Merge pull request #88 from Susurrus/unitesting_fixfix

Unittesting fix

qgcunittest/SlugsMavUnitTest.cc

-#include "SlugsMavUnitTest.h"
-
-SlugsMavUnitTest::SlugsMavUnitTest()
-{
-}
-
-void SlugsMavUnitTest::initTestCase()
-{
-    mav = new MAVLinkProtocol();
-    slugsMav = new SlugsMAV(mav, UASID);
-}
-
-void SlugsMavUnitTest::cleanupTestCase()
-{
-    delete slugsMav;
-    delete mav;
-}
-
-void SlugsMavUnitTest::first_test()
-{
-  QCOMPARE(1,1);
-}
-
-void SlugsMavUnitTest::getPwmCommands_test()
-{
-    mavlink_pwm_commands_t* k = slugsMav->getPwmCommands();
-    k->aux1=80;
-
-    mavlink_pwm_commands_t* k2 = slugsMav->getPwmCommands();
-    k2->aux1=81;
-
-    QCOMPARE(k->aux1, k2->aux1);
-}
-

qgcunittest/SlugsMavUnitTest.h

-#ifndef SLUGSMAVUNITTEST_H
-#define SLUGSMAVUNITTEST_H
-
-#include <QObject>
-#include <QtCore/QString>
-#include <QtTest/QtTest>
-
-#include "UAS.h"
-#include "MAVLinkProtocol.h"
-#include "UASInterface.h"
-#include "AutoTest.h"
-#include "SlugsMAV.h"
-
-class SlugsMavUnitTest : public QObject
-{
-    Q_OBJECT
-public:
-#define UASID 5
-    MAVLinkProtocol* mav;
-    SlugsMAV* slugsMav;
-  SlugsMavUnitTest();
-signals:
-
-private slots:
-  void initTestCase();
-  void cleanupTestCase();
-  void first_test();
-
-  void getPwmCommands_test();
-
-};
-
-DECLARE_TEST(SlugsMavUnitTest)
-
-#endif // SLUGSMAVUNITTEST_H

qgcunittest/UASUnitTest.cc

@@ -6,9 +6,8 @@ UASUnitTest::UASUnitTest()
 
 void UASUnitTest::initTestCase()
 {
-    mav= new MAVLinkProtocol();
-    link = new SerialLink();
-    uas=new UAS(mav,UASID);
+    mav = new MAVLinkProtocol();
+    uas = new UAS(mav,UASID);
 }
 
 void UASUnitTest::cleanupTestCase()
@@ -27,7 +26,7 @@ void UASUnitTest::getUASID_test()
     // Test that the chosen ID was assigned at construction
     QCOMPARE(uas->getUASID(), UASID);
 
-    // Make sure that no other ID was sert
+    // Make sure that no other ID was set
     QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue);
     QCOMPARE(uas->getUASID(), 0);
 
@@ -177,27 +176,27 @@ void UASUnitTest::getAirframe_test()
 
 void UASUnitTest::getWaypointList_test()
 {
-    QVector<Waypoint*> kk = uas->getWaypointManager()->getWaypointList();
+    QVector<Waypoint*> kk = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(kk.count(), 0);
 
-    Waypoint* wp = new Waypoint(0,0,0,0,0,false, false, 0,0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
-    uas->getWaypointManager()->addWaypoint(wp, true);
+    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");
+    uas->getWaypointManager()->addWaypointEditable(wp, true);
 
-    kk = uas->getWaypointManager()->getWaypointList();
+    kk = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(kk.count(), 1);
 
     wp = new Waypoint();
-    uas->getWaypointManager()->addWaypoint(wp, false);
+    uas->getWaypointManager()->addWaypointEditable(wp, false);
 
