Don Gagne
11 years ago
8 changed files with 497 additions and 46 deletions
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#include "UASUnitTest.h" |
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#include <stdio.h> |
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#include <QObject> |
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#include <QThread> |
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UASUnitTest::UASUnitTest() |
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{ |
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} |
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//This function is called after every test
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void UASUnitTest::init() |
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{ |
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mav = new MAVLinkProtocol(); |
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uas = new UAS(mav, QThread::currentThread(), UASID); |
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uas->deleteSettings(); |
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} |
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//this function is called after every test
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void UASUnitTest::cleanup() |
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{ |
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delete uas; |
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uas = NULL; |
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delete mav; |
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mav = NULL; |
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} |
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void UASUnitTest::getUASID_test() |
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{ |
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// Test a default ID of zero is assigned
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UAS* uas2 = new UAS(mav, QThread::currentThread()); |
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QCOMPARE(uas2->getUASID(), 0); |
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delete uas2; |
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// Test that the chosen ID was assigned at construction
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QCOMPARE(uas->getUASID(), UASID); |
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// Make sure that no other ID was set
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QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue); |
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QCOMPARE(uas->getUASID(), 0); |
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// Make sure that ID >= 0
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QCOMPARE(uas->getUASID(), 100); |
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} |
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void UASUnitTest::getUASName_test() |
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{ |
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// Test that the name is build as MAV + ID
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QCOMPARE(uas->getUASName(), "MAV " + QString::number(UASID)); |
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} |
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void UASUnitTest::getUpTime_test() |
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{ |
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UAS* uas2 = new UAS(mav, QThread::currentThread()); |
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// Test that the uptime starts at zero to a
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// precision of seconds
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QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0); |
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// Sleep for three seconds
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QTest::qSleep(3000); |
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// Test that the up time is computed correctly to a
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// precision of seconds
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QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0); |
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delete uas2; |
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} |
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void UASUnitTest::getCommunicationStatus_test() |
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{ |
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// Verify that upon construction the Comm status is disconnected
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QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED)); |
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} |
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void UASUnitTest::filterVoltage_test() |
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{ |
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float verificar=uas->filterVoltage(0.4f); |
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// We allow the voltage returned to be within a small delta
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const float allowedDelta = 0.05f; |
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const float desiredVoltage = 7.36f; |
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QVERIFY(verificar > (desiredVoltage - allowedDelta) && verificar < (desiredVoltage + allowedDelta)); |
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} |
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void UASUnitTest:: getAutopilotType_test() |
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{ |
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int type = uas->getAutopilotType(); |
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// Verify that upon construction the autopilot is set to -1
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QCOMPARE(type, -1); |
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} |
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void UASUnitTest::setAutopilotType_test() |
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{ |
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uas->setAutopilotType(2); |
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// Verify that the autopilot is set
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QCOMPARE(uas->getAutopilotType(), 2); |
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} |
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//verify that the correct status is returned if a certain statue is given to uas
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void UASUnitTest::getStatusForCode_test() |
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{ |
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QString state, desc; |
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state = ""; |
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desc = ""; |
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uas->getStatusForCode(MAV_STATE_UNINIT, state, desc); |
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QVERIFY(state == "UNINIT"); |
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uas->getStatusForCode(MAV_STATE_UNINIT, state, desc); |
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QVERIFY(state == "UNINIT"); |
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uas->getStatusForCode(MAV_STATE_BOOT, state, desc); |
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QVERIFY(state == "BOOT"); |
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uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc); |
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QVERIFY(state == "CALIBRATING"); |
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uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc); |
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QVERIFY(state == "ACTIVE"); |
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uas->getStatusForCode(MAV_STATE_STANDBY, state, desc); |
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QVERIFY(state == "STANDBY"); |
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uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc); |
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QVERIFY(state == "CRITICAL"); |
