Vehicle::sendMavCommand unit test

qgroundcontrol.pro

@@ -381,6 +381,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/qgcunittest/TCPLinkTest.h \
         src/qgcunittest/TCPLoopBackServer.h \
         src/qgcunittest/UnitTest.h \
+        src/Vehicle/SendMavCommandTest.h \
 
     SOURCES += \
         src/AnalyzeView/LogDownloadTest.cc \
@@ -409,6 +410,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/qgcunittest/TCPLoopBackServer.cc \
         src/qgcunittest/UnitTest.cc \
         src/qgcunittest/UnitTestList.cc \
+        src/Vehicle/SendMavCommandTest.cc \
 } } } } } }
 
 # Main QGC Headers and Source files

src/Vehicle/SendMavCommandTest.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+#include "SendMavCommandTest.h"
+#include "MultiVehicleManager.h"
+#include "QGCApplication.h"
+
+void SendMavCommandTest::_noFailure(void)
+{
+    _connectMockLink();
+
+    MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
+    Vehicle* vehicle = vehicleMgr->activeVehicle();
+    QVERIFY(vehicle);
+
+    vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_1, true /* showError */);
+
+    QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
+    QCOMPARE(spyResult.wait(10000), true);
+    QList<QVariant> arguments = spyResult.takeFirst();
+    QCOMPARE(arguments.count(), 5);
+    QCOMPARE(arguments.at(0).toInt(), vehicle->id());
+    QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_1);
+    QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_ACCEPTED);
+    QCOMPARE(arguments.at(4).toBool(), false);
+}
+
+void SendMavCommandTest::_failureShowError(void)
+{
+    // Will pop error about request failure
+    setExpectedMessageBox(QMessageBox::Ok);
+
+    _connectMockLink();
+
+    MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
+    Vehicle* vehicle = vehicleMgr->activeVehicle();
+    QVERIFY(vehicle);
+
+    vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_2, true /* showError */);
+
+    QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
+    QCOMPARE(spyResult.wait(10000), true);
+    QList<QVariant> arguments = spyResult.takeFirst();
+    QCOMPARE(arguments.count(), 5);
+    QCOMPARE(arguments.at(0).toInt(), vehicle->id());
+    QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_2);
+    QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_FAILED);
+    QCOMPARE(arguments.at(4).toBool(), false);
+
+    // User should have been notified
+    checkExpectedMessageBox();
+}
+
+void SendMavCommandTest::_failureNoShowError(void)
+{
+    _connectMockLink();
+
+    MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
+    Vehicle* vehicle = vehicleMgr->activeVehicle();
+    QVERIFY(vehicle);
+
+    vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_2, false /* showError */);
+
+    QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
+    QCOMPARE(spyResult.wait(10000), true);
+    QList<QVariant> arguments = spyResult.takeFirst();
+    QCOMPARE(arguments.count(), 5);
+    QCOMPARE(arguments.at(0).toInt(), vehicle->id());
+    QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_2);
+    QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_FAILED);
+    QCOMPARE(arguments.at(4).toBool(), false);
+}
+
+void SendMavCommandTest::_noFailureAfterRetry(void)
+{
+    _connectMockLink();
+
+    MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
+    Vehicle* vehicle = vehicleMgr->activeVehicle();
+    QVERIFY(vehicle);
+
+    vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_3, true /* showError */);
+
+    QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
+    QCOMPARE(spyResult.wait(10000), true);
+    QList<QVariant> arguments = spyResult.takeFirst();
+    QCOMPARE(arguments.count(), 5);
+    QCOMPARE(arguments.at(0).toInt(), vehicle->id());
+    QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_3);
+    QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_ACCEPTED);
+    QCOMPARE(arguments.at(4).toBool(), false);
+}
+
+void SendMavCommandTest::_failureAfterRetry(void)
+{
+    // Will pop error about request failure
+    setExpectedMessageBox(QMessageBox::Ok);
+
+    _connectMockLink();
+
+    MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
+    Vehicle* vehicle = vehicleMgr->activeVehicle();
+    QVERIFY(vehicle);
+
+    vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_4, true /* showError */);
+
+    QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
+    QCOMPARE(spyResult.wait(10000), true);
+    QList<QVariant> arguments = spyResult.takeFirst();
+    QCOMPARE(arguments.count(), 5);
+    QCOMPARE(arguments.at(0).toInt(), vehicle->id());
+    QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_4);
+    QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_FAILED);
+    QCOMPARE(arguments.at(4).toBool(), false);
+
+    // User should have been notified
+    checkExpectedMessageBox();
+}
+
+void SendMavCommandTest::_failureAfterNoReponse(void)
+{
+    // Will pop error about request failure
+    setExpectedMessageBox(QMessageBox::Ok);
+
+    _connectMockLink();
+
+    MultiVehicleManager* vehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
+    Vehicle* vehicle = vehicleMgr->activeVehicle();
+    QVERIFY(vehicle);
+
+    vehicle->sendMavCommand(MAV_COMP_ID_ALL, MAV_CMD_USER_5, true /* showError */);
+
+    QSignalSpy spyResult(vehicle, SIGNAL(mavCommandResult(int, int, int, int, bool)));
+    QCOMPARE(spyResult.wait(10000), true);
+    QList<QVariant> arguments = spyResult.takeFirst();
+    QCOMPARE(arguments.count(), 5);
+    QCOMPARE(arguments.at(0).toInt(), vehicle->id());
+    QCOMPARE(arguments.at(2).toInt(), (int)MAV_CMD_USER_5);
+    QCOMPARE(arguments.at(3).toInt(), (int)MAV_RESULT_FAILED);
+    QCOMPARE(arguments.at(4).toBool(), true);
+
+    // User should have been notified
+    checkExpectedMessageBox();
+}

