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Merge pull request #2291 from DonLakeFlyer/MissionItemFix 

Send mission item vehicle trashing float values
QGC4.4
Don Gagne 9 years ago
parent
135996b379 e81d0bf2c6
commit
1c144fb642
3 changed files with 79 additions and 55 deletions
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  1. 22
      src/MissionManager/MissionItem.cc
  2. 103
      src/MissionManager/MissionItemTest.cc
  3. 9
      src/MissionManager/MissionItemTest.h

22
src/MissionManager/MissionItem.cc
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@ -200,6 +200,28 @@ MissionItem::MissionItem(int sequenceNumber, @@ -200,6 +200,28 @@ MissionItem::MissionItem(int sequenceNumber,
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
: QObject(parent)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)

103
src/MissionManager/MissionItemTest.cc
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@ -25,68 +25,68 @@ @@ -25,68 +25,68 @@
#include "MissionItem.h"
const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_MISSION },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_MISSION },
{ MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_TIME, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LAND, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_TAKEOFF, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_CONDITION_DELAY, MAV_FRAME_MISSION },
{ MAV_CMD_DO_JUMP, MAV_FRAME_MISSION },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
{ "Altitude:", -30.0 },
{ "Hold:", 10.0 },
{ "Altitude:", 70.1234567 },
{ "Hold:", 10.1234567 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
{ "Altitude:", -30.0 },
{ "Radius:", 30.0 },
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] = {
{ "Altitude:", -30.0 },
{ "Radius:", 30.0 },
{ "Turns:", 10.0 },
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
{ "Turns:", 10.1234567 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = {
{ "Altitude:", -30.0 },
{ "Radius:", 30.0 },
{ "Hold:", 10.0 },
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
{ "Hold:", 10.1234567 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = {
{ "Altitude:", -30.0 },
{ "Abort Alt:", 10.0 },
{ "Heading:", 1.0 },
{ "Altitude:", 70.1234567 },
{ "Abort Alt:", 10.1234567 },
{ "Heading:", 40.1234567 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = {
{ "Altitude:", -30.0 },
{ "Heading:", 1.0 },
{ "Pitch:", 10.0 },
{ "Altitude:", 70.1234567 },
{ "Heading:", 40.1234567 },
{ "Pitch:", 10.1234567 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesConditionDelay[] = {
{ "Hold:", 10.0 },
{ "Hold:", 10.1234567 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = {
{ "Item #:", 10.0 },
{ "Repeat:", 20.0 },
{ "Item #:", 10.1234567 },
{ "Repeat:", 20.1234567 },
};
const MissionItemTest::ItemExpected_t MissionItemTest::_rgItemExpected[] = {
{ "1\t0\t3\t16\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]), MissionItemTest::_rgFactValuesWaypoint },
{ "1\t0\t3\t17\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]), MissionItemTest::_rgFactValuesLoiterUnlim },
{ "1\t0\t3\t18\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]), MissionItemTest::_rgFactValuesLoiterTurns },
{ "1\t0\t3\t19\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]), MissionItemTest::_rgFactValuesLoiterTime },
{ "1\t0\t3\t21\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]), MissionItemTest::_rgFactValuesLand },
{ "1\t0\t3\t22\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]), MissionItemTest::_rgFactValuesTakeoff },
{ "1\t0\t2\t112\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay },
{ "1\t0\t2\t177\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]), MissionItemTest::_rgFactValuesDoJump },
{ sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]), MissionItemTest::_rgFactValuesWaypoint },
{ sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]), MissionItemTest::_rgFactValuesLoiterUnlim },
{ sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]), MissionItemTest::_rgFactValuesLoiterTurns },
{ sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]), MissionItemTest::_rgFactValuesLoiterTime },
{ sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]), MissionItemTest::_rgFactValuesLand },
{ sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]), MissionItemTest::_rgFactValuesTakeoff },
{ sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay },
{ sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]), MissionItemTest::_rgFactValuesDoJump },
};
MissionItemTest::MissionItemTest(void)
@ -102,24 +102,35 @@ void MissionItemTest::_test(void) @@ -102,24 +102,35 @@ void MissionItemTest::_test(void)
qDebug() << "Command:" << info->command;
MissionItem* item = new MissionItem(info->sequenceNumber,
MissionItem* item = new MissionItem(1,
info->command,
info->frame,
info->param1,
info->param2,
info->param3,
info->param4,
info->coordinate.latitude(),
info->coordinate.longitude(),
info->coordinate.altitude(),
info->autocontinue,
info->isCurrentItem);
10.1234567,
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true,
false);
// Validate the saving is working correctly
QString savedItemString;
QTextStream saveStream(&savedItemString, QIODevice::WriteOnly);
item->save(saveStream);
QCOMPARE(savedItemString, QString(expected->streamString));
// Param floats to string with 18 digits or precision
QString paramStrings = "10.1234567000000002\t"
"20.1234566999999984\t"
"30.1234566999999984\t"
"40.1234566999999984\t"
"50.1234566999999984\t"
"60.1234566999999984\t"
"70.1234567000000055";
QString expectedItemString = QString("1\t0\t%1\t%2\t%3\t1\r\n").arg(info->frame).arg(info->command).arg(paramStrings);
QCOMPARE(savedItemString, expectedItemString);
// Validate that the fact values are correctly returned
size_t factCount = 0;

9
src/MissionManager/MissionItemTest.h
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@ -47,15 +47,7 @@ private slots: @@ -47,15 +47,7 @@ private slots:
private:
typedef struct {
int sequenceNumber;
QGeoCoordinate coordinate;
MAV_CMD command;
double param1;
double param2;
double param3;
double param4;
bool autocontinue;
bool isCurrentItem;
MAV_FRAME frame;
} ItemInfo_t;
@ -65,7 +57,6 @@ private: @@ -65,7 +57,6 @@ private:
} FactValue_t;
typedef struct {
const char* streamString;
size_t cFactValues;
const FactValue_t* rgFactValues;
} ItemExpected_t;

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