/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2014 QGROUNDCONTROL PROJECT 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 . ======================================================================*/ #ifndef MOCKUASMANAGER_H #define MOCKUASMANAGER_H #include "UASManagerInterface.h" #include "MockUAS.h" /// @file /// @brief This is a mock implementation of a UASManager used for writing Unit Tests. In order /// to use it you must call UASManager::setMockUASManager which will then cause all further /// calls to UASManager::instance to return the mock UASManager instead of the normal one. /// /// @author Don Gagne class MockUASManager : public UASManagerInterface { Q_OBJECT signals: // The following signals from UASManager interface are supported void activeUASSet(UASInterface* UAS); void activeUASSet(int systemId); void activeUASStatusChanged(UASInterface* UAS, bool active); void activeUASStatusChanged(int systemId, bool active); public: // Implemented UASManagerInterface overrides virtual UASInterface* getActiveUAS(void); public: // MockUASManager methods MockUASManager(void); /// Sets the currently active mock UAS /// @param mockUAS new mock uas, NULL for no active UAS void setMockActiveUAS(MockUAS* mockUAS); public: // Unimplemented UASManagerInterface overrides virtual UASWaypointManager *getActiveUASWaypointManager() { Q_ASSERT(false); return NULL; } virtual UASInterface* silentGetActiveUAS() { Q_ASSERT(false); return NULL; } virtual UASInterface* getUASForId(int id) { Q_ASSERT(false); Q_UNUSED(id); return NULL; } virtual QList getUASList() { Q_ASSERT(false); return _bogusQListUASInterface; } virtual double getHomeLatitude() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); } virtual double getHomeLongitude() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); } virtual double getHomeAltitude() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); } virtual int getHomeFrame() const { Q_ASSERT(false); return 0; } virtual Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude) { Q_ASSERT(false); Q_UNUSED(latitude); Q_UNUSED(longitude); Q_UNUSED(altitude); return _bogusEigenVector3d; } virtual Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef) { Q_ASSERT(false); Q_UNUSED(ecef); return _bogusEigenVector3d; } virtual void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up) { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(east); Q_UNUSED(north); Q_UNUSED(up); } virtual void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); } virtual void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); } virtual void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2) { Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); } virtual bool isInLocalNEDSafetyLimits(double x, double y, double z) { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); return false; } public slots: // Unimplemented UASManagerInterface overrides virtual void setActiveUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); } virtual void addUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); } virtual void removeUAS(UASInterface* uas) { Q_ASSERT(false); Q_UNUSED(uas);} virtual bool launchActiveUAS() { Q_ASSERT(false); return false; } virtual bool haltActiveUAS() { Q_ASSERT(false); return false; } virtual bool continueActiveUAS() { Q_ASSERT(false); return false; } virtual bool returnActiveUAS() { Q_ASSERT(false); return false; } virtual bool stopActiveUAS() { Q_ASSERT(false); return false; } virtual bool killActiveUAS() { Q_ASSERT(false); return false; } virtual void configureActiveUAS() { Q_ASSERT(false); } virtual bool shutdownActiveUAS() { Q_ASSERT(false); return false; } virtual bool setHomePosition(double lat, double lon, double alt) { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; } virtual bool setHomePositionAndNotify(double lat, double lon, double alt) { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; } virtual void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2) { Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); } virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt) { Q_ASSERT(false); Q_UNUSED(uav); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); } virtual void loadSettings() { Q_ASSERT(false); } virtual void storeSettings() { Q_ASSERT(false); } private: MockUAS* _mockUAS; // Bogus variables used for return types of NYI methods QList _bogusQListUASInterface; Eigen::Vector3d _bogusEigenVector3d; public: /* Need to align struct pointer to prevent a memory assertion: * See http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html * for details */ EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; #endif