Colors list in UASInterface.h corrected which got rid of segfault in unit tests.

qgcunittest/AutoTest.h

@@ -51,7 +51,7 @@ namespace AutoTest
     inline int run(int argc, char *argv[])
     { 
 	int ret = 0;
-
+	QCoreApplication t(argc, argv);
 	foreach (QObject* test, testList())
 	{  
             ret += QTest::qExec(test, argc, argv);

qgcunittest/UASUnitTest.cc

 #include "UASUnitTest.h"
-
+#include <stdio.h>
 UASUnitTest::UASUnitTest()
 {
 }
-
-void UASUnitTest::initTestCase()
+//This function is called after every test
+void UASUnitTest::init()
 {
     mav = new MAVLinkProtocol();
-    uas = new UAS(mav,UASID);
+    uas = new UAS(mav, UASID);
+    uas->deleteSettings();
 }
-
-void UASUnitTest::cleanupTestCase()
+//this function is called after every test
+void UASUnitTest::cleanup()
 {
-  delete uas;
    delete mav;
+   mav = NULL;
+   delete uas;
+   uas = NULL;
 }
 
 void UASUnitTest::getUASID_test()
@@ -32,6 +35,7 @@ void UASUnitTest::getUASID_test()
 
     // Make sure that ID >= 0
     QCOMPARE(uas->getUASID(), 100);
+
 }
 
 void UASUnitTest::getUASName_test()
@@ -118,6 +122,7 @@ void UASUnitTest::getStatusForCode_test()
 
     uas->getStatusForCode(5325, state, desc);
     QVERIFY(state == "UNKNOWN");
+
 }
 
 void UASUnitTest::getLocalX_test()
@@ -158,7 +163,10 @@ void UASUnitTest::getYaw_test()
 
 void UASUnitTest::getSelected_test()
 {
-    QCOMPARE(uas->getSelected(), false);
+    bool test = uas->getSelected();
+   if(test != NULL){
+    QCOMPARE(test, false);
+    }
 }
 
 void UASUnitTest::getSystemType_test()
@@ -200,6 +208,7 @@ void UASUnitTest::getWaypointList_test()
     QCOMPARE(kk.count(), 0);
 
     qDebug()<<"disconnect SIGNAL waypointListChanged";
+
 }
 
 void UASUnitTest::getWaypoint_test()
@@ -220,6 +229,7 @@ void UASUnitTest::getWaypoint_test()
     QCOMPARE(wp->getX(), wp2->getX());
     QCOMPARE(wp->getFrame(), MAV_FRAME_GLOBAL);
     QCOMPARE(wp->getFrame(), wp2->getFrame());
+
 }
 
 void UASUnitTest::signalWayPoint_test()
@@ -250,6 +260,7 @@ void UASUnitTest::signalWayPoint_test()
     uas->getWaypointManager()->clearWaypointList();
     QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(wpList.count(), 1);
+
 }
 
 void UASUnitTest::signalUASLink_test()
@@ -308,6 +319,7 @@ void UASUnitTest::signalUASLink_test()
     LinkManager::instance()->add(link);
     LinkManager::instance()->addProtocol(link, mav);
     QCOMPARE(spyS.count(), 3);
+
 }
 
 void UASUnitTest::signalIdUASLink_test()
@@ -331,4 +343,5 @@ void UASUnitTest::signalIdUASLink_test()
 
     QCOMPARE(a->getName(), QString("serial port COM 17"));
     QCOMPARE(b->getName(), QString("serial port COM 18"));
+
 }

qgcunittest/UASUnitTest.h

@@ -26,9 +26,8 @@ public:
   UASUnitTest();
 
 private slots:
-  void initTestCase();
-  void cleanupTestCase();
-
+  void init();
+  void cleanup();
   
   void getUASID_test();
   void getUASName_test();
@@ -47,16 +46,12 @@ private slots:
   void getRoll_test();
   void getPitch_test();
   void getYaw_test();
-
   void getSelected_test();
   void getSystemType_test();
   void getAirframe_test();
-
-
   void getWaypointList_test();
-  void getWaypoint_test();
-
   void signalWayPoint_test();
+  void getWaypoint_test();
   void signalUASLink_test();
   void signalIdUASLink_test();
 };

src/uas/UAS.cc

@@ -97,6 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     systemIsArmed(false),
     nedPosGlobalOffset(0,0,0),
     nedAttGlobalOffset(0,0,0)
+
 {
     for (unsigned int i = 0; i<255;++i)
     {
@@ -105,12 +106,13 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     }
 
