Lorenz Meier
11 years ago
14 changed files with 843 additions and 123 deletions
@ -0,0 +1,148 @@
@@ -0,0 +1,148 @@
|
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/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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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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======================================================================*/ |
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|
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#include "MockMavlinkFileServer.h" |
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void MockMavlinkFileServer::sendMessage(mavlink_message_t message) |
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{ |
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QGCUASFileManager::Request ackResponse; |
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QString path; |
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Q_ASSERT(message.msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA); |
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mavlink_encapsulated_data_t requestEncapsulatedData; |
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mavlink_msg_encapsulated_data_decode(&message, &requestEncapsulatedData); |
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QGCUASFileManager::Request* request = (QGCUASFileManager::Request*)&requestEncapsulatedData.data[0]; |
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// Validate CRC
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if (request->hdr.crc32 != QGCUASFileManager::crc32(request)) { |
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_sendNak(QGCUASFileManager::kErrCrc); |
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} |
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switch (request->hdr.opcode) { |
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case QGCUASFileManager::kCmdTestNoAck: |
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// ignored, ack not sent back, for testing only
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break; |
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case QGCUASFileManager::kCmdReset: |
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// terminates all sessions
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// Fall through to send back Ack
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case QGCUASFileManager::kCmdNone: |
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// ignored, always acked
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ackResponse.hdr.magic = 'f'; |
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ackResponse.hdr.opcode = QGCUASFileManager::kRspAck; |
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ackResponse.hdr.session = 0; |
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ackResponse.hdr.crc32 = 0; |
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ackResponse.hdr.size = 0; |
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_emitResponse(&ackResponse); |
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break; |
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case QGCUASFileManager::kCmdList: |
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// We only support root path
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path = (char *)&request->data[0]; |
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if (!path.isEmpty() && path != "/") { |
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_sendNak(QGCUASFileManager::kErrNotDir); |
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break; |
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} |
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if (request->hdr.offset > (uint32_t)_fileList.size()) { |
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_sendNak(QGCUASFileManager::kErrEOF); |
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break; |
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} |
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ackResponse.hdr.magic = 'f'; |
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ackResponse.hdr.opcode = QGCUASFileManager::kRspAck; |
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ackResponse.hdr.session = 0; |
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ackResponse.hdr.size = 0; |
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if (request->hdr.offset == 0) { |
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// Requesting first batch of file names
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Q_ASSERT(_fileList.size()); |
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char *bufPtr = (char *)&ackResponse.data[0]; |
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for (int i=0; i<_fileList.size(); i++) { |
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const char *filename = _fileList[i].toStdString().c_str(); |
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size_t cchFilename = strlen(filename); |
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strcpy(bufPtr, filename); |
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ackResponse.hdr.size += cchFilename + 1; |
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bufPtr += cchFilename + 1; |
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} |
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// Final double termination
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*bufPtr = 0; |
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ackResponse.hdr.size++; |
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} else { |
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// All filenames fit in first ack, send final null terminated ack
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ackResponse.data[0] = 0; |
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ackResponse.hdr.size = 1; |
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} |
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_emitResponse(&ackResponse); |
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break; |
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// Remainder of commands are NYI
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case QGCUASFileManager::kCmdTerminate: |
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// releases sessionID, closes file
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case QGCUASFileManager::kCmdOpen: |
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// opens <path> for reading, returns <session>
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case QGCUASFileManager::kCmdRead: |
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// reads <size> bytes from <offset> in <session>
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case QGCUASFileManager::kCmdCreate: |
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// creates <path> for writing, returns <session>
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case QGCUASFileManager::kCmdWrite: |
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// appends <size> bytes at <offset> in <session>
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case QGCUASFileManager::kCmdRemove: |
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// remove file (only if created by server?)
