Merge pull request #430 from DonLakeFlyer/UnitTestFixes

Unit Tests would not compile, once they compiled, they didn't work correctly, once working correctly they found a couple bugs

qgroundcontrol.pro

@@ -32,8 +32,15 @@ QT += network \
     sql \
     declarative
 
-TEMPLATE = app
-TARGET = qgroundcontrol
+# Setting this variable allows you to include this .pro file in another such that
+# you can set your own TARGET and main() function. This is used by the unit test
+# build files to build unit test using all built parts of QGCS except for main.
+isEmpty(QGCS_UNITTEST_OVERRIDE) {
+    TEMPLATE = app
+    TARGET = qgroundcontrol
+    SOURCES += src/main.cc
+}
+
 BASEDIR = $${IN_PWD}
 linux-g++|linux-g++-64{
     debug {
@@ -556,7 +563,7 @@ contains(DEPENDENCIES_PRESENT, libfreenect) {
     # Enable only if libfreenect is available
     HEADERS += src/input/Freenect.h
 }
-SOURCES += src/main.cc \
+SOURCES += \
     src/QGCCore.cc \
     src/uas/UASManager.cc \
     src/uas/UAS.cc \

src/qgcunittest/UASUnitTest.cc

@@ -178,28 +178,28 @@ void UASUnitTest::getSystemType_test()
 
 void UASUnitTest::getAirframe_test()
 {
-    //when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC which is 0
-    QCOMPARE(uas->getAirframe(), 0);
+    //when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC);
 }
 
 void UASUnitTest::setAirframe_test()
 {
     //check at construction, that airframe=0 (GENERIC)
-    QVERIFY(uas->getAirframe() == 0);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC);
 
     //check that set airframe works
-    uas->setAirframe(11);
-    QVERIFY(uas->getAirframe() == 11);
+    uas->setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER);
 
     //check that setAirframe will not assign a number to airframe, that is 
     //not defined in the enum 
-    uas->setAirframe(12);
-    QVERIFY(uas->getAirframe() == 11);
+    uas->setAirframe(UASInterface::QGC_AIRFRAME_END_OF_ENUM);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER);
 }
 
 void UASUnitTest::getWaypointList_test()
 {
-    QVector<Waypoint*> kk = uas->getWaypointManager()->getWaypointEditableList();
+    QList<Waypoint*> kk = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(kk.count(), 0);
 
     Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
@@ -232,7 +232,7 @@ void UASUnitTest::getWaypoint_test()
 
     uas->getWaypointManager()->addWaypointEditable(wp, true);
 
-    QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
+    QList<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
 
     QCOMPARE(wpList.count(), 1);
     QCOMPARE(static_cast<quint16>(0), static_cast<Waypoint*>(wpList.at(0))->getId());
@@ -281,7 +281,7 @@ void UASUnitTest::signalWayPoint_test()
     QCOMPARE(spy2.count(), 1);
 
     uas->getWaypointManager()->clearWaypointList();
-    QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
+    QList<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(wpList.count(), 1);
     delete uas;
     uas = NULL;
@@ -292,7 +292,7 @@ void UASUnitTest::signalUASLink_test()
 {
 
     QSignalSpy spy(uas, SIGNAL(modeChanged(int,QString,QString)));
-    uas->setMode(2);
+    uas->setMode(2, 0);
     QCOMPARE(spy.count(), 0);// not solve for UAS not receiving message from UAS
 
     QSignalSpy spyS(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)));
@@ -391,10 +391,10 @@ void UASUnitTest::signalIdUASLink_test()
     LinkInterface* b = static_cast<LinkInterface*>(links.at(1));
     LinkInterface* c = static_cast<LinkInterface*>(links.at(2));
     LinkInterface* d = static_cast<LinkInterface*>(links.at(3));
-    QCOMPARE(a->getName(), QString("serial port COM 17"));
-    QCOMPARE(b->getName(), QString("serial port COM 18"));
-    QCOMPARE(c->getName(), QString("serial port COM 19"));
-    QCOMPARE(d->getName(), QString("serial port COM 20"));
+    QCOMPARE(a->getName(), QString("COM 17"));
+    QCOMPARE(b->getName(), QString("COM 18"));
+    QCOMPARE(c->getName(), QString("COM 19"));
+    QCOMPARE(d->getName(), QString("COM 20"));
 
     LinkManager::instance()->removeLink(myLink4);
     delete myLink4;

src/uas/UAS.cc

@@ -109,6 +109,11 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     localX(0.0),
     localY(0.0),
     localZ(0.0),
+
+    latitude(0.0),
+    longitude(0.0),
+    altitude(0.0),
+
     globalEstimatorActive(false),
     latitude_gps(0.0),
     longitude_gps(0.0),
@@ -131,6 +136,10 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     attitudeStamped(false),
     lastAttitude(0),
 
+    roll(0.0),
+    pitch(0.0),
+    yaw(0.0),
+
     paramsOnceRequested(false),
     simulation(0),