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Merge pull request #128 from jjhall89/check_unittests 

Check unittests
QGC4.4
Lorenz Meier 13 years ago
parent
b3a7483241 f6aae9141b
commit
20c434b2c6
15 changed files with 127 additions and 90 deletions
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  1. 40
      qgcunittest.pro
  2. 12
      qgcunittest/AutoTest.h
  3. 33
      qgcunittest/UASUnitTest.cc
  4. 13
      qgcunittest/UASUnitTest.h
  5. 4
      src/comm/QGCMAVLink.h
  6. 2
      src/uas/SlugsMAV.h
  7. 12
      src/uas/UAS.cc
  8. 7
      src/uas/UAS.h
  9. 54
      src/uas/UASInterface.h
  10. 2
      src/uas/UASWaypointManager.cc
  11. 4
      src/uas/senseSoarMAV.h
  12. 2
      src/ui/DebugConsole.cc
  13. 4
      src/ui/RadioCalibration/RadioCalibrationWindow.h
  14. 2
      src/ui/SlugsDataSensorView.h
  15. 26
      src/ui/WaypointEditableView.cc

40
qgcunittest.pro
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@ -229,14 +229,21 @@ FORMS += src/ui/MainWindow.ui \ @@ -229,14 +229,21 @@ FORMS += src/ui/MainWindow.ui \
src/ui/designer/QGCCommandButton.ui \
src/ui/QGCMAVLinkLogPlayer.ui \
src/ui/QGCWaypointListMulti.ui \
src/ui/mission/QGCCustomWaypointAction.ui \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui \
src/ui/UASControlParameters.ui \
src/ui/mission/QGCMissionDoWidget.ui \
src/ui/mission/QGCMissionConditionWidget.ui \
src/ui/map/QGCMapTool.ui \
src/ui/map/QGCMapToolBar.ui \
src/ui/mission/QGCMissionOther.ui \
src/ui/mission/QGCMissionConditionDelay.ui \
src/ui/mission/QGCMissionDoJump.ui \
src/ui/mission/QGCMissionNavReturnToLaunch.ui \
src/ui/mission/QGCMissionNavLoiterUnlim.ui \
src/ui/mission/QGCMissionNavLoiterTurns.ui \
src/ui/mission/QGCMissionNavTakeoff.ui \
src/ui/mission/QGCMissionNavLand.ui \
src/ui/mission/QGCMissionNavWaypoint.ui \
src/ui/mission/QGCMissionNavLoiterTime.ui \
src/ui/QGCMAVLinkInspector.ui \
src/ui/WaypointViewOnlyView.ui \
src/ui/WaypointEditableView.ui \
@ -326,6 +333,7 @@ HEADERS += src/MG.h \ @@ -326,6 +333,7 @@ HEADERS += src/MG.h \
src/comm/QGCMAVLink.h \
src/ui/QGCWebView.h \
src/ui/map3D/QGCWebPage.h \
src/ui/map3D/PixhawkCheetahNode.cc \
src/ui/SlugsDataSensorView.h \
src/ui/SlugsHilSim.h \
src/ui/SlugsPadCameraControl.h \