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uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc); |
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QVERIFY(state == "EMERGENCY"); |
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uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc); |
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QVERIFY(state == "SHUTDOWN"); |
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uas->getStatusForCode(5325, state, desc); |
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QVERIFY(state == "UNKNOWN"); |
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} |
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void UASUnitTest::getLocalX_test() |
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{ |
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QCOMPARE(uas->getLocalX(), 0.0); |
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} |
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void UASUnitTest::getLocalY_test() |
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{ |
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QCOMPARE(uas->getLocalY(), 0.0); |
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} |
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void UASUnitTest::getLocalZ_test() |
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{ |
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QCOMPARE(uas->getLocalZ(), 0.0); |
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} |
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void UASUnitTest::getLatitude_test() |
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{ |
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QCOMPARE(uas->getLatitude(), 0.0); |
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} |
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void UASUnitTest::getLongitude_test() |
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{ |
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QCOMPARE(uas->getLongitude(), 0.0); |
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} |
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void UASUnitTest::getAltitudeAMSL_test() |
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{ |
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QCOMPARE(uas->getAltitudeAMSL(), 0.0); |
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} |
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void UASUnitTest::getAltitudeRelative_test() |
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{ |
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QCOMPARE(uas->getAltitudeRelative(), 0.0); |
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} |
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void UASUnitTest::getRoll_test() |
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{ |
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QCOMPARE(uas->getRoll(), 0.0); |
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} |
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void UASUnitTest::getPitch_test() |
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{ |
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QCOMPARE(uas->getPitch(), 0.0); |
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} |
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void UASUnitTest::getYaw_test() |
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{ |
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QCOMPARE(uas->getYaw(), 0.0); |
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} |
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void UASUnitTest::getSelected_test() |
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{ |
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QCOMPARE(uas->getSelected(), false); |
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} |
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void UASUnitTest::getSystemType_test() |
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{ //check that system type is set to MAV_TYPE_GENERIC when initialized
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QCOMPARE(uas->getSystemType(), 0); |
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uas->setSystemType(13); |
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QCOMPARE(uas->getSystemType(), 13); |
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} |
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void UASUnitTest::getAirframe_test() |
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{ |
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//when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC
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QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC); |
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} |
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void UASUnitTest::setAirframe_test() |
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{ |
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//check at construction, that airframe=0 (GENERIC)
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QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC); |
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//check that set airframe works
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uas->setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER); |
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QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER); |
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//check that setAirframe will not assign a number to airframe, that is
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//not defined in the enum
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uas->setAirframe(UASInterface::QGC_AIRFRAME_END_OF_ENUM); |
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QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER); |
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} |
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void UASUnitTest::getWaypointList_test() |
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{ |
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QList<Waypoint*> kk = uas->getWaypointManager()->getWaypointEditableList(); |
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QCOMPARE(kk.count(), 0); |
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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"); |
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uas->getWaypointManager()->addWaypointEditable(wp, true); |
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kk = uas->getWaypointManager()->getWaypointEditableList(); |
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QCOMPARE(kk.count(), 1); |
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wp = new Waypoint(); |
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uas->getWaypointManager()->addWaypointEditable(wp, false); |
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kk = uas->getWaypointManager()->getWaypointEditableList(); |
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QCOMPARE(kk.count(), 2); |
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uas->getWaypointManager()->removeWaypoint(1); |
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kk = uas->getWaypointManager()->getWaypointEditableList(); |
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QCOMPARE(kk.count(), 1); |
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uas->getWaypointManager()->removeWaypoint(0); |
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kk = uas->getWaypointManager()->getWaypointEditableList(); |
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QCOMPARE(kk.count(), 0); |
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qDebug()<<"disconnect SIGNAL waypointListChanged"; |
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} |
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void UASUnitTest::getWaypoint_test() |
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{ |
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Waypoint* wp = new Waypoint(0,5.6,2.0,3.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah"); |
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uas->getWaypointManager()->addWaypointEditable(wp, true); |
