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backend: various minor improvements
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* Add an ARBITRARY_RESULT to tests to make it clear that the result does not matter
* Make comparison operators priority clear by adding parentheses
* Use result_callback_t from Mission instead or redefining it
* Fix some floats assignments ("f" suffix was forgotten)
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@JonasVautherin
JonasVautherin committed Apr 23, 2018
1 parent 6d7b0ae commit c84df75
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Showing 3 changed files with 38 additions and 38 deletions.
54 changes: 28 additions & 26 deletions backend/test/mission_service_impl_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@ using RPCCameraAction = dc::rpc::mission::MissionItem::CameraAction;
using StartMissionRequest = dc::rpc::mission::StartMissionRequest;
using StartMissionResponse = dc::rpc::mission::StartMissionResponse;

static constexpr auto ARBITRARY_RESULT = dc::Mission::Result::UNKNOWN;

std::vector<InputPair> generateInputPairs();

class MissionServiceImplTestBase : public ::testing::TestWithParam<InputPair>
Expand All @@ -47,7 +49,7 @@ class MissionServiceImplTestBase : public ::testing::TestWithParam<InputPair>
MissionServiceImpl _mission_service;

/* StartMission returns its result through a callback, which is saved in _result_callback. */
dc::testing::mission_result_callback_t _result_callback;
dc::Mission::result_callback_t _result_callback;

/* The tests need to make sure that _result_callback has been set before calling it, hence the promise. */
std::promise<void> _callback_saved_promise;
Expand Down Expand Up @@ -104,7 +106,7 @@ ACTION_P3(SaveUploadParams, mission, callback, callback_saved_promise)
TEST_F(MissionServiceImplUploadTest, doesNotFailWhenArgsAreNull)
{
auto upload_handle = uploadMissionAndSaveParams(nullptr, nullptr);
_result_callback(dc::Mission::Result::UNKNOWN);
_result_callback(ARBITRARY_RESULT);
}

TEST_P(MissionServiceImplUploadTest, uploadResultIsTranslatedCorrectly)
Expand Down Expand Up @@ -170,7 +172,7 @@ TEST_F(MissionServiceImplUploadTest, uploadsEmptyMissionWhenNullRequest)
{
auto upload_handle = uploadMissionAndSaveParams(nullptr, nullptr);

_result_callback(dc::Mission::Result::UNKNOWN);
_result_callback(ARBITRARY_RESULT);
upload_handle.wait();

EXPECT_EQ(0, _uploaded_mission.size());
Expand All @@ -188,10 +190,10 @@ std::vector<std::shared_ptr<dc::MissionItem>> MissionServiceImplUploadTest::gene

auto mission_item = std::make_shared<dc::MissionItem>();
mission_item->set_position(41.848695, 75.132751);
mission_item->set_relative_altitude(50.4);
mission_item->set_speed(8.3);
mission_item->set_relative_altitude(50.4f);
mission_item->set_speed(8.3f);
mission_item->set_fly_through(false);
mission_item->set_gimbal_pitch_and_yaw(45.2, 90.3);
mission_item->set_gimbal_pitch_and_yaw(45.2f, 90.3f);
mission_item->set_camera_action(CameraAction::NONE);

mission_items.push_back(mission_item);
Expand All @@ -205,7 +207,7 @@ void MissionServiceImplUploadTest::checkItemsAreUploadedCorrectly(
auto request = generateUploadRequest(mission_items);

auto upload_handle = uploadMissionAndSaveParams(request, nullptr);
_result_callback(dc::Mission::Result::UNKNOWN);
_result_callback(ARBITRARY_RESULT);
upload_handle.wait();

ASSERT_EQ(mission_items.size(), _uploaded_mission.size());
Expand All @@ -228,50 +230,50 @@ std::vector<std::shared_ptr<dc::MissionItem>>

auto mission_item0 = std::make_shared<dc::MissionItem>();
mission_item0->set_position(41.848695, 75.132751);
mission_item0->set_relative_altitude(50.4);
mission_item0->set_speed(8.3);
mission_item0->set_relative_altitude(50.4f);
mission_item0->set_speed(8.3f);
mission_item0->set_fly_through(false);
mission_item0->set_gimbal_pitch_and_yaw(45.2, 90.3);
mission_item0->set_gimbal_pitch_and_yaw(45.2f, 90.3f);
mission_item0->set_camera_action(CameraAction::NONE);

auto mission_item1 = std::make_shared<dc::MissionItem>();
mission_item1->set_position(46.522626, 6.635356);
mission_item1->set_relative_altitude(76.2);
mission_item1->set_speed(6);
mission_item1->set_relative_altitude(76.2f);
mission_item1->set_speed(6.0f);
mission_item1->set_fly_through(true);
mission_item1->set_gimbal_pitch_and_yaw(41.2, 70.3);
mission_item1->set_gimbal_pitch_and_yaw(41.2f, 70.3f);
mission_item1->set_camera_action(CameraAction::TAKE_PHOTO);

auto mission_item2 = std::make_shared<dc::MissionItem>();
mission_item2->set_position(-50.995944711358824, -72.99892046835936);
mission_item2->set_relative_altitude(24);
mission_item2->set_speed(4.2);
mission_item2->set_relative_altitude(24.0f);
mission_item2->set_speed(4.2f);
mission_item2->set_fly_through(false);
mission_item2->set_gimbal_pitch_and_yaw(55, 68.8);
mission_item2->set_gimbal_pitch_and_yaw(55.0f, 68.8f);
mission_item2->set_camera_action(CameraAction::START_PHOTO_INTERVAL);

