src/MissionManager/MissionManagerTest.cc

@@ -27,9 +27,9 @@ MissionManagerTest::MissionManagerTest(void)
     
 }
 
-void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, bool shouldFail)
+void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult, bool shouldFail)
 {
-    _mockLink->setMissionItemFailureMode(failureMode);
+    _mockLink->setMissionItemFailureMode(failureMode, failureAckResult);
     
     // Setup our test case data
     QList<MissionItem*> missionItems;
@@ -115,11 +115,11 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
     _multiSpyMissionManager->clearAllSignals();
 }
 
-void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, bool shouldFail)
+void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult, bool shouldFail)
 {
-    _writeItems(MockLinkMissionItemHandler::FailNone, false);
+    _writeItems(MockLinkMissionItemHandler::FailNone, failureAckResult, false);
     
-    _mockLink->setMissionItemFailureMode(failureMode);
+    _mockLink->setMissionItemFailureMode(failureMode, failureAckResult);
 
     // Read the items back from the vehicle
     _missionManager->loadFromVehicle();
@@ -253,8 +253,8 @@ void MissionManagerTest::_testWriteFailureHandlingWorker(void)
 
     for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
         const WriteTestCase_t* pCase = &rgTestCases[i];
-        qDebug() << "TEST CASE " << pCase->failureText;
-        _writeItems(pCase->failureMode, pCase->shouldFail);
+        qDebug() << "TEST CASE _testWriteFailureHandlingWorker" << pCase->failureText;
+        _writeItems(pCase->failureMode, MAV_MISSION_ERROR, pCase->shouldFail);
         _mockLink->resetMissionItemHandler();
     }
 }
@@ -298,8 +298,8 @@ void MissionManagerTest::_testReadFailureHandlingWorker(void)
 
     for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
         const ReadTestCase_t* pCase = &rgTestCases[i];
-        qDebug() << "TEST CASE " << pCase->failureText;
-        _roundTripItems(pCase->failureMode, pCase->shouldFail);
+        qDebug() << "TEST CASE _testReadFailureHandlingWorker" << pCase->failureText;
+        _roundTripItems(pCase->failureMode, MAV_MISSION_ERROR, pCase->shouldFail);
         _mockLink->resetMissionItemHandler();
         _multiSpyMissionManager->clearAllSignals();
     }
@@ -329,3 +329,34 @@ void MissionManagerTest::_testReadFailureHandlingPX4(void)
     _initForFirmwareType(MAV_AUTOPILOT_PX4);
     _testReadFailureHandlingWorker();
 }
+
+void MissionManagerTest::_testErrorAckFailureStrings(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+
+    typedef struct {
+        const char*                                 ackResultStr;
+        MAV_MISSION_RESULT                          ackResult;
+    } ErrorStringTestCase_t;
+
+    static const ErrorStringTestCase_t rgTestCases[] = {
+        { "MAV_MISSION_UNSUPPORTED_FRAME",  MAV_MISSION_UNSUPPORTED_FRAME },
+        { "MAV_MISSION_UNSUPPORTED",        MAV_MISSION_UNSUPPORTED },
+        { "MAV_MISSION_INVALID_PARAM1",     MAV_MISSION_INVALID_PARAM1 },
+        { "MAV_MISSION_INVALID_PARAM2",     MAV_MISSION_INVALID_PARAM2 },
+        { "MAV_MISSION_INVALID_PARAM3",     MAV_MISSION_INVALID_PARAM3 },
+        { "MAV_MISSION_INVALID_PARAM4",     MAV_MISSION_INVALID_PARAM4 },
+        { "MAV_MISSION_INVALID_PARAM5_X",   MAV_MISSION_INVALID_PARAM5_X },
+        { "MAV_MISSION_INVALID_PARAM6_Y",   MAV_MISSION_INVALID_PARAM6_Y },
+        { "MAV_MISSION_INVALID_PARAM7",     MAV_MISSION_INVALID_PARAM7 },
+        { "MAV_MISSION_INVALID_SEQUENCE",   MAV_MISSION_INVALID_SEQUENCE },
+    };
+
+    for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
+        const ErrorStringTestCase_t* pCase = &rgTestCases[i];
+        qDebug() << "TEST CASE _testErrorAckFailureStrings" << pCase->ackResultStr;
+        _writeItems(MockLinkMissionItemHandler::FailWriteRequest1ErrorAck, pCase->ackResult, true /* shouldFail */);
+        _mockLink->resetMissionItemHandler();
+    }
+
+}