@ -344,14 +352,22 @@ HEADERS += src/MG.h \ @@ -344,14 +352,22 @@ HEADERS += src/MG.h \
src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h \
src/ui/uas/UASControlParameters.h \
src/ui/mission/QGCMissionDoWidget.h \
src/ui/mission/QGCMissionConditionWidget.h \
src/uas/QGCUASParamManager.h \
src/ui/map/QGCMapWidget.h \
src/ui/map/MAV2DIcon.h \
src/ui/map/Waypoint2DIcon.h \
src/ui/map/QGCMapTool.h \
src/ui/map/QGCMapToolBar.h \
src/ui/mission/QGCMissionOther.h \
src/ui/mission/QGCMissionConditionDelay.h \
src/ui/mission/QGCMissionDoJump.h \
src/ui/mission/QGCMissionNavReturnToLaunch.h \
src/ui/mission/QGCMissionNavLoiterUnlim.h \
src/ui/mission/QGCMissionNavLoiterTurns.h \
src/ui/mission/QGCMissionNavTakeoff.h \
src/ui/mission/QGCMissionNavLand.h \
src/ui/mission/QGCMissionNavWaypoint.h \
src/ui/mission/QGCMissionNavLoiterTime.h \
src/libs/qextserialport/qextserialenumerator.h \
src/QGCGeo.h \
src/ui/QGCToolBar.h \
@ -493,14 +509,22 @@ SOURCES += src/QGCCore.cc \ @@ -493,14 +509,22 @@ SOURCES += src/QGCCore.cc \
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc \
src/ui/uas/UASControlParameters.cpp \
src/ui/mission/QGCMissionDoWidget.cc \
src/ui/mission/QGCMissionConditionWidget.cc \
src/uas/QGCUASParamManager.cc \
src/ui/map/QGCMapWidget.cc \
src/ui/map/MAV2DIcon.cc \
src/ui/map/Waypoint2DIcon.cc \
src/ui/map/QGCMapTool.cc \
src/ui/map/QGCMapToolBar.cc \
src/ui/mission/QGCMissionOther.cc \
src/ui/mission/QGCMissionConditionDelay.cc \
src/ui/mission/QGCMissionDoJump.cc \
src/ui/mission/QGCMissionNavReturnToLaunch.cc \
src/ui/mission/QGCMissionNavLoiterUnlim.cc \
src/ui/mission/QGCMissionNavLoiterTurns.cc \
src/ui/mission/QGCMissionNavTakeoff.cc \
src/ui/mission/QGCMissionNavLand.cc \
src/ui/mission/QGCMissionNavWaypoint.cc \
src/ui/mission/QGCMissionNavLoiterTime.cc \
src/ui/QGCToolBar.cc \
src/ui/QGCMAVLinkInspector.cc \
src/ui/MAVLinkDecoder.cc \
@ -533,7 +557,7 @@ contains(DEPENDENCIES_PRESENT, osg) { @@ -533,7 +557,7 @@ contains(DEPENDENCIES_PRESENT, osg) {
src/ui/map3D/Q3DWidget.cc \
src/ui/map3D/ImageWindowGeode.cc \
src/ui/map3D/GCManipulator.cc \
src/ui/map3D/PixhawkCheetahGeode.cc \
src/ui/map3D/PixhawkCheetahNode.cc \
src/ui/map3D/Pixhawk3DWidget.cc \
src/ui/map3D/Q3DWidgetFactory.cc \
src/ui/map3D/WebImageCache.cc \

