79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#ifndef MissionControllerManagerTest_H
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#define MissionControllerManagerTest_H
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#include "UnitTest.h"
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#include "MockLink.h"
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#include "MissionManager.h"
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#include "MultiSignalSpy.h"
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#include <QGeoCoordinate>
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/// This is the base class for the MissionManager and MissionController unit tests.
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class MissionControllerManagerTest : public UnitTest
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{
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Q_OBJECT
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public:
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MissionControllerManagerTest(void);
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protected slots:
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void cleanup(void);
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protected:
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void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
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void _checkInProgressValues(bool inProgress);
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MissionManager* _missionManager;
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typedef struct {
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int sequenceNumber;
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QGeoCoordinate coordinate;
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MAV_CMD command;
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double param1;
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double param2;
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double param3;
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double param4;
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bool autocontinue;
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bool isCurrentItem;
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MAV_FRAME frame;
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} ItemInfo_t;
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typedef struct {
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const char* itemStream;
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const ItemInfo_t expectedItem;
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} TestCase_t;
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typedef enum {
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newMissionItemsAvailableSignalIndex = 0,
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sendCompleteSignalIndex,
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inProgressChangedSignalIndex,
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errorSignalIndex,
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maxSignalIndex
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} MissionManagerSignalIndex_t;
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typedef enum {
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newMissionItemsAvailableSignalMask = 1 << newMissionItemsAvailableSignalIndex,
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sendCompleteSignalMask = 1 << sendCompleteSignalIndex,
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inProgressChangedSignalMask = 1 << inProgressChangedSignalIndex,
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errorSignalMask = 1 << errorSignalIndex,
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} MissionManagerSignalMask_t;
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MultiSignalSpy* _multiSpyMissionManager;
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static const size_t _cMissionManagerSignals = maxSignalIndex;
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const char* _rgMissionManagerSignals[_cMissionManagerSignals];
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static const int _missionManagerSignalWaitTime = MissionManager::_ackTimeoutMilliseconds * MissionManager::_maxRetryCount * 2;
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};
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#endif
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