Create base interface for UASManager and QGCUASParamManager

This allows us to create mock version of the objects to use for unit
tests

src/uas/QGCUASParamManager.cc

@@ -8,7 +8,7 @@
 #include "UASParameterCommsMgr.h"
 
 QGCUASParamManager::QGCUASParamManager(QObject *parent) :
-    QObject(parent),
+    QGCUASParamManagerInterface(parent),
     mav(NULL),
     paramDataModel(this),
     paramCommsMgr(NULL)

src/uas/QGCUASParamManager.h

@@ -7,13 +7,14 @@
 #include <QVariant>
 
 #include "UASParameterDataModel.h"
+#include "QGCUASParamManagerInterface.h"
 
 //forward declarations
 class QTextStream;
 class UASInterface;
 class UASParameterCommsMgr;
 
-class QGCUASParamManager : public QObject
+class QGCUASParamManager : public QGCUASParamManagerInterface
 {
     Q_OBJECT
 public:

src/uas/QGCUASParamManagerInterface.h

+#ifndef QGCUASPARAMMANAGERINTERFACE_H
+#define QGCUASPARAMMANAGERINTERFACE_H
+
+#include <QWidget>
+#include <QMap>
+#include <QTimer>
+#include <QVariant>
+#include <QTextStream>
+
+#include "UASParameterDataModel.h"
+
+/**
+ * @brief This is the abstract base class for QGCUASParamManager. Although there is 
+ * normally only a single QGCUASParamManager we still use an abstract base interface 
+ * since this allows us to create mock versions.
+ *
+ * See QGCUASParamManager.h for method documentation
+ **/
+
+//forward declarations
+class QTextStream;
+class UASInterface;
+class UASParameterCommsMgr;
+
+class QGCUASParamManagerInterface : public QObject
+{
+public:
+    QGCUASParamManagerInterface(QObject* parent = NULL) : QObject(parent) { }
+    virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const = 0;
+    virtual int getDefaultComponentId() = 0;
+    virtual QList<int> getComponentForParam(const QString& parameter) const = 0;
+    virtual void setParamDescriptions(const QMap<QString,QString>& paramDescs) = 0;
+    virtual int countPendingParams() = 0;
+    virtual int countOnboardParams() = 0;
+    virtual UASParameterDataModel* dataModel() = 0;
+    
+public slots:
+    virtual void setParameter(int component, QString parameterName, QVariant value) = 0;
+    virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false) = 0;
+    virtual void requestParameterList() = 0;
+    virtual void requestParameterListIfEmpty() = 0;
+    virtual void setPendingParam(int componentId,  const QString& key,  const QVariant& value, bool forceSend = false) = 0;
+    virtual void clearAllPendingParams() = 0;
+    virtual void requestParameterUpdate(int component, const QString& parameter) = 0;
+    virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName) = 0;
+    virtual void readPendingParamsFromStream(QTextStream &stream) = 0;
+    virtual void requestRcCalibrationParamsUpdate() = 0;
+    virtual void copyVolatileParamsToPersistent() = 0;
+    virtual void copyPersistentParamsToVolatile() = 0;
+    
+signals:
+    void parameterStatusMsgUpdated(QString msg, int level);
+    void parameterListUpToDate();
+    void parameterUpdated(int compId, QString paramName, QVariant value);
+    void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
+};
+
+#endif // QGCUASPARAMMANAGER_H

src/uas/UASManager.cc

@@ -22,8 +22,20 @@
 #define MEAN_EARTH_DIAMETER	12756274.0
 #define UMR	0.017453292519943295769236907684886
 
-UASManager* UASManager::instance()
+UASManagerInterface* UASManager::_mockUASManager = NULL;
+
+
+void UASManager::setMockUASManager(UASManagerInterface* mockUASManager)
+{
+    _mockUASManager = mockUASManager;
+}
+
+UASManagerInterface* UASManager::instance()
 {
+    if (_mockUASManager) {
+        return _mockUASManager;
+    }
+    
     static UASManager* _instance = 0;
     if(_instance == 0) {
         _instance = new UASManager();

src/uas/UASManager.h

@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 #ifndef _UASMANAGER_H_
 #define _UASMANAGER_H_
 