-    kk = uas->getWaypointManager()->getWaypointList();
+    kk = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(kk.count(), 2);
 
     uas->getWaypointManager()->removeWaypoint(1);
-    kk = uas->getWaypointManager()->getWaypointList();
+    kk = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(kk.count(), 1);
 
     uas->getWaypointManager()->removeWaypoint(0);
-    kk = uas->getWaypointManager()->getWaypointList();
+    kk = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(kk.count(), 0);
 
     qDebug()<<"disconnect SIGNAL waypointListChanged";
@@ -205,17 +204,17 @@ void UASUnitTest::getWaypointList_test()
 
 void UASUnitTest::getWaypoint_test()
 {
-    Waypoint* wp = new Waypoint(0,5.6,0,0,0,false, false, 0,0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
+    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");
 
-    uas->getWaypointManager()->addWaypoint(wp, true);
+    uas->getWaypointManager()->addWaypointEditable(wp, true);
 
-    QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointList();
+    QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
 
     QCOMPARE(wpList.count(), 1);
     QCOMPARE(static_cast<quint16>(0), static_cast<Waypoint*>(wpList.at(0))->getId());
 
     wp = new Waypoint(0, 5.6, 2, 3);
-    uas->getWaypointManager()->addWaypoint(wp, true);
+    uas->getWaypointManager()->addWaypointEditable(wp, true);
     Waypoint* wp2 = static_cast<Waypoint*>(wpList.at(0));
 
     QCOMPARE(wp->getX(), wp2->getX());
@@ -226,9 +225,9 @@ void UASUnitTest::getWaypoint_test()
 void UASUnitTest::signalWayPoint_test()
 {
     QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointListChanged()));
-
-    Waypoint* wp = new Waypoint(0,5.6,0,0,0,false, false, 0,0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
-    uas->getWaypointManager()->addWaypoint(wp, true);
+	
+    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");
+    uas->getWaypointManager()->addWaypointEditable(wp, true);
 
     QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint
     uas->getWaypointManager()->removeWaypoint(0);
@@ -245,11 +244,11 @@ void UASUnitTest::signalWayPoint_test()
     QSignalSpy spy2(uas->getWaypointManager(), SIGNAL(waypointListChanged()));
     QCOMPARE(spy2.count(), 0);
 
-    uas->getWaypointManager()->addWaypoint(wp, true);
+    uas->getWaypointManager()->addWaypointEditable(wp, true);
     QCOMPARE(spy2.count(), 1);
 
     uas->getWaypointManager()->clearWaypointList();
-    QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointList();
+    QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(wpList.count(), 1);
 }
 

qgcunittest/UASUnitTest.h

@@ -25,8 +25,6 @@ public:
   UAS* uas;
   UASUnitTest();
 
-signals:
-
 private slots:
   void initTestCase();
   void cleanupTestCase();
@@ -61,10 +59,6 @@ private slots:
   void signalWayPoint_test();
   void signalUASLink_test();
   void signalIdUASLink_test();
-
-protected:
-    UAS *prueba;
-
 };
 
 DECLARE_TEST(UASUnitTest)

