backend: add mission finished

mavlink · May 17, 2018 · a47f0cd · a47f0cd
1 parent 3c282b5
commit a47f0cd
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Showing 3 changed files with 51 additions and 0 deletions.
diff --git a/backend/src/plugins/mission/mission_service_impl.h b/backend/src/plugins/mission/mission_service_impl.h
@@ -52,6 +52,18 @@ class MissionServiceImpl final : public dronecore::rpc::mission::MissionService:
         return grpc::Status::OK;
     }
 
+    grpc::Status IsMissionFinished(grpc::ServerContext * /* context */,
+                                   const rpc::mission::IsMissionFinishedRequest * /* request */,
+                                   rpc::mission::IsMissionFinishedResponse *response) override
+    {
+        if (response != nullptr) {
+            auto is_mission_finished = _mission.mission_finished();
+            response->set_is_finished(is_mission_finished);
+        }
+
+        return grpc::Status::OK;
+    }
+
 private:
     std::vector<std::shared_ptr<MissionItem>> extractMissionItems(const
                                                                   rpc::mission::UploadMissionRequest *request) const

diff --git a/backend/test/mission_service_impl_test.cpp b/backend/test/mission_service_impl_test.cpp
@@ -348,6 +348,44 @@ TEST_P(MissionServiceImplStartTest, startResultIsTranslatedCorrectly)
     EXPECT_EQ(GetParam().first, rpc::MissionResult::Result_Name(response->mission_result().result()));
 }
 
+class MissionServiceImplIsFinishedTest : public MissionServiceImplTestBase
+{
+protected:
+    void checkReturnsCorrectFinishedStatus(const bool expected_finished_status);
+};
+
+TEST_F(MissionServiceImplIsFinishedTest, isMissionFinishedCallsGetter)
+{
+    EXPECT_CALL(_mission, mission_finished())
+    .Times(1);
+    dronecore::rpc::mission::IsMissionFinishedResponse response;
+
+    _mission_service.IsMissionFinished(nullptr, nullptr, &response);
+}
+
+TEST_F(MissionServiceImplIsFinishedTest, isMissionFinishedgetsCorrectValue)
+{
+    checkReturnsCorrectFinishedStatus(false);
+    checkReturnsCorrectFinishedStatus(true);
+}
+
+void MissionServiceImplIsFinishedTest::checkReturnsCorrectFinishedStatus(
+    const bool expected_finished_status)
+{
+    ON_CALL(_mission, mission_finished())
+    .WillByDefault(Return(expected_finished_status));
+    dronecore::rpc::mission::IsMissionFinishedResponse response;
+
+    _mission_service.IsMissionFinished(nullptr, nullptr, &response);
+
+    EXPECT_EQ(expected_finished_status, response.is_finished());
+}
+
+TEST_F(MissionServiceImplIsFinishedTest, isMissionFinishedDoesNotCrashWithNullResponse)
+{
+    _mission_service.IsMissionFinished(nullptr, nullptr, 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
@@ -14,6 +14,7 @@ class MockMission
     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));
+    MOCK_CONST_METHOD0(mission_finished, bool());
 };
 
 } // namespace testing