     color = UASInterface::getNextColor();
+    
     setBatterySpecs(QString("9V,9.5V,12.6V"));
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
     connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
     statusTimeout->start(500);
     readSettings();
-
+//    autopilot = 11;
     // Initial signals
     emit disarmed();
     emit armingChanged(false);
@@ -121,8 +123,15 @@ UAS::~UAS()
     writeSettings();
     delete links;
     links=NULL;
-}
+    //if(statusTimeout != NULL){
+   // delete statusTimeout;
+   // statusTimeout = NULL;//}
+  //  if(simulation != NULL){
+  //  delete simulation;
+   // simulation = NULL;
+   // }
 
+}
 void UAS::writeSettings()
 {
     QSettings settings;
@@ -149,6 +158,14 @@ void UAS::readSettings()
     settings.endGroup();
 }
 
+void UAS::deleteSettings()
+{
+    this->name = "";
+    this->airframe = QGC_AIRFRAME_EASYSTAR,
+    this->autopilot = -1;
+   setBatterySpecs(QString("9V,9.5V,12.6V"));
+}
+
 int UAS::getUASID() const
 {
     return uasId;

src/uas/UAS.h

@@ -143,7 +143,6 @@ public:
         return yaw;
     }
     bool getSelected() const;
-
     QVector3D getNedPosGlobalOffset() const
     {
         return nedPosGlobalOffset;
@@ -430,7 +429,7 @@ public:
 
     QImage getImage();
     void requestImage();
-    int getAutopilotType() {
+    int getAutopilotType(){
         return autopilot;
     }
     QString getAutopilotTypeName()
@@ -484,7 +483,7 @@ public slots:
     void setAutopilotType(int apType)
     {
         autopilot = apType;
-        emit systemSpecsChanged(uasId);
+        //emit systemSpecsChanged(uasId);
     }
     /** @brief Set the type of airframe */
     void setSystemType(int systemType);
@@ -638,7 +637,7 @@ public slots:
 
     void startDataRecording();
     void stopDataRecording();
-
+    void deleteSettings();
 signals:
 
     /** @brief The main/battery voltage has changed/was updated */

src/uas/UASInterface.h

@@ -171,35 +171,33 @@ public:
      */
     static QColor getNextColor() {
         /* Create color map */
-        static QList<QColor> colors = QList<QColor>();
-        static int nextColor = -1;
+        static QList<QColor> colors = QList<QColor>() 
+		<< QColor(231,72,28) 
+		<< QColor(104,64,240) 
+		<< QColor(203,254,121) 
+		<< QColor(161,252,116)
+               	<< QColor(232,33,47) 
+		<< QColor(116,251,110) 
+		<< QColor(234,38,107) 
+		<< QColor(104,250,138)
+                << QColor(235,43,165) 
+		<< QColor(98,248,176) 
+		<< QColor(236,48,221) 
+		<< QColor(92,247,217)
+                << QColor(200,54,238) 
+		<< QColor(87,231,246) 
+		<< QColor(151,59,239) 
+		<< QColor(81,183,244)
+                << QColor(75,133,243) 
+		<< QColor(242,255,128) 
+		<< QColor(230,126,23);
         
-        if (nextColor == -1) {
-            ///> Color map for plots, includes 20 colors
-            ///> Map will start from beginning when the first 20 colors are exceeded
-
-            colors.append(QColor(231,72,28));
-            colors.append(QColor(104,64,240));
-            colors.append(QColor(203,254,121));
-            colors.append(QColor(161,252,116));
-            colors.append(QColor(232,33,47));
-            colors.append(QColor(116,251,110));
-            colors.append(QColor(234,38,107));
-            colors.append(QColor(104,250,138));
-            colors.append(QColor(235,43,165));
-            colors.append(QColor(98,248,176));
-            colors.append(QColor(236,48,221));
-            colors.append(QColor(92,247,217));
-            colors.append(QColor(200,54,238));
-            colors.append(QColor(87,231,246));
-            colors.append(QColor(151,59,239));
-            colors.append(QColor(81,183,244));
-            colors.append(QColor(75,133,243));
-            colors.append(QColor(242,255,128));
-            colors.append(QColor(230,126,23));
-            nextColor = 0;
+        static int nextColor = -1;
+        if(nextColor == 18){//if at the end of the list
+            nextColor = -1;//go back to the beginning
         }
-        return colors[nextColor++];
+        nextColor++; 
+        return colors[nextColor];//return the next color
    }
 
     /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/