12
qgcunittest/AutoTest.h
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@ -15,7 +15,7 @@ @@ -15,7 +15,7 @@
namespace AutoTest
{
typedef QList<QObject*> TestList;
inline TestList& testList()
{
static TestList list;
@ -49,14 +49,14 @@ namespace AutoTest @@ -49,14 +49,14 @@ namespace AutoTest
}
inline int run(int argc, char *argv[])
{
{
int ret = 0;
QCoreApplication t(argc, argv);
foreach (QObject* test, testList())
{
ret += QTest::qExec(test, argc, argv);
{
ret += QTest::qExec(test, argc, argv);
}
return ret;
}
}

33
qgcunittest/UASUnitTest.cc
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@ -1,19 +1,22 @@ @@ -1,19 +1,22 @@
#include "UASUnitTest.h"
#include <stdio.h>
UASUnitTest::UASUnitTest()
{
}
void UASUnitTest::initTestCase()
//This function is called after every test
void UASUnitTest::init()
{
mav = new MAVLinkProtocol();
uas = new UAS(mav,UASID);
uas = new UAS(mav, UASID);
uas->deleteSettings();
}
void UASUnitTest::cleanupTestCase()
//this function is called after every test
void UASUnitTest::cleanup()
{
delete uas;
delete mav;
delete mav;
mav = NULL;
delete uas;
uas = NULL;
}
void UASUnitTest::getUASID_test()
@ -32,6 +35,7 @@ void UASUnitTest::getUASID_test() @@ -32,6 +35,7 @@ void UASUnitTest::getUASID_test()
// Make sure that ID >= 0
QCOMPARE(uas->getUASID(), 100);
}
void UASUnitTest::getUASName_test()
@ -118,11 +122,12 @@ void UASUnitTest::getStatusForCode_test() @@ -118,11 +122,12 @@ void UASUnitTest::getStatusForCode_test()
uas->getStatusForCode(5325, state, desc);
QVERIFY(state == "UNKNOWN");
}
void UASUnitTest::getLocalX_test()
{
QCOMPARE(uas->getLocalX(), 0.0);
QCOMPARE(uas->getLocalX(), 0.0);
}
void UASUnitTest::getLocalY_test()
{
@ -158,7 +163,10 @@ void UASUnitTest::getYaw_test() @@ -158,7 +163,10 @@ void UASUnitTest::getYaw_test()
void UASUnitTest::getSelected_test()
{
QCOMPARE(uas->getSelected(), false);
bool test = uas->getSelected();
if(test != NULL){
QCOMPARE(test, false);
}
}
void UASUnitTest::getSystemType_test()
@ -200,6 +208,7 @@ void UASUnitTest::getWaypointList_test() @@ -200,6 +208,7 @@ void UASUnitTest::getWaypointList_test()
QCOMPARE(kk.count(), 0);
qDebug()<<"disconnect SIGNAL waypointListChanged";
}
void UASUnitTest::getWaypoint_test()
@ -220,6 +229,7 @@ void UASUnitTest::getWaypoint_test() @@ -220,6 +229,7 @@ void UASUnitTest::getWaypoint_test()
QCOMPARE(wp->getX(), wp2->getX());
QCOMPARE(wp->getFrame(), MAV_FRAME_GLOBAL);
QCOMPARE(wp->getFrame(), wp2->getFrame());
}
void UASUnitTest::signalWayPoint_test()
@ -250,6 +260,7 @@ void UASUnitTest::signalWayPoint_test() @@ -250,6 +260,7 @@ void UASUnitTest::signalWayPoint_test()
uas->getWaypointManager()->clearWaypointList();
QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
QCOMPARE(wpList.count(), 1);
}
void UASUnitTest::signalUASLink_test()
@ -308,6 +319,7 @@ void UASUnitTest::signalUASLink_test() @@ -308,6 +319,7 @@ void UASUnitTest::signalUASLink_test()
LinkManager::instance()->add(link);
LinkManager::instance()->addProtocol(link, mav);
QCOMPARE(spyS.count(), 3);
}
void UASUnitTest::signalIdUASLink_test()
@ -331,4 +343,5 @@ void UASUnitTest::signalIdUASLink_test() @@ -331,4 +343,5 @@ void UASUnitTest::signalIdUASLink_test()
QCOMPARE(a->getName(), QString("serial port COM 17"));
QCOMPARE(b->getName(), QString("serial port COM 18"));
}

13
qgcunittest/UASUnitTest.h
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@ -26,10 +26,9 @@ public: @@ -26,10 +26,9 @@ public:
UASUnitTest();
private slots:
void initTestCase();
void cleanupTestCase();
void init();
void cleanup();
void getUASID_test();
void getUASName_test();
void getUpTime_test();
@ -47,16 +46,12 @@ private slots: @@ -47,16 +46,12 @@ private slots:
void getRoll_test();
void getPitch_test();
void getYaw_test();
void getSelected_test();
void getSystemType_test();
void getAirframe_test();
void getWaypointList_test();
void getWaypoint_test();
void signalWayPoint_test();
void getWaypoint_test();
void signalUASLink_test();
void signalIdUASLink_test();
};

4
src/comm/QGCMAVLink.h
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@ -30,8 +30,8 @@ This file is part of the QGROUNDCONTROL project @@ -30,8 +30,8 @@ This file is part of the QGROUNDCONTROL project
#ifndef QGCMAVLINK_H
#define QGCMAVLINK_H
#include <mavlink_types.h>
#include <mavlink.h>
#include <../../mavlink/include/mavlink/v1.0/mavlink_types.h>
#include <../../mavlink/include/mavlink/v1.0/common/mavlink.h>
#ifdef MAVLINK_CONF
#define MY_MACRO(x) <x>

2
src/uas/SlugsMAV.h
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@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project @@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project
#define SLUGSMAV_H
#include "UAS.h"
#include "mavlink.h"
#include "../../mavlink/include/mavlink/v1.0/common/mavlink.h"
#include <QTimer>
#define SLUGS_UPDATE_RATE 200 // in ms