+#include "UASManagerInterface.h"
 #include <QThread>
 #include <QList>
 #include <QMutex>
@@ -44,13 +45,18 @@ This file is part of the QGROUNDCONTROL project
  * This class keeps a list of all connected / configured UASs. It also stores which
  * UAS is currently select with respect to user input or manual controls.
  **/
-class UASManager : public QObject
+class UASManager : public UASManagerInterface
 {
     Q_OBJECT
 
 public:
-    static UASManager* instance();
+    static UASManagerInterface* instance();
     ~UASManager();
+    
+    /**
+     * @brief Sets a mock UASManager to be returned when a call is made to instance()
+     **/
+    static void setMockUASManager(UASManagerInterface* mockUASManager);
 
     /**
      * @brief Get the currently selected UAS
@@ -265,6 +271,9 @@ protected:
     Eigen::Vector3d nedSafetyLimitPosition2;
 
     void initReference(const double & latitude, const double & longitude, const double & altitude);
+    
+private:
+    static UASManagerInterface* _mockUASManager;
 
 signals:
 

src/uas/UASManagerInterface.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2011 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/>.
+ 
+ ======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class UASManager
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef _UASMANAGERINTERFACE_H_
+#define _UASMANAGERINTERFACE_H_
+
+#include <QThread>
+#include <QList>
+#include <QMutex>
+#include <UASInterface.h>
+#include "../../libs/eigen/Eigen/Eigen"
+#include "QGCGeo.h"
+
+/**
+ * @brief Central manager for all connected aerial vehicles
+ *
+ * This class keeps a list of all connected / configured UASs. It also stores which
+ * UAS is currently select with respect to user input or manual controls.
+ *
+ * This is the abstract base class for UASManager. Although there is normally only
+ * a single UASManger we still use a abstract base interface since this allows us
+ * to create mock versions of the UASManager for testing purposes.
+ *
+ * See UASManager.h for method documentation
+ **/
+class UASManagerInterface : public QObject
+{
+    Q_OBJECT
+    
+public:
+    virtual UASInterface* getActiveUAS() = 0;
+    virtual UASWaypointManager *getActiveUASWaypointManager() = 0;
+    virtual UASInterface* silentGetActiveUAS() = 0;
+    virtual UASInterface* getUASForId(int id) = 0;
+    virtual QList<UASInterface*> getUASList() = 0;
+    virtual double getHomeLatitude() const  = 0;
+    virtual double getHomeLongitude() const  = 0;
+    virtual double getHomeAltitude() const = 0;
+    virtual int getHomeFrame() const = 0;
+    virtual Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude) = 0;
+    virtual Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef) = 0;
+    virtual void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up) = 0;
+    virtual void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) = 0;
+    virtual void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) = 0;
+    virtual void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2) = 0;
+    virtual bool isInLocalNEDSafetyLimits(double x, double y, double z) = 0;
+    
+public slots:
+    virtual void addUAS(UASInterface* UAS) = 0;
+    virtual void removeUAS(UASInterface* uas) = 0;
+    virtual void setActiveUAS(UASInterface* UAS) = 0;
+    virtual bool launchActiveUAS() = 0;
+    virtual bool haltActiveUAS() = 0;
+    virtual bool continueActiveUAS() = 0;
+    virtual bool returnActiveUAS() = 0;
+    virtual bool stopActiveUAS() = 0;
+    virtual bool killActiveUAS() = 0;
+    virtual void configureActiveUAS() = 0;
+    virtual bool shutdownActiveUAS() = 0;
+    virtual bool setHomePosition(double lat, double lon, double alt) = 0;
+    virtual bool setHomePositionAndNotify(double lat, double lon, double alt) = 0;
+    virtual void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2) = 0;
+    virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt) = 0;
+    virtual void loadSettings() = 0;
+    virtual void storeSettings() = 0;
+    
+signals:
+    /** A new system was created */
+    void UASCreated(UASInterface* UAS);
+    /** A system was deleted */
+    void UASDeleted(UASInterface* UAS);
+    /** @brief The UAS currently under main operator control changed */
+    void activeUASSet(UASInterface* UAS);
+    /** @brief The UAS currently under main operator control changed */
+    void activeUASSet(int systemId);
+    /** @brief The UAS currently under main operator control changed */
+    void activeUASSetListIndex(int listIndex);
+    /** @brief The UAS currently under main operator control changed */
+    void activeUASStatusChanged(UASInterface* UAS, bool active);
+    /** @brief The UAS currently under main operator control changed */
+    void activeUASStatusChanged(int systemId, bool active);
+    /** @brief Current home position changed */
+    void homePositionChanged(double lat, double lon, double alt);
+};
+
+#endif // _UASMANAGERINTERFACE_H_