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backend: WIP for getter/setter API changes
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@julianoes
julianoes committed Jul 25, 2018
1 parent 442f7a6 commit cb152bb
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Showing 3 changed files with 53 additions and 28 deletions.
36 changes: 28 additions & 8 deletions backend/src/plugins/action/action_service_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -132,8 +132,15 @@ class ActionServiceImpl final : public rpc::action::ActionService::Service {
rpc::action::GetTakeoffAltitudeResponse *response) override
{
if (response != nullptr) {
auto takeoff_altitude = _action.get_takeoff_altitude_m();
response->set_altitude_m(takeoff_altitude);
auto result_pair = _action.get_takeoff_altitude();

auto *rpc_action_result = new rpc::action::ActionResult();
rpc_action_result->set_result(
static_cast<rpc::action::ActionResult::Result>(result_pair.first));
rpc_action_result->set_result_str(action_result_str(result_pair.first));

response->set_allocated_action_result(rpc_action_result);
response->set_altitude(result_pair.second);
}

return grpc::Status::OK;
Expand All @@ -145,7 +152,7 @@ class ActionServiceImpl final : public rpc::action::ActionService::Service {
rpc::action::SetTakeoffAltitudeResponse * /* response */) override
{
if (request != nullptr) {
const auto requested_altitude = request->altitude_m();
const auto requested_altitude = request->altitude();
_action.set_takeoff_altitude(requested_altitude);
}

Expand All @@ -157,20 +164,33 @@ class ActionServiceImpl final : public rpc::action::ActionService::Service {
rpc::action::GetMaximumSpeedResponse *response) override
{
if (response != nullptr) {
auto max_speed = _action.get_max_speed_m_s();
response->set_speed_m_s(max_speed);
auto result_pair = _action.get_max_speed();

auto *rpc_action_result = new rpc::action::ActionResult();
rpc_action_result->set_result(
static_cast<rpc::action::ActionResult::Result>(result_pair.first));
rpc_action_result->set_result_str(action_result_str(result_pair.first));

response->set_allocated_action_result(rpc_action_result);
response->set_speed(result_pair.second);
}

return grpc::Status::OK;
}

grpc::Status SetMaximumSpeed(grpc::ServerContext * /* context */,
const rpc::action::SetMaximumSpeedRequest *request,
rpc::action::SetMaximumSpeedResponse * /* response */) override
rpc::action::SetMaximumSpeedResponse *response) override
{
if (request != nullptr) {
const auto requested_speed = request->speed_m_s();
_action.set_max_speed(requested_speed);
const auto requested_speed = request->speed();
ActionResult action_result = _action.set_max_speed(requested_speed);

auto *rpc_action_result = new rpc::action::ActionResult();
rpc_action_result->set_result(
static_cast<rpc::action::ActionResult::Result>(action_result));
// rpc_action_result->set_result_str(action_result_str(action_result));
response->set_allocated_action_result(rpc_action_result);
}

return grpc::Status::OK;
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37 changes: 21 additions & 16 deletions backend/test/action_service_impl_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,8 @@ using ActionServiceImpl = dronecode_sdk::backend::ActionServiceImpl<MockAction>;
using ActionResult = dronecode_sdk::rpc::action::ActionResult;
using InputPair = std::pair<std::string, dronecode_sdk::ActionResult>;

static constexpr auto ARBITRARY_ALTITUDE = 42.42f;
static constexpr auto ARBITRARY_SPEED = 8.24f;
static constexpr float ARBITRARY_ALTITUDE = 42.42f;
static constexpr float ARBITRARY_SPEED = 8.24f;

std::vector<InputPair> generateInputPairs();
std::string armAndGetTranslatedResult(dronecode_sdk::ActionResult arm_result);
Expand Down Expand Up @@ -257,23 +257,25 @@ TEST_F(ActionServiceImplTest, getTakeoffAltitudeCallsGetter)
{
MockAction action;
ActionServiceImpl actionService(action);
EXPECT_CALL(action, get_takeoff_altitude_m()).Times(1);
EXPECT_CALL(action, get_takeoff_altitude()).Times(1);
dronecode_sdk::rpc::action::GetTakeoffAltitudeResponse response;

actionService.GetTakeoffAltitude(nullptr, nullptr, &response);
}

TEST_F(ActionServiceImplTest, getsCorrectTakeoffAltitude)
TEST_P(ActionServiceImplTest, getsCorrectTakeoffAltitude)
{
MockAction action;
ActionServiceImpl actionService(action);
const float expected_altitude = ARBITRARY_ALTITUDE;
ON_CALL(action, get_takeoff_altitude_m()).WillByDefault(Return(expected_altitude));
const auto expected_pair =
std::make_pair<>(dronecode_sdk::ActionResult::SUCCESS, ARBITRARY_ALTITUDE);
ON_CALL(action, get_takeoff_altitude()).WillByDefault(Return(expected_pair));
dronecode_sdk::rpc::action::GetTakeoffAltitudeResponse response;

actionService.GetTakeoffAltitude(nullptr, nullptr, &response);