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QList<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList(); |
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QCOMPARE(wpList.count(), 1); |
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QCOMPARE(static_cast<quint16>(0), static_cast<Waypoint*>(wpList.at(0))->getId()); |
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Waypoint* wp3 = new Waypoint(1, 5.6, 2.0, 3.0); |
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uas->getWaypointManager()->addWaypointEditable(wp3, true); |
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wpList = uas->getWaypointManager()->getWaypointEditableList(); |
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Waypoint* wp2 = static_cast<Waypoint*>(wpList.at(0)); |
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QCOMPARE(wpList.count(), 2); |
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QCOMPARE(wp3->getX(), wp2->getX()); |
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QCOMPARE(wp3->getY(), wp2->getY()); |
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QCOMPARE(wp3->getZ(), wp2->getZ()); |
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QCOMPARE(wpList.at(1)->getId(), static_cast<quint16>(1)); |
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QCOMPARE(wp3->getFrame(), MAV_FRAME_GLOBAL); |
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QCOMPARE(wp3->getFrame(), wp2->getFrame()); |
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delete wp3; |
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delete wp; |
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} |
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void UASUnitTest::signalWayPoint_test() |
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{ |
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QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged())); |
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Waypoint* wp = new Waypoint(0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah"); |
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uas->getWaypointManager()->addWaypointEditable(wp, true); |
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QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint
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uas->getWaypointManager()->removeWaypoint(0); |
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QCOMPARE(spy.count(), 2); // 2 listChanged for remove wayPoint
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QSignalSpy spyDestroyed(uas->getWaypointManager(), SIGNAL(destroyed())); |
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QVERIFY(spyDestroyed.isValid()); |
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QCOMPARE( spyDestroyed.count(), 0 ); |
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delete uas;// delete(destroyed) uas for validating
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uas = NULL; |
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QCOMPARE(spyDestroyed.count(), 1);// count destroyed uas should are 1
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uas = new UAS(mav, QThread::currentThread(), UASID); |
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QSignalSpy spy2(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged())); |
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QCOMPARE(spy2.count(), 0); |
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Waypoint* wp2 = 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"); |
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uas->getWaypointManager()->addWaypointEditable(wp2, true); |
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QCOMPARE(spy2.count(), 1); |
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uas->getWaypointManager()->clearWaypointList(); |
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QList<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList(); |
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QCOMPARE(wpList.count(), 1); |
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delete uas; |
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uas = NULL; |
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delete wp2; |
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} |
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void UASUnitTest::signalUASLink_test() |
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{ |
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QSignalSpy spy(uas, SIGNAL(modeChanged(int,QString,QString))); |
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uas->setMode(2, 0); |
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QCOMPARE(spy.count(), 0);// not solve for UAS not receiving message from UAS
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QSignalSpy spyS(LinkManager::instance(), SIGNAL(newLink(LinkInterface*))); |
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SerialLink* link = new SerialLink(); |
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LinkManager::instance()->add(link); |
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LinkManager::instance()->addProtocol(link, mav); |
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QCOMPARE(spyS.count(), 1); |
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LinkManager::instance()->add(link); |
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LinkManager::instance()->addProtocol(link, mav); |
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QCOMPARE(spyS.count(), 1);// not add SerialLink, exist in list
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SerialLink* link2 = new SerialLink(); |
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LinkManager::instance()->add(link2); |
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LinkManager::instance()->addProtocol(link2, mav); |
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QCOMPARE(spyS.count(), 2);// add SerialLink, not exist in list
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QList<LinkInterface*> links = LinkManager::instance()->getLinks(); |
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foreach(LinkInterface* link, links) |
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{ |
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qDebug()<< link->getName(); |
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qDebug()<< QString::number(link->getId()); |
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QVERIFY(link != NULL); |
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uas->addLink(link); |
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} |
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SerialLink* ff = static_cast<SerialLink*>(uas->getLinks()->at(0)); |
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QCOMPARE(ff->isConnected(), false); |
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QCOMPARE(ff->isRunning(), false); |
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QCOMPARE(ff->isFinished(), false); |
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QCOMPARE(links.count(), uas->getLinks()->count()); |
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QCOMPARE(uas->getLinks()->count(), 2); |
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delete link2; |
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QCOMPARE(LinkManager::instance()->getLinks().count(), 1); |
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QCOMPARE(uas->getLinks()->count(), 1); |
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QCOMPARE(static_cast<LinkInterface*>(LinkManager::instance()->getLinks().at(0))->getId(), |
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static_cast<LinkInterface*>(uas->getLinks()->at(0))->getId()); |
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SerialLink* link3 = new SerialLink(); |
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LinkManager::instance()->add(link3); |
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LinkManager::instance()->addProtocol(link3, mav); |
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QCOMPARE(spyS.count(), 3); |
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QCOMPARE(LinkManager::instance()->getLinks().count(), 2); |
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//all the links in LinkManager must be deleted because LinkManager::instance
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//is static.