src/Vehicle/SendMavCommandTest.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+#ifndef SendMavCommandTest_H
+#define SendMavCommandTest_H
+
+#include "UnitTest.h"
+
+class SendMavCommandTest : public UnitTest
+{
+    Q_OBJECT
+    
+private slots:
+    void _noFailure(void);
+    void _failureShowError(void);
+    void _failureNoShowError(void);
+    void _noFailureAfterRetry(void);
+    void _failureAfterRetry(void);
+    void _failureAfterNoReponse(void);
+
+private:
+};
+
+#endif

src/comm/MockLink.cc

@@ -807,6 +807,40 @@ void MockLink::_handleCommandLong(const mavlink_message_t& msg)
         commandResult = MAV_RESULT_ACCEPTED;
         _respondWithAutopilotVersion();
         break;
+    case MAV_CMD_USER_1:
+        // Test command which always returns MAV_RESULT_ACCEPTED
+        commandResult = MAV_RESULT_ACCEPTED;
+        break;
+    case MAV_CMD_USER_2:
+        // Test command which always returns MAV_RESULT_FAILED
+        commandResult = MAV_RESULT_FAILED;
+        break;
+    case MAV_CMD_USER_3:
+        // Test command which returns MAV_RESULT_ACCEPTED on second attempt
+        static bool firstCmdUser3 = true;
+        if (firstCmdUser3) {
+           firstCmdUser3 = false;
+           return;
+        } else {
+            firstCmdUser3 = true;
+            commandResult = MAV_RESULT_ACCEPTED;
+        }
+        break;
+    case MAV_CMD_USER_4:
+        // Test command which returns MAV_RESULT_FAILED on second attempt
+        static bool firstCmdUser4 = true;
+        if (firstCmdUser4) {
+           firstCmdUser4 = false;
+           return;
+        } else {
+            firstCmdUser4 = true;
+            commandResult = MAV_RESULT_FAILED;
+        }
+        break;
+    case MAV_CMD_USER_5:
+        // No response
+        return;
+        break;
     }
 
     mavlink_message_t commandAck;

src/qgcunittest/UnitTestList.cc

@@ -31,6 +31,7 @@
 #include "ParameterManagerTest.h"
 #include "MissionCommandTreeTest.h"
 #include "LogDownloadTest.h"
+#include "SendMavCommandTest.h"
 
 UT_REGISTER_TEST(FactSystemTestGeneric)
 UT_REGISTER_TEST(FactSystemTestPX4)
@@ -50,6 +51,7 @@ UT_REGISTER_TEST(TCPLinkTest)
 UT_REGISTER_TEST(ParameterManagerTest)
 UT_REGISTER_TEST(MissionCommandTreeTest)
 UT_REGISTER_TEST(LogDownloadTest)
+UT_REGISTER_TEST(SendMavCommandTest)
 
 // List of unit test which are currently disabled.
 // If disabling a new test, include reason in comment.