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default: |
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// nack for all NYI opcodes
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_sendNak(QGCUASFileManager::kErrUnknownCommand); |
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break; |
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} |
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} |
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void MockMavlinkFileServer::_sendNak(QGCUASFileManager::ErrorCode error) |
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{ |
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QGCUASFileManager::Request nakResponse; |
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nakResponse.hdr.magic = 'f'; |
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nakResponse.hdr.opcode = QGCUASFileManager::kRspNak; |
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nakResponse.hdr.session = 0; |
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nakResponse.hdr.size = sizeof(nakResponse.data[0]); |
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nakResponse.data[0] = error; |
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_emitResponse(&nakResponse); |
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} |
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void MockMavlinkFileServer::_emitResponse(QGCUASFileManager::Request* request) |
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{ |
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mavlink_message_t mavlinkMessage; |
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request->hdr.crc32 = QGCUASFileManager::crc32(request); |
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mavlink_msg_encapsulated_data_pack(250, 0, &mavlinkMessage, 0 /*_encdata_seq*/, (uint8_t*)request); |
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emit messageReceived(NULL, mavlinkMessage); |
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} |
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@ -0,0 +1,52 @@
@@ -0,0 +1,52 @@
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/*=====================================================================
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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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 |
||||
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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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 |
||||
GNU General Public License for more details. |
||||
|
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You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#ifndef MOCKMAVLINKFILESERVER_H |
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#define MOCKMAVLINKFILESERVER_H |
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#include "MockMavlinkInterface.h" |
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#include "QGCUASFileManager.h" |
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#include <QStringList> |
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class MockMavlinkFileServer : public MockMavlinkInterface |
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{ |
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Q_OBJECT |
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public: |
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MockMavlinkFileServer(void) { }; |
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void setFileList(QStringList& fileList) { _fileList = fileList; } |
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// From MockMavlinkInterface
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virtual void sendMessage(mavlink_message_t message); |
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private: |
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void _sendNak(QGCUASFileManager::ErrorCode error); |
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void _emitResponse(QGCUASFileManager::Request* request); |
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QStringList _fileList; |
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}; |
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#endif |
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@ -0,0 +1,9 @@
@@ -0,0 +1,9 @@
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//
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// MockMavlinkInterface.cc
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// QGroundControl
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//
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// Created by Donald Gagne on 6/19/14.
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// Copyright (c) 2014 Donald Gagne. All rights reserved.
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//
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#include "MockMavlinkInterface.h" |
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@ -0,0 +1,44 @@
@@ -0,0 +1,44 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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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 |
||||
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 |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
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You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#include <QObject> |
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#include "QGCMAVLink.h" |
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#include "LinkInterface.h" |
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#ifndef MOCKMAVLINKINTERFACE_H |
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#define MOCKMAVLINKINTERFACE_H |
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class MockMavlinkInterface : public QObject |
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{ |
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Q_OBJECT |
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public: |
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virtual void sendMessage(mavlink_message_t message) = 0; |
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signals: |
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// link argument will always be NULL
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void messageReceived(LinkInterface* link, mavlink_message_t message); |
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}; |
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#endif |
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@ -0,0 +1,156 @@
@@ -0,0 +1,156 @@
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/*=====================================================================
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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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 |
||||
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. |
||||
|
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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 |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
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You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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#include "QGCUASFileManagerTest.h" |
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/// @file
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/// @brief QGCUASFileManager unit test
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///
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/// @author Don Gagne <don@thegagnes.com>
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QGCUASFileManagerUnitTest::QGCUASFileManagerUnitTest(void) : |
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_fileManager(NULL), |
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_multiSpy(NULL) |
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{ |
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} |
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// Called once before all test cases are run
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void QGCUASFileManagerUnitTest::initTestCase(void) |
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{ |
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_mockUAS.setMockMavlinkPlugin(&_mockFileServer); |
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} |
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// Called before every test case
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void QGCUASFileManagerUnitTest::init(void) |
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{ |
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Q_ASSERT(_multiSpy == NULL); |
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_fileManager = new QGCUASFileManager(NULL, &_mockUAS); |
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Q_CHECK_PTR(_fileManager); |
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bool connected = connect(&_mockFileServer, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), _fileManager, SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); |
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Q_ASSERT(connected); |
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connected = connect(_fileManager, SIGNAL(statusMessage(const QString&)), this, SLOT(statusMessage(const QString&))); |
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Q_ASSERT(connected); |
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_rgSignals[statusMessageSignalIndex] = SIGNAL(statusMessage(const QString&)); |
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_rgSignals[errorMessageSignalIndex] = SIGNAL(errorMessage(const QString&)); |
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_rgSignals[resetStatusMessagesSignalIndex] = SIGNAL(resetStatusMessages(void)); |
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_multiSpy = new MultiSignalSpy(); |
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Q_CHECK_PTR(_multiSpy); |
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QCOMPARE(_multiSpy->init(_fileManager, _rgSignals, _cSignals), true); |
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} |
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// Called after every test case
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void QGCUASFileManagerUnitTest::cleanup(void) |
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{ |
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Q_ASSERT(_multiSpy); |
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Q_ASSERT(_fileManager); |
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delete _fileManager; |
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delete _multiSpy; |
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_fileManager = NULL; |
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_multiSpy = NULL; |
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} |
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/// @brief Connected to QGCUASFileManager statusMessage signal in order to catch list command output
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void QGCUASFileManagerUnitTest::statusMessage(const QString& msg) |
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{ |
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// Keep a list of all names received so we can test it for correctness
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_fileListReceived += msg; |
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} |
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void QGCUASFileManagerUnitTest::_ackTest(void) |
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{ |
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Q_ASSERT(_fileManager); |
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Q_ASSERT(_multiSpy); |
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Q_ASSERT(_multiSpy->checkNoSignals() == true); |
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// If the file manager doesn't receive an ack it will timeout and emit an error. So make sure
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// we don't get any error signals.
