY(state == "UNINIT");
+
+  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
+  QVERIFY(state == "UNINIT");
+
+  uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
+  QVERIFY(state == "BOOT");
+
+  uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
+  QVERIFY(state == "CALIBRATING");
+
+  uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
+  QVERIFY(state == "ACTIVE");
+
+  uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
+  QVERIFY(state == "STANDBY");
+
+  uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
+  QVERIFY(state == "CRITICAL");
+
+  uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
+  QVERIFY(state == "EMERGENCY");
+
+  uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
+  QVERIFY(state == "SHUTDOWN");
+
+  uas->getStatusForCode(5325, state, desc);
+  QVERIFY(state == "UNKNOWN");
+}
+
+
+void UASUnitTest::getLocalX_test()
+{
+  QCOMPARE(uas->getLocalX(), 0.0);
+}
+void UASUnitTest::getLocalY_test()
+{
+  QCOMPARE(uas->getLocalY(), 0.0);
+}
+void UASUnitTest::getLocalZ_test()
+{
+  QCOMPARE(uas->getLocalZ(), 0.0);
+}
+void UASUnitTest::getLatitude_test()
+{  QCOMPARE(uas->getLatitude(), 0.0);
+}
+void UASUnitTest::getLongitude_test()
+{
+  QCOMPARE(uas->getLongitude(), 0.0);
+}
+void UASUnitTest::getAltitude_test()
+{
+  QCOMPARE(uas->getAltitude(), 0.0);
+}
+void UASUnitTest::getRoll_test()
+{
+  QCOMPARE(uas->getRoll(), 0.0);
+}
+void UASUnitTest::getPitch_test()
+{
+  QCOMPARE(uas->getPitch(), 0.0);
+}
+void UASUnitTest::getYaw_test()
+{
+  QCOMPARE(uas->getYaw(), 0.0);
+}

qgcunittest/UASUnitTest.h

+#ifndef UASUNITTEST_H
+#define UASUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+
+class UASUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+  #define  UASID  50
+  MAVLinkProtocol* mav;
+  UAS* uas;
+  UASUnitTest();
+
+signals:
+
+private slots:
+  void initTestCase();
+  void cleanupTestCase();
+  void getUASID_test();
+  void getUASName_test();
+  void getUpTime_test();
+  void getCommunicationStatus_test();
+  void filterVoltage_test();
+  void getAutopilotType_test();
+  void setAutopilotType_test();
+  void getStatusForCode_test();
+  void getLocalX_test();
+  void getLocalY_test();
+  void getLocalZ_test();
+  void getLatitude_test();
+  void getLongitude_test();
+  void getAltitude_test();
+  void getRoll_test();
+  void getPitch_test();
+  void getYaw_test();
+
+protected:
+   UAS *prueba;
+
+};
+
+DECLARE_TEST(UASUnitTest)
+#endif // UASUNITTEST_H

qgcunittest/testSuite.cc

+/**
+* @author Rob Caldecott
+* @note This was obtained from http://qtcreator.blogspot.com/2010/04/sample-multiple-unit-test-project.html
+*
+*/
+
+#include "AutoTest.h"
+#include <QDebug>
+
+#if 1
+// This is all you need to run all the tests
+TEST_MAIN
+#else
+// Or supply your own main function
+int main(int argc, char *argv[])
+{
+    int failures = AutoTest::run(argc, argv);
+    if (failures == 0)
+    {
+	qDebug() << "ALL TESTS PASSED";
+    }
+    else
+    {
+	qDebug() << failures << " TESTS FAILED!";
+    }
+    return failures;
+}
+#endif