auto mission_item3 = std::make_shared<dc::MissionItem>();
mission_item3->set_position(46.522652, 6.621356);
mission_item3->set_relative_altitude(71.2);
mission_item3->set_speed(7.1);
mission_item3->set_relative_altitude(71.2f);
mission_item3->set_speed(7.1f);
mission_item3->set_fly_through(false);
mission_item3->set_gimbal_pitch_and_yaw(11.2, 20.3);
mission_item3->set_gimbal_pitch_and_yaw(11.2f, 20.3f);
mission_item3->set_camera_action(CameraAction::STOP_PHOTO_INTERVAL);

auto mission_item4 = std::make_shared<dc::MissionItem>();
mission_item4->set_position(48.142652, 3.626236);
mission_item4->set_relative_altitude(56.9);
mission_item4->set_speed(5.4);
mission_item4->set_relative_altitude(56.9f);
mission_item4->set_speed(5.4f);
mission_item4->set_fly_through(false);
mission_item4->set_gimbal_pitch_and_yaw(14.6, 31.5);
mission_item4->set_gimbal_pitch_and_yaw(14.6f, 31.5f);
mission_item4->set_camera_action(CameraAction::START_VIDEO);

auto mission_item5 = std::make_shared<dc::MissionItem>();
mission_item5->set_position(11.142334, 4.622234);
mission_item5->set_relative_altitude(65.3);
mission_item5->set_speed(5.7);
mission_item5->set_relative_altitude(65.3f);
mission_item5->set_speed(5.7f);
mission_item5->set_fly_through(true);
mission_item5->set_gimbal_pitch_and_yaw(17.2, 90);
mission_item5->set_gimbal_pitch_and_yaw(17.2f, 90.0f);
mission_item5->set_camera_action(CameraAction::STOP_VIDEO);

mission_items.push_back(mission_item0);
Expand Down Expand Up @@ -303,7 +305,7 @@ ACTION_P2(SaveResult, callback, callback_saved_promise)
TEST_F(MissionServiceImplStartTest, doesNotFailWhenArgsAreNull)
{
auto start_handle = startMissionAndSaveParams(nullptr);
_result_callback(dc::Mission::Result::UNKNOWN);
_result_callback(ARBITRARY_RESULT);
}

std::future<void> MissionServiceImplStartTest::startMissionAndSaveParams(
Expand Down
14 changes: 7 additions & 7 deletions plugins/mission/mission_item.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -134,20 +134,20 @@ std::string MissionItem::to_str(MissionItem::CameraAction camera_action)
bool operator==(const MissionItem &lhs, const MissionItem &rhs)
{
return (lhs.get_latitude_deg() == rhs.get_latitude_deg()
|| isnan(lhs.get_latitude_deg()) && isnan(rhs.get_latitude_deg()))
|| (isnan(lhs.get_latitude_deg()) && isnan(rhs.get_latitude_deg())))
&& (lhs.get_longitude_deg() == rhs.get_longitude_deg()
|| isnan(lhs.get_longitude_deg()) && isnan(rhs.get_longitude_deg()))
|| (isnan(lhs.get_longitude_deg()) && isnan(rhs.get_longitude_deg())))
&& (lhs.get_relative_altitude_m() == rhs.get_relative_altitude_m()
|| isnan(lhs.get_relative_altitude_m()) && isnan(rhs.get_relative_altitude_m()))
|| (isnan(lhs.get_relative_altitude_m()) && isnan(rhs.get_relative_altitude_m())))
&& lhs.get_fly_through() == rhs.get_fly_through()
&& (lhs.get_speed_m_s() == rhs.get_speed_m_s()
|| isnan(lhs.get_speed_m_s()) && isnan(rhs.get_speed_m_s()))
|| (isnan(lhs.get_speed_m_s()) && isnan(rhs.get_speed_m_s())))
&& (lhs.get_gimbal_pitch_deg() == rhs.get_gimbal_pitch_deg()
|| isnan(lhs.get_gimbal_pitch_deg()) && isnan(rhs.get_gimbal_pitch_deg()))
|| (isnan(lhs.get_gimbal_pitch_deg()) && isnan(rhs.get_gimbal_pitch_deg())))
&& (lhs.get_gimbal_yaw_deg() == rhs.get_gimbal_yaw_deg()
|| isnan(lhs.get_gimbal_yaw_deg()) && isnan(rhs.get_gimbal_yaw_deg()))
|| (isnan(lhs.get_gimbal_yaw_deg()) && isnan(rhs.get_gimbal_yaw_deg())))
&& (lhs.get_loiter_time_s() == rhs.get_loiter_time_s()
|| isnan(lhs.get_loiter_time_s()) && isnan(rhs.get_loiter_time_s()))
|| (isnan(lhs.get_loiter_time_s()) && isnan(rhs.get_loiter_time_s())))
&& lhs.get_camera_action() == rhs.get_camera_action()
&& lhs.get_camera_photo_interval_s() == rhs.get_camera_photo_interval_s();
}
Expand Down
8 changes: 3 additions & 5 deletions plugins/mission/mocks/mission_mock.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,20 +2,18 @@
#include <memory>
#include <vector>

#include "mission/mission.h" // TODO: remove this dependency by moving the datastructs out of Mission
#include "mission/mission.h"
#include "mission/mission_item.h"

namespace dronecore {
namespace testing {

typedef std::function<void(Mission::Result)> mission_result_callback_t;

class MockMission
{
public:
MOCK_CONST_METHOD2(upload_mission_async, void(const std::vector<std::shared_ptr<MissionItem>> &,
mission_result_callback_t));
MOCK_CONST_METHOD1(start_mission_async, void(mission_result_callback_t));
Mission::result_callback_t));
MOCK_CONST_METHOD1(start_mission_async, void(Mission::result_callback_t));
};

} // namespace testing
Expand Down

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