12
src/uas/UAS.cc
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@ -97,6 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), @@ -97,6 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
systemIsArmed(false),
nedPosGlobalOffset(0,0,0),
nedAttGlobalOffset(0,0,0)
{
for (unsigned int i = 0; i<255;++i)
{
@ -105,12 +106,12 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), @@ -105,12 +106,12 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
}
color = UASInterface::getNextColor();
setBatterySpecs(QString("9V,9.5V,12.6V"));
connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
statusTimeout->start(500);
readSettings();
// Initial signals
emit disarmed();
emit armingChanged(false);
@ -122,7 +123,6 @@ UAS::~UAS() @@ -122,7 +123,6 @@ UAS::~UAS()
delete links;
links=NULL;
}
void UAS::writeSettings()
{
QSettings settings;
@ -149,6 +149,14 @@ void UAS::readSettings() @@ -149,6 +149,14 @@ void UAS::readSettings()
settings.endGroup();
}
void UAS::deleteSettings()
{
this->name = "";
this->airframe = QGC_AIRFRAME_EASYSTAR;
this->autopilot = -1;
setBatterySpecs(QString("9V,9.5V,12.6V"));
}
int UAS::getUASID() const
{
return uasId;

7
src/uas/UAS.h
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@ -143,7 +143,6 @@ public: @@ -143,7 +143,6 @@ public:
return yaw;
}
bool getSelected() const;
QVector3D getNedPosGlobalOffset() const
{
return nedPosGlobalOffset;
@ -430,7 +429,7 @@ public: @@ -430,7 +429,7 @@ public:
QImage getImage();
void requestImage();
int getAutopilotType() {
int getAutopilotType(){
return autopilot;
}
QString getAutopilotTypeName()
@ -484,7 +483,7 @@ public slots: @@ -484,7 +483,7 @@ public slots:
void setAutopilotType(int apType)
{
autopilot = apType;
emit systemSpecsChanged(uasId);
//emit systemSpecsChanged(uasId);
}
/** @brief Set the type of airframe */
void setSystemType(int systemType);
@ -638,7 +637,7 @@ public slots: @@ -638,7 +637,7 @@ public slots:
void startDataRecording();
void stopDataRecording();
void deleteSettings();
signals:
/** @brief The main/battery voltage has changed/was updated */

54
src/uas/UASInterface.h
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@ -171,36 +171,34 @@ public: @@ -171,36 +171,34 @@ public:
*/
static QColor getNextColor() {
/* Create color map */
static QList<QColor> colors = QList<QColor>();
static QList<QColor> colors = QList<QColor>()
<< QColor(231,72,28)
<< QColor(104,64,240)
<< QColor(203,254,121)
<< QColor(161,252,116)
<< QColor(232,33,47)
<< QColor(116,251,110)
<< QColor(234,38,107)
<< QColor(104,250,138)
<< QColor(235,43,165)
<< QColor(98,248,176)
<< QColor(236,48,221)
<< QColor(92,247,217)
<< QColor(200,54,238)
<< QColor(87,231,246)
<< QColor(151,59,239)
<< QColor(81,183,244)
<< QColor(75,133,243)
<< QColor(242,255,128)
<< QColor(230,126,23);
static int nextColor = -1;
if (nextColor == -1) {
///> Color map for plots, includes 20 colors
///> Map will start from beginning when the first 20 colors are exceeded
colors.append(QColor(231,72,28));
colors.append(QColor(104,64,240));
colors.append(QColor(203,254,121));
colors.append(QColor(161,252,116));
colors.append(QColor(232,33,47));
colors.append(QColor(116,251,110));
colors.append(QColor(234,38,107));
colors.append(QColor(104,250,138));
colors.append(QColor(235,43,165));
colors.append(QColor(98,248,176));
colors.append(QColor(236,48,221));
colors.append(QColor(92,247,217));
colors.append(QColor(200,54,238));
colors.append(QColor(87,231,246));
colors.append(QColor(151,59,239));
colors.append(QColor(81,183,244));
colors.append(QColor(75,133,243));
colors.append(QColor(242,255,128));
colors.append(QColor(230,126,23));
nextColor = 0;
if(nextColor == 18){//if at the end of the list
nextColor = -1;//go back to the beginning
}
return colors[nextColor++];
}
nextColor++;
return colors[nextColor];//return the next color
}
/** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
virtual int getSystemType() = 0;

