Holden
82 lines
3.0 KiB
C++
82 lines
3.0 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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#include "PlanMasterControllerTest.h"
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#include "MultiSignalSpyV2.h"
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#include "MissionManager.h"
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#include "PlanMasterController.h"
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#include "Vehicle.h"
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#include <QtTest/QTest>
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PlanMasterControllerTest::PlanMasterControllerTest(void)
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: _masterController(nullptr)
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{
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}
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void PlanMasterControllerTest::init(void)
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{
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UnitTest::init();
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_masterController = new PlanMasterController(this);
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_masterController->setFlyView(false);
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_masterController->start();
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}
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void PlanMasterControllerTest::cleanup(void)
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{
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delete _masterController;
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_masterController = nullptr;
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UnitTest::cleanup();
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}
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void PlanMasterControllerTest::_testMissionFileLoad(void)
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{
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_masterController->loadFromFile(":/unittest/OldFileFormat.mission");
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QCOMPARE(_masterController->missionController()->visualItems()->count(), 7);
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}
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void PlanMasterControllerTest::_testMissionPlannerFileLoad(void)
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{
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_masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
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QCOMPARE(_masterController->missionController()->visualItems()->count(), 6);
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}
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void PlanMasterControllerTest::_testActiveVehicleChanged(void) {
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// There was a defect where the PlanMasterController would, upon a new active vehicle,
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// overzelously disconnect all subscribers interested in the outgoing active vechicle.
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Vehicle* outgoingManagerVehicle = _masterController->managerVehicle();
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// spyMissionManager emulates a subscriber that should not be disconnected when
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// the active vehicle changes
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MultiSignalSpyV2 spyMissionManager;
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spyMissionManager.init(outgoingManagerVehicle->missionManager());
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MultiSignalSpyV2 spyMasterController;
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spyMasterController.init(_masterController);
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// Since MissionManager works with actual vehicles (which we don't have in the test cycle)
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// we have to be a bit creative emulating a signal emitted by a MissionManager.
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emit outgoingManagerVehicle->missionManager()->error(0,"");
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auto missionManagerErrorSignalMask = spyMissionManager.signalNameToMask("error");
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QVERIFY(spyMissionManager.checkOnlySignalByMask(missionManagerErrorSignalMask));
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spyMissionManager.clearSignal("error");
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QVERIFY(spyMissionManager.checkNoSignals());
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_connectMockLink(MAV_AUTOPILOT_PX4);
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auto masterControllerMgrVehicleChanged = spyMasterController.signalNameToMask("managerVehicleChanged");
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QVERIFY(spyMasterController.checkSignalByMask(masterControllerMgrVehicleChanged));
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emit outgoingManagerVehicle->missionManager()->error(0,"");
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// This signal was affected by the defect - it wouldn't reach the subscriber. Here
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// we make sure it does.
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QVERIFY(spyMissionManager.checkOnlySignalByMask(missionManagerErrorSignalMask));
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}
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