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QVERIFY(_fileManager->_sendCmdTestAck()); |
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QVERIFY(_multiSpy->checkNoSignals()); |
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} |
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void QGCUASFileManagerUnitTest::_noAckTest(void) |
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{ |
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Q_ASSERT(_fileManager); |
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Q_ASSERT(_multiSpy); |
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Q_ASSERT(_multiSpy->checkNoSignals() == true); |
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// This should not get the ack back and timeout.
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QVERIFY(_fileManager->_sendCmdTestNoAck()); |
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QTest::qWait(2000); // Let the file manager timeout, magic number 2 secs must be larger than file manager ack timeout
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QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true); |
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} |
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void QGCUASFileManagerUnitTest::_resetTest(void) |
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{ |
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Q_ASSERT(_fileManager); |
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Q_ASSERT(_multiSpy); |
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Q_ASSERT(_multiSpy->checkNoSignals() == true); |
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// Send a reset command
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// We should not get any signals back from this
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QVERIFY(_fileManager->_sendCmdReset()); |
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QVERIFY(_multiSpy->checkNoSignals()); |
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} |
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void QGCUASFileManagerUnitTest::_listTest(void) |
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{ |
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Q_ASSERT(_fileManager); |
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Q_ASSERT(_multiSpy); |
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Q_ASSERT(_multiSpy->checkNoSignals() == true); |
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// Send a bogus path
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// We should get a single resetStatusMessages signal
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// We should get a single errorMessage signal
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_fileManager->listRecursively("/bogus"); |
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QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask | resetStatusMessagesSignalMask), true); |
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_multiSpy->clearAllSignals(); |
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// Send a list command at the root of the directory tree
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// We should get back a single resetStatusMessages signal
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// We should not get back an errorMessage signal
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// We should get back one or more statusMessage signals
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// The returned list should match out inputs
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QStringList fileList; |
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fileList << "Ddir" << "Ffoo" << "Fbar"; |
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_mockFileServer.setFileList(fileList); |
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QStringList fileListExpected; |
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fileListExpected << "dir/" << "foo" << "bar"; |
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_fileListReceived.clear(); |
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_fileManager->listRecursively("/"); |
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QCOMPARE(_multiSpy->checkSignalByMask(resetStatusMessagesSignalMask), true); // We should be told to reset status messages
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QCOMPARE(_multiSpy->checkNoSignalByMask(errorMessageSignalMask), true); // We should not get an error signals
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QVERIFY(_fileListReceived == fileListExpected); |
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} |
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@ -0,0 +1,92 @@
@@ -0,0 +1,92 @@
|
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/*=====================================================================
|
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|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
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 <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
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|
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#ifndef QGCUASFILEMANAGERTEST_H |
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#define QGCUASFILEMANAGERTEST_H |
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|
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#include <QObject> |
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#include <QtTest/QtTest> |
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|
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#include "AutoTest.h" |
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#include "MockUAS.h" |
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#include "MockMavlinkFileServer.h" |
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#include "QGCUASFileManager.h" |
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#include "MultiSignalSpy.h" |
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|
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/// @file
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/// @brief QGCUASFileManager unit test
|
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///
|
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/// @author Don Gagne <don@thegagnes.com>
|
||||
|
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class QGCUASFileManagerUnitTest : public QObject |
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{ |
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Q_OBJECT |
||||
|
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public: |
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QGCUASFileManagerUnitTest(void); |
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|
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private slots: |
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// Test case initialization
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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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|
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// Test cases
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void _ackTest(void); |
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void _noAckTest(void); |
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void _resetTest(void); |
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void _listTest(void); |
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|
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// Connected to QGCUASFileManager statusMessage signal
|
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void statusMessage(const QString&); |
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|
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private: |
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enum { |
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statusMessageSignalIndex = 0, |
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errorMessageSignalIndex, |
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resetStatusMessagesSignalIndex, |
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|
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maxSignalIndex |
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}; |
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|
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enum { |
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statusMessageSignalMask = 1 << statusMessageSignalIndex, |
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errorMessageSignalMask = 1 << errorMessageSignalIndex, |
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resetStatusMessagesSignalMask = 1 << resetStatusMessagesSignalIndex, |
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}; |
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|
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MockUAS _mockUAS; |
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MockMavlinkFileServer _mockFileServer; |
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|
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QGCUASFileManager* _fileManager; |
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|
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MultiSignalSpy* _multiSpy; |
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static const size_t _cSignals = maxSignalIndex; |
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const char* _rgSignals[_cSignals]; |
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|
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QStringList _fileListReceived; |
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}; |
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|
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DECLARE_TEST(QGCUASFileManagerUnitTest) |
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|
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#endif |
||||
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