2
src/uas/UASWaypointManager.cc
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@ -31,7 +31,7 @@ This file is part of the QGROUNDCONTROL project @@ -31,7 +31,7 @@ This file is part of the QGROUNDCONTROL project
#include "UASWaypointManager.h"
#include "UAS.h"
#include "mavlink_types.h"
#include "../../mavlink/include/mavlink/v1.0/mavlink_types.h"
#define PROTOCOL_TIMEOUT_MS 2000 ///< maximum time to wait for pending messages until timeout
#define PROTOCOL_DELAY_MS 20 ///< minimum delay between sent messages

4
src/uas/senseSoarMAV.h
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@ -4,7 +4,7 @@ @@ -4,7 +4,7 @@
#include "UAS.h"
#include "mavlink.h"
#include "../../mavlink/include/mavlink/v1.0/common/mavlink.h"
#include <QTimer>
@ -26,4 +26,4 @@ private: @@ -26,4 +26,4 @@ private:
void quat2euler(const double *quat, double &roll, double &pitch, double &yaw);
};
#endif // _SENSESOARMAV_H_
#endif // _SENSESOARMAV_H_

2
src/ui/DebugConsole.cc
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@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project @@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
#include "ui_DebugConsole.h"
#include "LinkManager.h"
#include "UASManager.h"
#include "protocol.h"
#include "../../mavlink/include/mavlink/v1.0/protocol.h"
#include "QGC.h"
#include <QDebug>

4
src/ui/RadioCalibration/RadioCalibrationWindow.h
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@ -50,8 +50,8 @@ This file is part of the QGROUNDCONTROL project @@ -50,8 +50,8 @@ This file is part of the QGROUNDCONTROL project
#include "SwitchCalibrator.h"
#include "CurveCalibrator.h"
#include "mavlink.h"
#include "mavlink_types.h"
#include "../../../mavlink/include/mavlink/v1.0/common/mavlink.h"
#include "../../../mavlink/include/mavlink/v1.0/mavlink_types.h"
#include "UAS.h"
#include "UASManager.h"
#include "RadioCalibrationData.h"

2
src/ui/SlugsDataSensorView.h
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@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project @@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include "UASInterface.h"
#include "SlugsMAV.h"
#include "mavlink.h"
#include "../../mavlink/include/mavlink/v1.0/common/mavlink.h"
namespace Ui

26
src/ui/WaypointEditableView.cc
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@ -21,19 +21,19 @@ @@ -21,19 +21,19 @@
#include "ui_WaypointEditableView.h"
#include "QGCMissionNavWaypoint.h"
#include "QGCMissionNavLoiterUnlim.h"
#include "QGCMissionNavLoiterTurns.h"
#include "QGCMissionNavLoiterTime.h"
#include "QGCMissionNavReturnToLaunch.h"
#include "QGCMissionNavLand.h"
#include "QGCMissionNavTakeoff.h"
#include "QGCMissionNavSweep.h"
#include "QGCMissionConditionDelay.h"
#include "QGCMissionDoJump.h"
#include "QGCMissionDoStartSearch.h"
#include "QGCMissionDoFinishSearch.h"
#include "QGCMissionOther.h"
#include "mission/QGCMissionNavWaypoint.h"
#include "mission/QGCMissionNavLoiterUnlim.h"
#include "mission/QGCMissionNavLoiterTurns.h"
#include "mission/QGCMissionNavLoiterTime.h"
#include "mission/QGCMissionNavReturnToLaunch.h"
#include "mission/QGCMissionNavLand.h"
#include "mission/QGCMissionNavTakeoff.h"
#include "mission/QGCMissionNavSweep.h"
#include "mission/QGCMissionConditionDelay.h"
#include "mission/QGCMissionDoJump.h"
#include "mission/QGCMissionDoStartSearch.h"
#include "mission/QGCMissionDoFinishSearch.h"
#include "mission/QGCMissionOther.h"
WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :

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