EXPECT_EQ(expected_altitude, response.altitude_m());
EXPECT_EQ(GetParam().first, ActionResult::Result_Name(response.action_result().result()));
EXPECT_EQ(expected_pair.second, response.altitude());
}

TEST_F(ActionServiceImplTest, getTakeoffAltitudeDoesNotCrashWithNullResponse)
Expand Down Expand Up @@ -302,14 +304,14 @@ TEST_F(ActionServiceImplTest, setTakeoffAltitudeCallsSetter)
actionService.SetTakeoffAltitude(nullptr, &request, nullptr);
}

TEST_F(ActionServiceImplTest, setTakeoffAltitudeSetsRightValue)
TEST_P(ActionServiceImplTest, setTakeoffAltitudeSetsRightValue)
{
MockAction action;
ActionServiceImpl actionService(action);
float expected_altitude = ARBITRARY_ALTITUDE;
EXPECT_CALL(action, set_takeoff_altitude(expected_altitude)).Times(1);
dronecode_sdk::rpc::action::SetTakeoffAltitudeRequest request;
request.set_altitude_m(expected_altitude);
request.set_altitude(expected_altitude);

actionService.SetTakeoffAltitude(nullptr, &request, nullptr);
}
Expand All @@ -326,23 +328,25 @@ TEST_F(ActionServiceImplTest, getMaxSpeedCallsGetter)
{
MockAction action;
ActionServiceImpl actionService(action);
EXPECT_CALL(action, get_max_speed_m_s()).Times(1);
EXPECT_CALL(action, get_max_speed()).Times(1);
dronecode_sdk::rpc::action::GetMaximumSpeedResponse response;

actionService.GetMaximumSpeed(nullptr, nullptr, &response);
}

TEST_F(ActionServiceImplTest, getMaxSpeedGetsRightValue)
TEST_P(ActionServiceImplTest, getMaxSpeedGetsRightValue)
{
MockAction action;
ActionServiceImpl actionService(action);
const auto expected_max_speed = ARBITRARY_SPEED;
ON_CALL(action, get_max_speed_m_s()).WillByDefault(Return(expected_max_speed));
const auto expected_pair =
std::make_pair<>(dronecode_sdk::ActionResult::SUCCESS, ARBITRARY_SPEED);
ON_CALL(action, get_max_speed()).WillByDefault(Return(expected_pair));
dronecode_sdk::rpc::action::GetMaximumSpeedResponse response;

actionService.GetMaximumSpeed(nullptr, nullptr, &response);

EXPECT_EQ(expected_max_speed, response.speed_m_s());
EXPECT_EQ(GetParam().first, ActionResult::Result_Name(response.action_result().result()));
EXPECT_EQ(expected_pair.second, response.speed());
}

TEST_F(ActionServiceImplTest, setMaxSpeedDoesNotCrashWithNullRequest)
Expand All @@ -357,7 +361,8 @@ TEST_F(ActionServiceImplTest, setMaxSpeedCallsSetter)
{
MockAction action;
ActionServiceImpl actionService(action);
EXPECT_CALL(action, set_max_speed(_)).Times(1);
const auto expected_speed = ARBITRARY_SPEED;
EXPECT_CALL(action, set_max_speed(expected_speed)).Times(1);
dronecode_sdk::rpc::action::SetMaximumSpeedRequest request;

actionService.SetMaximumSpeed(nullptr, &request, nullptr);
Expand All @@ -370,7 +375,7 @@ TEST_F(ActionServiceImplTest, setMaxSpeedSetsRightValue)
const auto expected_speed = ARBITRARY_SPEED;
EXPECT_CALL(action, set_max_speed(expected_speed)).Times(1);
dronecode_sdk::rpc::action::SetMaximumSpeedRequest request;
request.set_speed_m_s(expected_speed);
request.set_speed(expected_speed);

actionService.SetMaximumSpeed(nullptr, &request, nullptr);
}
Expand Down
8 changes: 4 additions & 4 deletions plugins/action/mocks/action_mock.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,10 +15,10 @@ class MockAction {
MOCK_CONST_METHOD0(return_to_launch, ActionResult());
MOCK_CONST_METHOD0(transition_to_fixedwing, ActionResult());
MOCK_CONST_METHOD0(transition_to_multicopter, ActionResult());
MOCK_CONST_METHOD0(get_takeoff_altitude_m, float());
MOCK_CONST_METHOD1(set_takeoff_altitude, void(float));
MOCK_CONST_METHOD0(get_max_speed_m_s, float());
MOCK_CONST_METHOD1(set_max_speed, void(float));
MOCK_CONST_METHOD0(get_takeoff_altitude, std::pair<ActionResult, float>());
MOCK_CONST_METHOD1(set_takeoff_altitude, ActionResult(float));
MOCK_CONST_METHOD0(get_max_speed, std::pair<ActionResult, float>());
MOCK_CONST_METHOD1(set_max_speed, ActionResult(float));
};

} // namespace testing
Expand Down

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