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Convert to MockLink and FactSystem

QGC4.4
Don Gagne 10 years ago
parent
6daa362e7d
commit
21e80f4604
2 changed files with 37 additions and 56 deletions
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  1. 85
      src/qgcunittest/PX4RCCalibrationTest.cc
  2. 8
      src/qgcunittest/PX4RCCalibrationTest.h

85
src/qgcunittest/PX4RCCalibrationTest.cc
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@ -23,7 +23,7 @@
#include "PX4RCCalibrationTest.h" #include "PX4RCCalibrationTest.h"
#include "UASManager.h" #include "UASManager.h"
#include "MockQGCUASParamManager.h" #include "AutoPilotPluginManager.h"
/// @file /// @file
/// @brief QPX4RCCalibration Widget unit test /// @brief QPX4RCCalibration Widget unit test
@ -137,7 +137,6 @@ const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChan
}; };
PX4RCCalibrationTest::PX4RCCalibrationTest(void) : PX4RCCalibrationTest::PX4RCCalibrationTest(void) :
_mockUASManager(NULL),
_calWidget(NULL) _calWidget(NULL)
{ {
} }
@ -146,15 +145,14 @@ void PX4RCCalibrationTest::init(void)
{ {
UnitTest::init(); UnitTest::init();
_mockUASManager = new MockUASManager(); _mockLink = new MockLink();
Q_ASSERT(_mockUASManager); Q_CHECK_PTR(_mockLink);
LinkManager::instance()->_addLink(_mockLink);
LinkManager::instance()->connectLink(_mockLink);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
UASManager::setMockInstance(_mockUASManager); _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS());
Q_ASSERT(_autopilot);
_mockUAS = new MockUAS();
Q_CHECK_PTR(_mockUAS);
_mockUASManager->setMockActiveUAS(_mockUAS);
// This will instatiate the widget with an active uas with ready parameters // This will instatiate the widget with an active uas with ready parameters
_calWidget = new PX4RCCalibration(); _calWidget = new PX4RCCalibration();
@ -195,13 +193,10 @@ void PX4RCCalibrationTest::cleanup(void)
Q_ASSERT(_calWidget); Q_ASSERT(_calWidget);
delete _calWidget; delete _calWidget;
Q_ASSERT(_mockUAS); // Disconnecting the link will prompt for log file save
delete _mockUAS; setExpectedFileDialog(getSaveFileName, QStringList());
UASManager::setMockInstance(NULL); LinkManager::instance()->disconnectLink(_mockLink);
Q_ASSERT(_mockUASManager);
delete _mockUASManager;
UnitTest::cleanup(); UnitTest::cleanup();
} }
@ -211,7 +206,7 @@ void PX4RCCalibrationTest::_minRCChannels_test(void)
{ {
// Next button won't be enabled until we see the minimum number of channels. // Next button won't be enabled until we see the minimum number of channels.
for (int chan=0; chan<PX4RCCalibration::_chanMinimum; chan++) { for (int chan=0; chan<PX4RCCalibration::_chanMinimum; chan++) {
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint); _mockLink->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
// We use _chanCount internally so we should validate it // We use _chanCount internally so we should validate it
QCOMPARE(_calWidget->_chanCount, chan+1); QCOMPARE(_calWidget->_chanCount, chan+1);
@ -259,16 +254,16 @@ void PX4RCCalibrationTest::_stickMoveWaitForSettle(int channel, int value)
qCDebug(PX4RCCalibrationTestLog) << "_stickMoveWaitForSettle channel:value" << channel << value; qCDebug(PX4RCCalibrationTestLog) << "_stickMoveWaitForSettle channel:value" << channel << value;
// Move the stick, this will initialized the settle checker // Move the stick, this will initialized the settle checker
_mockUAS->emitRemoteControlChannelRawChanged(channel, value); _mockLink->emitRemoteControlChannelRawChanged(channel, value);
// Emit the signal again to start the settle timer // Emit the signal again to start the settle timer
_mockUAS->emitRemoteControlChannelRawChanged(channel, value); _mockLink->emitRemoteControlChannelRawChanged(channel, value);
// Wait long enough for the settle timer to expire // Wait long enough for the settle timer to expire
QTest::qWait(PX4RCCalibration::_stickDetectSettleMSecs * 1.5); QTest::qWait(PX4RCCalibration::_stickDetectSettleMSecs * 1.5);
// Emit the signal again so that we detect stick settle // Emit the signal again so that we detect stick settle
_mockUAS->emitRemoteControlChannelRawChanged(channel, value); _mockLink->emitRemoteControlChannelRawChanged(channel, value);
} }
void PX4RCCalibrationTest::_stickMoveAutoStep(const char* functionStr, enum PX4RCCalibration::rcCalFunctions function, enum PX4RCCalibrationTest::MoveToDirection direction, bool identifyStep) void PX4RCCalibrationTest::_stickMoveAutoStep(const char* functionStr, enum PX4RCCalibration::rcCalFunctions function, enum PX4RCCalibrationTest::MoveToDirection direction, bool identifyStep)
@ -322,15 +317,15 @@ void PX4RCCalibrationTest::_switchMinMaxStep(void)
CHK_BUTTONS(nextButtonMask | cancelButtonMask); CHK_BUTTONS(nextButtonMask | cancelButtonMask);
// Try setting a min/max value that is below the threshold to make sure min/max doesn't go valid // Try setting a min/max value that is below the threshold to make sure min/max doesn't go valid
_mockUAS->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMinValue + 1)); _mockLink->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMinValue + 1));
_mockUAS->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMaxValue - 1)); _mockLink->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMaxValue - 1));