src/MissionManager/MissionManagerTest.h

@@ -31,10 +31,11 @@ private slots:
     void _testWriteFailureHandlingAPM(void);
     void _testReadFailureHandlingPX4(void);
     void _testReadFailureHandlingAPM(void);
+    void _testErrorAckFailureStrings(void);
 
 private:
-    void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, bool shouldFail);
-    void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, bool shouldFail);
+    void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult, bool shouldFail);
+    void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult, bool shouldFail);
     void _testWriteFailureHandlingWorker(void);
     void _testReadFailureHandlingWorker(void);
     

src/comm/MockLink.cc

@@ -1013,9 +1013,9 @@ void MockLink::_respondWithAutopilotVersion(void)
     respondWithMavlinkMessage(msg);
 }
 
-void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode)
+void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult)
 {
-    _missionItemHandler.setMissionItemFailureMode(failureMode);
+    _missionItemHandler.setFailureMode(failureMode, failureAckResult);
 }
 
 void MockLink::_sendHomePosition(void)

src/comm/MockLink.h

@@ -134,7 +134,8 @@ public:
 
     /// Sets a failure mode for unit testing
     ///     @param failureMode Type of failure to simulate
-    void setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode);
+    ///     @param failureAckResult Error to send if one the ack error modes
+    void setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult);
 
     /// Called to send a MISSION_ACK message while the MissionManager is in idle state
     void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }

src/comm/MockLinkMissionItemHandler.cc

@@ -200,7 +200,7 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
         
         if ((_failureMode == FailReadRequest0ErrorAck && request.seq == 0) ||
                 (_failureMode == FailReadRequest1ErrorAck && request.seq == 1)) {
-            _sendAck(MAV_MISSION_ERROR);
+            _sendAck(_failureAckResult);
         } else {
             MissionItemBoth_t missionItemBoth;
 
@@ -327,7 +327,7 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
         if ((_failureMode == FailWriteRequest0ErrorAck && sequenceNumber == 0) ||
                 (_failureMode == FailWriteRequest1ErrorAck && sequenceNumber == 1)) {
             qCDebug(MockLinkMissionItemHandlerLog) << "_requestNextMissionItem sending ack error due to failure mode";
-            _sendAck(MAV_MISSION_ERROR);
+            _sendAck(_failureAckResult);
         } else {
             mavlink_message_t message;
 
@@ -408,7 +408,7 @@ void MockLinkMissionItemHandler::_handleMissionItem(const mavlink_message_t& msg
     _writeSequenceIndex++;
     if (_writeSequenceIndex < _writeSequenceCount) {
         if (_failureMode == FailWriteFinalAckMissingRequests && _writeSequenceIndex == 3) {
-            // Send MAV_MISSION_ACCPETED ack too early
+            // Send MAV_MISSION_ACCEPTED ack too early
             _sendAck(MAV_MISSION_ACCEPTED);
         } else {
             _requestNextMissionItem(_writeSequenceIndex);
@@ -448,9 +448,10 @@ void MockLinkMissionItemHandler::sendUnexpectedMissionRequest(void)
     Q_ASSERT(false);
 }
 
-void MockLinkMissionItemHandler::setMissionItemFailureMode(FailureMode_t failureMode)
+void MockLinkMissionItemHandler::setFailureMode(FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult)
 {
     _failureMode = failureMode;
+    _failureAckResult = failureAckResult;
 }
 
 void MockLinkMissionItemHandler::shutdown(void)

src/comm/MockLinkMissionItemHandler.h

@@ -63,7 +63,8 @@ public:
 
     /// Sets a failure mode for unit testing
     ///     @param failureMode Type of failure to simulate
-    void setMissionItemFailureMode(FailureMode_t failureMode);
+    ///     @param failureAckResult Error to send if one the ack error modes
+    void setFailureMode(FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult);
     
     /// Called to send a MISSION_ACK message while the MissionManager is in idle state
     void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType);
@@ -115,6 +116,7 @@ private:
 
     QTimer*             _missionItemResponseTimer;
     FailureMode_t       _failureMode;
+    MAV_MISSION_RESULT  _failureAckResult;
     bool                _sendHomePositionOnEmptyList;
     MAVLinkProtocol*    _mavlinkProtocol;
     bool                _failReadRequestListFirstResponse;