Merge branch 'reorganize_qgcunittest' into memCheck

qgcunittest.pro

@@ -34,7 +34,7 @@ QT += network \
 TEMPLATE = app
 TARGET = qgcunittest
 BASEDIR = $${IN_PWD}
-TESTDIR = $$BASEDIR/qgcunittest
+TESTDIR = $$BASEDIR/src/qgcunittest
 linux-g++|linux-g++-64{
     debug {
         TARGETDIR = $${OUT_PWD}/debug

qgcunittest/UASUnitTest.cc → src/qgcunittest/UASUnitTest.cc

 #include "UASUnitTest.h"
 #include <stdio.h>
+#include <QObject>
 UASUnitTest::UASUnitTest()
 {
 }
@@ -15,8 +16,10 @@ void UASUnitTest::cleanup()
 {
    delete mav;
    mav = NULL;
+   if(uas != NULL){
    delete uas;
    uas = NULL;
+   }
 }
 
 void UASUnitTest::getUASID_test()
@@ -167,8 +170,9 @@ void UASUnitTest::getSelected_test()
 }
 
 void UASUnitTest::getSystemType_test()
-{   //best guess: it is not initialized in the constructor,
-    //what should it be initialized to?
+{    //check that system type is set to MAV_TYPE_GENERIC when initialized
+    QCOMPARE(uas->getSystemType(), 0);
+    uas->setSystemType(13);
     QCOMPARE(uas->getSystemType(), 13);
 }
 
@@ -251,33 +255,36 @@ void UASUnitTest::getWaypoint_test()
 
 void UASUnitTest::signalWayPoint_test()
 {
-    QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointListChanged(UASID)));
-	
-    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");
+    QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged()));
+
+    Waypoint* wp = new Waypoint(0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
     uas->getWaypointManager()->addWaypointEditable(wp, true);
 
-    printf("spy.count = %d\n", spy.count());
-    //QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint
+
+    QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint
     uas->getWaypointManager()->removeWaypoint(0);
     QCOMPARE(spy.count(), 2); // 2 listChanged for remove wayPoint
+
     QSignalSpy spyDestroyed(uas->getWaypointManager(), SIGNAL(destroyed()));
     QVERIFY(spyDestroyed.isValid());
     QCOMPARE( spyDestroyed.count(), 0 );
 
     delete uas;// delete(destroyed) uas for validating
+    uas = NULL;
     QCOMPARE(spyDestroyed.count(), 1);// count destroyed uas should are 1
-
     uas = new UAS(mav,UASID);
-    QSignalSpy spy2(uas->getWaypointManager(), SIGNAL(waypointListChanged()));
+    QSignalSpy spy2(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged()));
     QCOMPARE(spy2.count(), 0);
+    Waypoint* wp2 = 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");
 
-    uas->getWaypointManager()->addWaypointEditable(wp, true);
+    uas->getWaypointManager()->addWaypointEditable(wp2, true);
     QCOMPARE(spy2.count(), 1);
 
     uas->getWaypointManager()->clearWaypointList();
     QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(wpList.count(), 1);
 
+    delete wp2;
 }
 
 void UASUnitTest::signalUASLink_test()

src/uas/UAS.cc

@@ -111,7 +111,8 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
     connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
     statusTimeout->start(500);
-    readSettings();
+    readSettings(); 
+    type = MAV_TYPE_GENERIC;
     // Initial signals
     emit disarmed();
     emit armingChanged(false);
@@ -2081,21 +2082,25 @@ void UAS::requestParameter(int component, const QString& parameter)
 
 void UAS::setSystemType(int systemType)
 {
-    type = systemType;
-    // If the airframe is still generic, change it to a close default type
-    if (airframe == 0)
+    if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
     {
-        switch (systemType)
-        {
-        case MAV_TYPE_FIXED_WING:
-            airframe = QGC_AIRFRAME_EASYSTAR;
-            break;
-        case MAV_TYPE_QUADROTOR:
-            airframe = QGC_AIRFRAME_MIKROKOPTER;
-            break;
-        }
-    }
-    emit systemSpecsChanged(uasId);
+      type = systemType;
+    
+      // If the airframe is still generic, change it to a close default type
+      if (airframe == 0)
+      {
+          switch (systemType)
+          {
+          case MAV_TYPE_FIXED_WING:
+              airframe = QGC_AIRFRAME_EASYSTAR;
+              break;
+          case MAV_TYPE_QUADROTOR:
+              airframe = QGC_AIRFRAME_MIKROKOPTER;
+              break;
+          }
+      }
+      emit systemSpecsChanged(uasId);
+   }
 }
 
 void UAS::setUASName(const QString& name)

src/uas/UAS.h

@@ -490,7 +490,7 @@ public slots:
     /** @brief Set the specific airframe type */
     void setAirframe(int airframe)
     {
-        if((airframe >= 0) && (airframe < 12))
+        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
         {
           this->airframe = airframe;
           emit systemSpecsChanged(uasId);
@@ -643,7 +643,6 @@ public slots:
     void stopDataRecording();
     void deleteSettings();
 signals:
-
     /** @brief The main/battery voltage has changed/was updated */
     //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
     /** @brief An actuator value has changed */