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43 lines
1.6 KiB
43 lines
1.6 KiB
/**************************************************************************** |
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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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#pragma once |
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#include "UnitTest.h" |
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#include "Vehicle.h" |
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class SendMavCommandWithHandlerTest : public UnitTest |
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{ |
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Q_OBJECT |
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private slots: |
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void _performTestCases(void); |
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void _compIdAllFailure(void); |
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void _duplicateCommand(void); |
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private: |
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typedef struct { |
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MAV_CMD command; |
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MAV_RESULT expectedCommandResult; |
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bool expectInProgressResult; |
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Vehicle::MavCmdResultFailureCode_t expectedFailureCode; |
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int expectedSendCount; |
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} TestCase_t; |
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void _testCaseWorker(TestCase_t& testCase); |
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static void _mavCmdResultHandler (void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, Vehicle::MavCmdResultFailureCode_t failureCode); |
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static void _mavCmdProgressHandler (void* progressHandlerData, int compId, const mavlink_command_ack_t& ack); |
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static void _compIdAllFailureMavCmdResultHandler(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, Vehicle::MavCmdResultFailureCode_t failureCode); |
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static bool _resultHandlerCalled; |
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static bool _progressHandlerCalled; |
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static TestCase_t _rgTestCases[]; |
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};
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