Merge pull request #521 from Dronecode/add-set-rtl-after-mission

Add get/set rtl after mission
mavlink · Aug 31, 2018 · 89ee890 · 89ee890
2 parents a31e06b + f2dba1d
commit 89ee890
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Showing 3 changed files with 111 additions and 33 deletions.
diff --git a/backend/src/plugins/mission/mission_service_impl.h b/backend/src/plugins/mission/mission_service_impl.h
@@ -158,6 +158,63 @@ class MissionServiceImpl final : public dronecode_sdk::rpc::mission::MissionServ
         return grpc::Status::OK;
     }
 
+    grpc::Status SubscribeMissionProgress(
+        grpc::ServerContext * /* context */,
+        const dronecode_sdk::rpc::mission::SubscribeMissionProgressRequest * /* request */,
+        grpc::ServerWriter<rpc::mission::MissionProgressResponse> *writer) override
+    {
+        std::promise<void> stream_closed_promise;
+        auto stream_closed_future = stream_closed_promise.get_future();
+
+        bool is_finished = false;
+
+        _mission.subscribe_progress(
+            [&writer, &stream_closed_promise, &is_finished](int current, int total) {
+                dronecode_sdk::rpc::mission::MissionProgressResponse rpc_mission_progress_response;
+
+                auto rpc_mission_progress =
+                    std::unique_ptr<dronecode_sdk::rpc::mission::MissionProgress>(
+                        new dronecode_sdk::rpc::mission::MissionProgress);
+                rpc_mission_progress->set_current_item_index(current);
+                rpc_mission_progress->set_mission_count(total);
+
+                rpc_mission_progress_response.set_allocated_mission_progress(
+                    rpc_mission_progress.release());
+
+                if (!writer->Write(rpc_mission_progress_response) && !is_finished) {
+                    is_finished = true;
+                    stream_closed_promise.set_value();
+                }
+            });
+
+        stream_closed_future.wait();
+        return grpc::Status::OK;
+    }
+
+    grpc::Status GetReturnToLaunchAfterMission(
+        grpc::ServerContext * /* context */,
+        const rpc::mission::GetReturnToLaunchAfterMissionRequest * /* request */,
+        rpc::mission::GetReturnToLaunchAfterMissionResponse *response) override
+    {
+        if (response != nullptr) {
+            response->set_enable(_mission.get_return_to_launch_after_mission());
+        }
+
+        return grpc::Status::OK;
+    }
+
+    grpc::Status SetReturnToLaunchAfterMission(
+        grpc::ServerContext * /* context */,
+        const rpc::mission::SetReturnToLaunchAfterMissionRequest *request,
+        rpc::mission::SetReturnToLaunchAfterMissionResponse * /* response */) override
+    {
+        if (request != nullptr) {
+            _mission.set_return_to_launch_after_mission(request->enable());
+        }
+
+        return grpc::Status::OK;
+    }
+
     static void translateMissionItem(const std::shared_ptr<MissionItem> mission_item,
                                      rpc::mission::MissionItem *rpc_mission_item)
     {
@@ -275,39 +332,6 @@ class MissionServiceImpl final : public dronecode_sdk::rpc::mission::MissionServ
         return rpc_mission_result;
     }
 
-    grpc::Status SubscribeMissionProgress(
-        grpc::ServerContext * /* context */,
-        const dronecode_sdk::rpc::mission::SubscribeMissionProgressRequest * /* request */,
-        grpc::ServerWriter<rpc::mission::MissionProgressResponse> *writer) override
-    {
-        std::promise<void> stream_closed_promise;
-        auto stream_closed_future = stream_closed_promise.get_future();
-
-        bool is_finished = false;
-
-        _mission.subscribe_progress(
-            [&writer, &stream_closed_promise, &is_finished](int current, int total) {
-                dronecode_sdk::rpc::mission::MissionProgressResponse rpc_mission_progress_response;
-
-                auto rpc_mission_progress =
-                    std::unique_ptr<dronecode_sdk::rpc::mission::MissionProgress>(
-                        new dronecode_sdk::rpc::mission::MissionProgress);
-                rpc_mission_progress->set_current_item_index(current);
-                rpc_mission_progress->set_mission_count(total);
-
-                rpc_mission_progress_response.set_allocated_mission_progress(
-                    rpc_mission_progress.release());
-
-                if (!writer->Write(rpc_mission_progress_response) && !is_finished) {
-                    is_finished = true;
-                    stream_closed_promise.set_value();
-                }
-            });
-
-        stream_closed_future.wait();
-        return grpc::Status::OK;
-    }
-
     Mission &_mission;
 };
 

