@Test
public void addCommandTest() {
Command cmd = createMock(MoveCommand.class);
Drone drone = Drone.getInstance();
ThreadCmd tc = new ThreadCmd(drone);
expect(cmd.isUnique()).andReturn(true);
replayAll();
tc.addCommand(cmd);
verifyAll();
}
@Test
public void setAxisMoveSingleParameterWrongTest() {
Drone drone = Drone.getInstance();
ThreadCmd tc = new ThreadCmd(drone);
float prevValueState = 0;
float testValue = 0;
Whitebox.setInternalState(tc, "move_armed", 0);
Whitebox.setInternalState(tc, "move_roll", 0);
Whitebox.setInternalState(tc, "move_pitch", 0);
Whitebox.setInternalState(tc, "move_altitude", 0);
Whitebox.setInternalState(tc, "move_yaw", 0);
// move_roll
prevValueState = Whitebox.getInternalState(tc, "move_roll");
tc.setAxisMove(-1.0001f, 0, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_roll");
Assert.assertEquals(prevValueState, testValue);
prevValueState = Whitebox.getInternalState(tc, "move_roll");
tc.setAxisMove(1.0001f, 0, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_roll");
Assert.assertEquals(prevValueState, testValue);
// move_pitch
prevValueState = Whitebox.getInternalState(tc, "move_pitch");
tc.setAxisMove(0, -1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_pitch");
Assert.assertEquals(prevValueState, testValue);
prevValueState = Whitebox.getInternalState(tc, "move_pitch");
tc.setAxisMove(0, 1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_pitch");
Assert.assertEquals(prevValueState, testValue);
// move_altitude
prevValueState = Whitebox.getInternalState(tc, "move_altitude");
tc.setAxisMove(0, -1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_altitude");
Assert.assertEquals(prevValueState, testValue);
prevValueState = Whitebox.getInternalState(tc, "move_altitude");
tc.setAxisMove(0, 1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_altitude");
Assert.assertEquals(prevValueState, testValue);
// move_yaw
prevValueState = Whitebox.getInternalState(tc, "move_yaw");
tc.setAxisMove(0, -1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(prevValueState, testValue);
prevValueState = Whitebox.getInternalState(tc, "move_yaw");
tc.setAxisMove(0, 1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(prevValueState, testValue);
}
@Test
public void wifiConnectThreadStartTest() throws Exception {
WiFiConnection wifi = createMock(WiFiConnection.class);
NavData navData = new NavData();
PacketDemo packetDemo = new PacketDemo();
mockStatic(Tools.class);
wifi.connect();
expectLastCall();
expect(Tools.get_state_bit(navData.drone_state, 6)).andReturn(false);
wifi.sendAtCommand("AT*CONFIG=#SEQ#,\"custom:session_id\",\"ca0000d1\"");
expectLastCall();
expect(Tools.get_state_bit(navData.drone_state, 6)).andReturn(true);
wifi.sendAtCommand("AT*CTRL=#SEQ#,5,0");
expectLastCall();
expect(wifi.isRunning()).andReturn(true).anyTimes();
// wifi.setRunning(false);
// expectLastCall();
replayAll();
Drone drone = Drone.getInstance();
Whitebox.setInternalState(drone, "wifi", wifi);
Whitebox.setInternalState(navData, "drone_state", 0);
Whitebox.setInternalState(drone, "navData", navData);
drone.connect();
// Thread.sleep(500);
ThreadNavData threadNavData = Whitebox.getInternalState(drone, "threadNavData");
ThreadCmd threadCmd = Whitebox.getInternalState(drone, "threadCmd");
// threadNavData.stop();
assertFalse("Drone.threadCmd is in state NEW", threadCmd.getState() == Thread.State.NEW);
assertFalse(
"Drone.threadCmd is in state TERMINATED", threadCmd.getState() == Thread.State.TERMINATED);
assertFalse(
"Drone.threadNavData is in state NEW", threadNavData.getState() == Thread.State.NEW);
assertFalse(
"Drone.threadNavData is in state TERMINATED",
threadNavData.getState() == Thread.State.TERMINATED);
threadCmd.stop();
threadNavData.stop();
verifyAll();
}
@SuppressWarnings("deprecation")
@Test
public void setAxisMoveParametersRightEdgeTest() {
Drone drone = Drone.getInstance();
ThreadCmd tc = new ThreadCmd(drone);
int armed = 0;
float roll = 0;
float pitch = 0;
float altitude = 0;
float yaw = 0;
// Min-Test
Whitebox.setInternalState(tc, "move_armed", armed);
Whitebox.setInternalState(tc, "move_roll", roll);
Whitebox.setInternalState(tc, "move_pitch", pitch);
Whitebox.setInternalState(tc, "move_altitude", altitude);
Whitebox.setInternalState(tc, "move_yaw", yaw);
tc.setAxisMove(-1, -1, -1, -1);
armed = Whitebox.getInternalState(tc, "move_armed");
roll = Whitebox.getInternalState(tc, "move_roll");
pitch = Whitebox.getInternalState(tc, "move_pitch");
altitude = Whitebox.getInternalState(tc, "move_altitude");
yaw = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(1, armed);
Assert.assertEquals(-1f, roll);
Assert.assertEquals(-1f, pitch);
Assert.assertEquals(-1f, altitude);
Assert.assertEquals(-1f, yaw);
// Zero Test
armed = 0;
roll = 0;
pitch = 0;
altitude = 0;
yaw = 0;
Whitebox.setInternalState(tc, "move_armed", armed);
Whitebox.setInternalState(tc, "move_roll", roll);
Whitebox.setInternalState(tc, "move_pitch", pitch);
Whitebox.setInternalState(tc, "move_altitude", altitude);
Whitebox.setInternalState(tc, "move_yaw", yaw);
tc.setAxisMove(0, 0, 0, 0);
armed = Whitebox.getInternalState(tc, "move_armed");
roll = Whitebox.getInternalState(tc, "move_roll");
pitch = Whitebox.getInternalState(tc, "move_pitch");
altitude = Whitebox.getInternalState(tc, "move_altitude");
yaw = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(0, armed);
Assert.assertEquals(0f, roll);
Assert.assertEquals(0f, pitch);
Assert.assertEquals(0f, altitude);
Assert.assertEquals(0f, yaw);
// Max Test
armed = 0;
roll = 0;
pitch = 0;
altitude = 0;
yaw = 0;
Whitebox.setInternalState(tc, "move_armed", armed);
Whitebox.setInternalState(tc, "move_roll", roll);
Whitebox.setInternalState(tc, "move_pitch", pitch);
Whitebox.setInternalState(tc, "move_altitude", altitude);
Whitebox.setInternalState(tc, "move_yaw", yaw);
tc.setAxisMove(1, 1, 1, 1);
armed = Whitebox.getInternalState(tc, "move_armed");
roll = Whitebox.getInternalState(tc, "move_roll");
pitch = Whitebox.getInternalState(tc, "move_pitch");
altitude = Whitebox.getInternalState(tc, "move_altitude");
yaw = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(1, armed);
Assert.assertEquals(1f, roll);
Assert.assertEquals(1f, pitch);
Assert.assertEquals(1f, altitude);
Assert.assertEquals(1f, yaw);
}