No longer supported, use MockLink instead

src/qgcunittest/MockQGCUASParamManager.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 "MockQGCUASParamManager.h"
-#include "mavlink.h"
-#include "QGCLoggingCategory.h"
-
-#include <QTest>
-#include <QDebug>
-
-QGC_LOGGING_CATEGORY(MockQGCUASParamManagerLog, "MockQGCUASParamManagerLog")
-
-MockQGCUASParamManager::MockQGCUASParamManager(void)
-{
-    _loadParams();
-}
-
-bool MockQGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const
-{
-    Q_UNUSED(component);
-    
-    if (_mapParams.contains(parameter)) {
-        value = _mapParams[parameter];
-        return true;
-    }
-    
-    qCDebug(MockQGCUASParamManagerLog) << QString("getParameterValue: parameter not found %1").arg(parameter);
-    return false;
-}
-
-void MockQGCUASParamManager::setParameter(int component, QString parameterName, QVariant value)
-{
-    qCDebug(MockQGCUASParamManagerLog) << QString("setParameter: component(%1) parameter(%2) value(%3)").arg(component).arg(parameterName).arg(value.toString());
-    
-    _mapParams[parameterName] = value;
-    emit parameterUpdated(_defaultComponentId, parameterName, value);
-}
-
-void MockQGCUASParamManager::_loadParams(void)
-{
-    QFile paramFile(":/unittest/MockLink.params");
-    
-    bool success = paramFile.open(QFile::ReadOnly);
-    Q_UNUSED(success);
-    Q_ASSERT(success);
-    
-    QTextStream paramStream(&paramFile);
-    
-    while (!paramStream.atEnd()) {
-        QString line = paramStream.readLine();
-        
-        if (line.startsWith("#")) {
-            continue;
-        }
-        
-        QStringList paramData = line.split("\t");
-        Q_ASSERT(paramData.count() == 5);
-        
-        QString paramName = paramData.at(2);
-        QString valStr = paramData.at(3);
-        uint paramType = paramData.at(4).toUInt();
-        
-        QVariant paramValue;
-        switch (paramType) {
-            case MAV_PARAM_TYPE_REAL32:
-                paramValue = QVariant(valStr.toFloat());
-                break;
-            case MAV_PARAM_TYPE_UINT32:
-                paramValue = QVariant(valStr.toUInt());
-                break;
-            case MAV_PARAM_TYPE_INT32:
-                paramValue = QVariant(valStr.toInt());
-                break;
-            case MAV_PARAM_TYPE_INT8:
-                paramValue = QVariant((unsigned char)valStr.toUInt());
-                break;
-            default:
-                Q_ASSERT(false);
-                break;
-        }
-        
-        Q_ASSERT(!_mapParams.contains(paramName));
-        _mapParams[paramName] = paramValue;
-    }
-}
-
-QList<int> MockQGCUASParamManager::getComponentForParam(const QString& parameter) const
-{
-    if (_mapParams.contains(parameter)) {
-        QList<int> list;
-        list << 50;
-        return list;
-    } else {
-        return QList<int>();
-    }
-}

src/qgcunittest/MockQGCUASParamManager.h

-/*=====================================================================
- 
- 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/>.
- 
- ======================================================================*/
-
-#ifndef MOCKQGCUASPARAMMANAGER_H
-#define MOCKQGCUASPARAMMANAGER_H
-
-#include <QLoggingCategory>
-
-#include "QGCUASParamManagerInterface.h"
-
-Q_DECLARE_LOGGING_CATEGORY(MockQGCUASParamManagerLog)
-
-/// @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
-    void parameterListUpToDate();   // You can connect to this signal, but it will never be emitted
-    void parameterUpdated(int compId, QString paramName, QVariant value);
-    
-public:
-    // Implemented QGCSUASParamManager overrides
-    virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const;
-    virtual int getDefaultComponentId(void) { return _defaultComponentId; }
-    virtual int countOnboardParams(void) { return _mapParams.count(); }
-    
-public slots:
-    // Implemented QGCSUASParamManager overrides
-    void setParameter(int component, QString parameterName, QVariant value);
-    virtual void setPendingParam(int componentId,  const QString& key,  const QVariant& value, bool forceSend = false)
-        { Q_UNUSED(forceSend); setParameter(componentId, key, value); }
-    virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false)
-        { Q_UNUSED(persistAfterSend); Q_UNUSED(forceSend); }
-    virtual bool parametersReady(void) { return true; }
-    
-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 _mapParams; }
-    /// Clears the set of parameters set by setParameter calls
-    void clearMockSetParameters(void) { _mapParams.clear(); }
-    
-public:
-    // Unimplemented QGCUASParamManagerInterface overrides
-    virtual QList<int> getComponentForParam(const QString& parameter) const;
-    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 requestParameterList() { Q_ASSERT(false); }
-    virtual void requestParameterListIfEmpty() { Q_ASSERT(false); }
-    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:
-    void _loadParams(void);
-    
-    ParamMap_t          _mapParams;
-    
-    static const int    _defaultComponentId = 50;
-
-    // Bogus variables used for return types of NYI methods
-    QList<int>          _bogusQListInt;
-};
-
-#endif
\ No newline at end of file

src/qgcunittest/MockUAS.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 "MockUAS.h"
-
-QString MockUAS::_bogusStaticString;
-
-MockUAS::MockUAS(void) :
-    _systemType(MAV_TYPE_QUADROTOR),
-    _systemId(1),
-    _mavlinkPlugin(NULL)
-{
-    
-}
-
-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());
-    }
-}
-
-void MockUAS::sendMessage(mavlink_message_t message)
-{
-    if (!_mavlinkPlugin) {
-        Q_ASSERT(false);
-    }
-    
-    _mavlinkPlugin->sendMessage(message);
-}
\ No newline at end of file

src/qgcunittest/MockUASManager.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 "MockUASManager.h"
-
-MockUASManager::MockUASManager(void) :
-    UASManagerInterface(NULL),
-    _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 activeUASStatusChanged(_mockUAS, true);
-        emit activeUASStatusChanged(_mockUAS->getUASID(), true);
-    }
-}
-

src/qgcunittest/MockUASManager.h

-/*=====================================================================
- 
- 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/>.
- 
- ======================================================================*/
-
-#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 activeUASStatusChanged(UASInterface* UAS, bool active);
-    //      void activeUASStatusChanged(int systemId, bool active);
-    
-public:
-    // Implemented UASManagerInterface overrides
-    virtual UASInterface* getActiveUAS(void);
-    
-public:
-    // MockUASManager methods
-    MockUASManager(void);
-    
-    // Does not support singleton deletion
-    virtual void deleteInstance(void) { Q_ASSERT(false); }
-    
-    /// 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 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); }
-    virtual void _shutdown(void) { 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