qgcunittest/tst_uasunittest.cc

-#include <QtCore/QString>
-#include <QtTest/QtTest>
-#include "UAS.h"
-#include "MAVLinkProtocol.h"
-#include "UASInterface.h"
-
-class UASUnitTest : public QObject
-{
-    Q_OBJECT
-
-public:
-    #define  UASID  50
-    MAVLinkProtocol* mav;
-    UAS* uas;
-    UASUnitTest();
-
-private Q_SLOTS:
-    void initTestCase();
-    void cleanupTestCase();
-    void getUASID_test();
-    void getUASName_test();
-    void getUpTime_test();
-    void getCommunicationStatus_test();
-    void filterVoltage_test();
-    void getAutopilotType_test();
-    void setAutopilotType_test();
-    void getStatusForCode_test();
-    void getLocalX_test();
-    void getLocalY_test();
-    void getLocalZ_test();
-    void getLatitude_test();
-    void getLongitude_test();
-    void getAltitude_test();
-    void getRoll_test();
-    void getPitch_test();
-    void getYaw_test();
-
-private:
-
-protected:
-    UAS *prueba;
-};
-
-UASUnitTest::UASUnitTest()
-{
-}
-
-void UASUnitTest::initTestCase()
-{
-  mav= new MAVLinkProtocol();
-  uas=new UAS(mav,UASID);
-}
-
-void UASUnitTest::cleanupTestCase()
-{
-  delete uas;
-  delete mav;
-
-}
-
-void UASUnitTest::getUASID_test()
-{
-    // Test a default ID of zero is assigned
-    UAS* uas2 = new UAS(mav);
-    QCOMPARE(uas2->getUASID(), 0);
-    delete uas2;
-
-    // Test that the chosen ID was assigned at construction
-    QCOMPARE(uas->getUASID(), UASID);
-
-    // Make sure that no other ID was sert
-    QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue);
-    QCOMPARE(uas->getUASID(), 0);
-}
-
-void UASUnitTest::getUASName_test()
-{
-  // Test that the name is build as MAV + ID
-  QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
-
-}
-
-void UASUnitTest::getUpTime_test()
-{
-  UAS* uas2 = new UAS(mav);
-  // Test that the uptime starts at zero to a
-  // precision of seconds
-  QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
-
-  // Sleep for three seconds
-  QTest::qSleep(3000);
-
-  // Test that the up time is computed correctly to a
-  // precision of seconds
-  QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
-
-  delete uas2;
-}
-
-void UASUnitTest::getCommunicationStatus_test()
-{
-  // Verify that upon construction the Comm status is disconnected
-  QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
-}
-
-void UASUnitTest::filterVoltage_test()
-{
-    float verificar=uas->filterVoltage(0.4f);
-  // Verify that upon construction the Comm status is disconnected
-  QCOMPARE(verificar, 8.52f);
-}
-void UASUnitTest:: getAutopilotType_test()
-{
-    int verificar=uas->getAutopilotType();
-  // Verify that upon construction the autopilot is set to -1
-  QCOMPARE(verificar, -1);
-}
-void UASUnitTest::setAutopilotType_test()
-{
-  uas->setAutopilotType(2);
-  // Verify that the autopilot is set
-  QCOMPARE(uas->getAutopilotType(), 2);
-}
-
-void UASUnitTest::getStatusForCode_test()
-{
-  QString state, desc;
-  state = "";
-  desc = "";
-
-  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
-  QVERIFY(state == "UNINIT");
-
-  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
-  QVERIFY(state == "UNINIT");
-
-  uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
-  QVERIFY(state == "BOOT");
-
-  uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
-  QVERIFY(state == "CALIBRATING");
-
-  uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
-  QVERIFY(state == "ACTIVE");
-
-  uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
-  QVERIFY(state == "STANDBY");
-
-  uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
-  QVERIFY(state == "CRITICAL");
-
-  uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
-  QVERIFY(state == "EMERGENCY");
-
-  uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
-  QVERIFY(state == "SHUTDOWN");
-
-  uas->getStatusForCode(5325, state, desc);
-  QVERIFY(state == "UNKNOWN");
-}
-
-
-void UASUnitTest::getLocalX_test()
-{
-  QCOMPARE(uas->getLocalX(), 0.0);
-}
-void UASUnitTest::getLocalY_test()
-{
-  QCOMPARE(uas->getLocalY(), 0.0);
-}
-void UASUnitTest::getLocalZ_test()
-{
-  QCOMPARE(uas->getLocalZ(), 0.0);
-}
-void UASUnitTest::getLatitude_test()
-{  QCOMPARE(uas->getLatitude(), 0.0);
-}
-void UASUnitTest::getLongitude_test()
-{
-  QCOMPARE(uas->getLongitude(), 0.0);
-}
-void UASUnitTest::getAltitude_test()
-{
-  QCOMPARE(uas->getAltitude(), 0.0);
-}
-void UASUnitTest::getRoll_test()
-{
-  QCOMPARE(uas->getRoll(), 0.0);
-}
-void UASUnitTest::getPitch_test()
-{
-  QCOMPARE(uas->getPitch(), 0.0);
-}
-void UASUnitTest::getYaw_test()
-{
-  QCOMPARE(uas->getYaw(), 0.0);
-}
-
-QTEST_APPLESS_MAIN(UASUnitTest);
-
-#include "tst_uasunittest.moc"