backend: add SetReturnToLaunchAfterMission to Mission

mavlink · Aug 31, 2018 · cdcd324 · cdcd324
1 parent 23083a0
commit cdcd324
Show file tree

Hide file tree

Showing 3 changed files with 39 additions and 0 deletions.
diff --git a/backend/src/plugins/mission/mission_service_impl.h b/backend/src/plugins/mission/mission_service_impl.h
@@ -203,6 +203,18 @@ class MissionServiceImpl final : public dronecode_sdk::rpc::mission::MissionServ
         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)
     {

diff --git a/backend/test/mission_service_impl_test.cpp b/backend/test/mission_service_impl_test.cpp
@@ -679,6 +679,32 @@ void MissionServiceImplGetRTLAfterMissionTest::checkGetRTLAfterMissionReturns(
     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
@@ -23,6 +23,7 @@ class MockMission {
     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