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delete link3; |
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QCOMPARE(LinkManager::instance()->getLinks().count(), 1); |
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delete link; |
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QCOMPARE(LinkManager::instance()->getLinks().count(), 0); |
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} |
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void UASUnitTest::signalIdUASLink_test() |
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{ |
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QCOMPARE(LinkManager::instance()->getLinks().count(), 0); |
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SerialLink* myLink = new SerialLink(); |
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myLink->setPortName("COM 17"); |
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LinkManager::instance()->add(myLink); |
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LinkManager::instance()->addProtocol(myLink, mav); |
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SerialLink* myLink2 = new SerialLink(); |
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myLink2->setPortName("COM 18"); |
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LinkManager::instance()->add(myLink2); |
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LinkManager::instance()->addProtocol(myLink2, mav); |
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SerialLink* myLink3 = new SerialLink(); |
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myLink3->setPortName("COM 19"); |
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LinkManager::instance()->add(myLink3); |
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LinkManager::instance()->addProtocol(myLink3, mav); |
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SerialLink* myLink4 = new SerialLink(); |
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myLink4->setPortName("COM 20"); |
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LinkManager::instance()->add(myLink4); |
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LinkManager::instance()->addProtocol(myLink4, mav); |
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QCOMPARE(LinkManager::instance()->getLinks().count(), 4); |
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QList<LinkInterface*> links = LinkManager::instance()->getLinks(); |
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LinkInterface* a = static_cast<LinkInterface*>(links.at(0)); |
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LinkInterface* b = static_cast<LinkInterface*>(links.at(1)); |
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LinkInterface* c = static_cast<LinkInterface*>(links.at(2)); |
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LinkInterface* d = static_cast<LinkInterface*>(links.at(3)); |
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QCOMPARE(a->getName(), QString("COM 17")); |
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QCOMPARE(b->getName(), QString("COM 18")); |
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QCOMPARE(c->getName(), QString("COM 19")); |
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QCOMPARE(d->getName(), QString("COM 20")); |
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delete myLink4; |
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delete myLink3; |
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delete myLink2; |
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delete myLink; |
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QCOMPARE(LinkManager::instance()->getLinks().count(), 0); |
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} |
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@ -0,0 +1,56 @@
@@ -0,0 +1,56 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#ifndef UASUNITTEST_H |
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#define UASUNITTEST_H |
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#include <QObject> |
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#include "LinkManager.h" |
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/// @file
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/// @brief LinkManager Unit Test
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///
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/// @author Don Gagne <don@thegagnes.com>
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class LinkManagerTest : public QObject |
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{ |
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Q_OBJECT |
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public: |
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LinkManagerTest(void); |
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private slots: |
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void initTestCase(void); |
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void init(void); |
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void cleanup(void); |
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void _setUAS_test(void); |
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void _minRCChannels_test(void); |
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void _fullCalibration_test(void); |
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}; |
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DECLARE_TEST(LinkManagerTest) |
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#endif |
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