Working on UASUnitTest

qgcunittest/SlugsMavUnitTest.cc

@@ -1,20 +1,23 @@
-#include "SlugsMavUnitTest.h"
-
-SlugsMavUnitTest::SlugsMavUnitTest()
-{
-}
-
-void SlugsMavUnitTest::initTestCase()
-{
-
-}
-
-void SlugsMavUnitTest::cleanupTestCase()
-{
-
-}
-
-void SlugsMavUnitTest::first_test()
-{
-  QCOMPARE(1,2);
-}
+#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);
+}
+

qgcunittest/SlugsMavUnitTest.h

@@ -1,27 +1,32 @@
-#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"
-
-class SlugsMavUnitTest : public QObject
-{
-    Q_OBJECT
-public:
-  SlugsMavUnitTest();
-signals:
-
-private slots:
-  void initTestCase();
-  void cleanupTestCase();
-  void first_test();
-};
-
-DECLARE_TEST(SlugsMavUnitTest)
-
-#endif // 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();
+
+};
+
+DECLARE_TEST(SlugsMavUnitTest)
+
+#endif // SLUGSMAVUNITTEST_H

qgcunittest/UASUnitTest.cc

@@ -1,156 +1,269 @@
-#include "UASUnitTest.h"
-
-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);
-}
+#include "UASUnitTest.h"
+
+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);
+
+    // Make sure that ID >= 0
+    QCOMPARE(uas->getUASID(), -1);
+
+
+}
+
+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);
+}
+
+void UASUnitTest::getSelected_test()
+{
+    QCOMPARE(uas->getSelected(), false);
+
+    //QCOMPARE(uas->getSelected(), true);
+}
+
+void UASUnitTest::getSystemType_test()
+{
+    //QCOMPARE(uas->getSystemType(), -1);
+
+    QEXPECT_FAIL("", "uas->getSystemType(), 0", Continue);
+    QCOMPARE(uas->getSystemType(), 0);
+
+    QEXPECT_FAIL("", "uas->getSystemType(), 1", Continue);
+    QCOMPARE(uas->getSystemType(), 1);
+
+    int systemType = uas->getSystemType();
+    QCOMPARE(uas->getSystemType(), systemType);
+}
+
+void UASUnitTest::getAirframe_test()
+{
+    //QCOMPARE(uas->getAirframe(), -1);
+
+    QCOMPARE(uas->getAirframe(), 0);
+
+    uas->setAirframe(25);
+    QCOMPARE(uas->getAirframe(), 1);
+
+    QVERIFY(uas->getAirframe() == 25);
+}
+
+void UASUnitTest::getLinks_test()
+{
+    // Compare that the links count equal to 0
+    QCOMPARE(uas->getLinks()->count(), 0);
+
+    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
+    // Compare that the links in LinkManager count equal to 0
+    QCOMPARE(links.count(), 0);
+
+    LinkInterface* l;
+    uas->getLinks()->append(l);
+
+    // Compare that the links in LinkManager count equal to 1
+    QCOMPARE(uas->getLinks()->count(), 1);
+
+    QList<LinkInterface*> links2 = LinkManager::instance()->getLinks();
+
+    // Compare that the links count equals after update add link in uas
+    QCOMPARE(uas->getLinks()->count(), links2.count()+1);
+
+    // Compare that the link l is equal to link[0] from links in uas
+    QCOMPARE(l, static_cast<LinkInterface*>(uas->getLinks()->at(0)));
+
+    // Compare that the link l is equal to link[0] from links in uas through count links
+    QCOMPARE(l, static_cast<LinkInterface*>(uas->getLinks()->at(uas->getLinks()->count()-1)));
+
+    uas->addLink(l);
+    QCOMPARE(uas->getLinks()->count(), 1);
+
+    uas->removeLink(0);// dynamic_cast<QObject*>(l));
+    QCOMPARE(uas->getLinks()->count(), 0);
+}
+
+void UASUnitTest::getWaypointList_test()
+{
+    QVector<Waypoint*> kk = uas->getWaypointManager()->getWaypointList();
+    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);
+
+    kk = uas->getWaypointManager()->getWaypointList();
+    QCOMPARE(kk.count(), 1);
+
+    wp = new Waypoint();
+    uas->getWaypointManager()->addWaypoint(wp, false);
+
+    kk = uas->getWaypointManager()->getWaypointList();
+    QCOMPARE(kk.count(), 2);
+
+    uas->getWaypointManager()->removeWaypoint(1);
+    kk = uas->getWaypointManager()->getWaypointList();
+    QCOMPARE(kk.count(), 1);
+
+    uas->getWaypointManager()->removeWaypoint(0);
+    kk = uas->getWaypointManager()->getWaypointList();
+    QCOMPARE(kk.count(), 0);
+
+    wp = new Waypoint();
+    uas->getWaypointManager()->addWaypoint(wp, true);
+
+    wp = new Waypoint();
+    uas->getWaypointManager()->addWaypoint(wp, false);
+
+    // Fail clearWaypointList
+    //uas->getWaypointManager()->clearWaypointList();
+    //kk = uas->getWaypointManager()->getWaypointList();
+    //QCOMPARE(kk.count(), 1);
+}
+
+void UASUnitTest::battery_test()
+{
+    QCOMPARE(uas->getCommunicationStatus(), 0);
+}

qgcunittest/UASUnitTest.h

@@ -1,50 +1,64 @@
-#ifndef UASUNITTEST_H
-#define UASUNITTEST_H
-
-#include <QObject>
-#include <QtCore/QString>
-#include <QtTest/QtTest>
-#include "UAS.h"
-#include "MAVLinkProtocol.h"
-#include "UASInterface.h"
-#include "AutoTest.h"
-
-class UASUnitTest : public QObject
-{
-    Q_OBJECT
-public:
-  #define  UASID  50
-  MAVLinkProtocol* mav;
-  UAS* uas;
-  UASUnitTest();
-
-signals:
-
-private 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();
-
-protected:
-   UAS *prueba;
-
-};
-
-DECLARE_TEST(UASUnitTest)
-#endif // UASUNITTEST_H
+#ifndef UASUNITTEST_H
+#define UASUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+#include <QApplication>
+
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+#include "LinkManager.h"
+
+class UASUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+  #define  UASID  50
+  MAVLinkProtocol* mav;
+  UAS* uas;
+  UASUnitTest();
+
+signals:
+
+private 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();
+
+  void getSelected_test();
+  void getSystemType_test();
+  void getAirframe_test();
+
+  void getLinks_test();
+  void getWaypointList_test();
+
+  void battery_test();
+
+protected:
+   UAS *prueba;
+
+};
+
+DECLARE_TEST(UASUnitTest)
+#endif // UASUNITTEST_H