diff --git a/backend/test/mission_service_impl_test.cpp b/backend/test/mission_service_impl_test.cpp
@@ -653,6 +653,58 @@ TEST_F(MissionServiceImplProgressTest, SendsMultipleMissionProgressEvents)
     EXPECT_EQ(expected_progress_events, received_progress_events);
 }
 
+class MissionServiceImplGetRTLAfterMissionTest : public MissionServiceImplTestBase {
+protected:
+    void checkGetRTLAfterMissionReturns(const bool expected_value);
+};
+
+TEST_F(MissionServiceImplGetRTLAfterMissionTest, getRTLAfterMissionDoesNotCrashWithNullResponse)
+{
+    _mission_service.GetReturnToLaunchAfterMission(nullptr, nullptr, nullptr);
+}
+
+TEST_F(MissionServiceImplGetRTLAfterMissionTest, getRTLAfterMissionReturnsCorrectValue)
+{
+    checkGetRTLAfterMissionReturns(true);
+    checkGetRTLAfterMissionReturns(false);
+}
+
+void MissionServiceImplGetRTLAfterMissionTest::checkGetRTLAfterMissionReturns(
+    const bool expected_value)
+{
+    dronecode_sdk::rpc::mission::GetReturnToLaunchAfterMissionResponse response;
+    ON_CALL(_mission, get_return_to_launch_after_mission()).WillByDefault(Return(expected_value));
+
+    _mission_service.GetReturnToLaunchAfterMission(nullptr, nullptr, &response);
+    EXPECT_EQ(expected_value, response.enable());
+}
+
+class MissionServiceImplSetRTLAfterMissionTest : public MissionServiceImplTestBase {
+protected:
+    void checkSetRTLAfterMissionSets(const bool expected_value);
+};
+
+TEST_F(MissionServiceImplSetRTLAfterMissionTest, setRTLAfterMissionDoesNotCrashWithNullRequest)
+{
+    _mission_service.SetReturnToLaunchAfterMission(nullptr, nullptr, nullptr);
+}
+
+TEST_F(MissionServiceImplSetRTLAfterMissionTest, setRTLAfterMissionSetsRightValue)
+{
+    checkSetRTLAfterMissionSets(false);
+    checkSetRTLAfterMissionSets(true);
+}
+
+void MissionServiceImplSetRTLAfterMissionTest::checkSetRTLAfterMissionSets(
+    const bool expected_value)
+{
+    EXPECT_CALL(_mission, set_return_to_launch_after_mission(expected_value));
+    dronecode_sdk::rpc::mission::SetReturnToLaunchAfterMissionRequest request;
+    request.set_enable(expected_value);
+
+    _mission_service.SetReturnToLaunchAfterMission(nullptr, &request, nullptr);
+}
+
 std::vector<InputPair> generateInputPairs()
 {
     std::vector<InputPair> input_pairs;

diff --git a/plugins/mission/mocks/mission_mock.h b/plugins/mission/mocks/mission_mock.h
@@ -22,6 +22,8 @@ class MockMission {
     MOCK_CONST_METHOD0(total_mission_items, int());
     MOCK_CONST_METHOD0(mission_finished, bool());
     MOCK_CONST_METHOD1(subscribe_progress, void(Mission::progress_callback_t));
+    MOCK_CONST_METHOD0(get_return_to_launch_after_mission, bool());
+    MOCK_CONST_METHOD1(set_return_to_launch_after_mission, void(bool));
 };
 
 } // namespace testing