QCOMPARE(_rgValueWidget[0]->isMinValid(), false); QCOMPARE(_rgValueWidget[0]->isMinValid(), false);
QCOMPARE(_rgValueWidget[0]->isMaxValid(), false); QCOMPARE(_rgValueWidget[0]->isMaxValid(), false);
// Send min/max values switch channels // Send min/max values switch channels
for (int chan=0; chan<_availableChannels; chan++) { for (int chan=0; chan<_availableChannels; chan++) {
_mockUAS->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMin); _mockLink->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMin);
_mockUAS->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMax); _mockLink->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMax);
} }
_channelHomePosition(); _channelHomePosition();
@ -383,8 +378,8 @@ void PX4RCCalibrationTest::_switchSelectAutoStep(const char* functionStr, PX4RCC
// Wiggle stick for channel // Wiggle stick for channel
int channel = _rgFunctionChannelMap[function]; int channel = _rgFunctionChannelMap[function];
_mockUAS->emitRemoteControlChannelRawChanged(channel, _testMinValue); _mockLink->emitRemoteControlChannelRawChanged(channel, _testMinValue);
_mockUAS->emitRemoteControlChannelRawChanged(channel, _testMaxValue); _mockLink->emitRemoteControlChannelRawChanged(channel, _testMaxValue);
QCOMPARE(_calWidget->_currentStep, saveStep + 1); QCOMPARE(_calWidget->_currentStep, saveStep + 1);
} }
@ -395,9 +390,6 @@ void PX4RCCalibrationTest::_fullCalibration_test(void)
// MockLink.params file cannot have flight mode switches mapped to those channels. // MockLink.params file cannot have flight mode switches mapped to those channels.
// If it does it will cause errors since the stick will not be detetected where // If it does it will cause errors since the stick will not be detetected where
MockQGCUASParamManager* paramMgr = _mockUAS->getMockQGCUASParamManager();
MockQGCUASParamManager::ParamMap_t mapParamsSet = paramMgr->getMockSetParameters();
/// _rgFunctionChannelMap maps from function index to channel index. For channels which are not part of /// _rgFunctionChannelMap maps from function index to channel index. For channels which are not part of
/// rc cal set the mapping the the previous mapping. /// rc cal set the mapping the the previous mapping.
@ -414,7 +406,7 @@ void PX4RCCalibrationTest::_fullCalibration_test(void)
switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW"; switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW";
foreach (QString switchParam, switchList) { foreach (QString switchParam, switchList) {
Q_ASSERT(mapParamsSet[switchParam].toInt() != channel + 1); Q_ASSERT(_autopilot->getParameterFact(switchParam)->value().toInt() != channel + 1);
} }
_rgFunctionChannelMap[function] = channel; _rgFunctionChannelMap[function] = channel;
@ -426,8 +418,8 @@ void PX4RCCalibrationTest::_fullCalibration_test(void)
// If we aren't mapping this function during calibration, set it to the previous setting // If we aren't mapping this function during calibration, set it to the previous setting
if (!found) { if (!found) {
_rgFunctionChannelMap[function] = mapParamsSet[PX4RCCalibration::_rgFunctionInfo[function].parameterName].toInt(); _rgFunctionChannelMap[function] = _autopilot->getParameterFact(PX4RCCalibration::_rgFunctionInfo[function].parameterName)->value().toInt();
qCDebug(PX4RCCalibrationTestLog) << "Assigning switch" << function << mapParamsSet[PX4RCCalibration::_rgFunctionInfo[function].parameterName].toInt(); qCDebug(PX4RCCalibrationTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
if (_rgFunctionChannelMap[function] == 0) { if (_rgFunctionChannelMap[function] == 0) {
_rgFunctionChannelMap[function] = -1; // -1 signals no mapping _rgFunctionChannelMap[function] = -1; // -1 signals no mapping
} else { } else {
@ -464,19 +456,16 @@ void PX4RCCalibrationTest::_channelHomePosition(void)
{ {
// Initialize available channels to center point. // Initialize available channels to center point.
for (int i=0; i<_availableChannels; i++) { for (int i=0; i<_availableChannels; i++) {
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint); _mockLink->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
} }
// Throttle to min - 1 (throttle is not reversed). We do this so that the trim value is below the min value. This should end up // Throttle to min - 1 (throttle is not reversed). We do this so that the trim value is below the min value. This should end up
// being validated and raised to min value. If not, something is wrong with RC Cal code. // being validated and raised to min value. If not, something is wrong with RC Cal code.
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue - 1); _mockLink->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue - 1);
} }
void PX4RCCalibrationTest::_validateParameters(void) void PX4RCCalibrationTest::_validateParameters(void)
{ {
MockQGCUASParamManager* paramMgr = _mockUAS->getMockQGCUASParamManager();
MockQGCUASParamManager::ParamMap_t mapParamsSet = paramMgr->getMockSetParameters();
QString minTpl("RC%1_MIN"); QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX"); QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM"); QString trimTpl("RC%1_TRIM");
@ -493,9 +482,8 @@ void PX4RCCalibrationTest::_validateParameters(void)
expectedParameterValue = chanIndex + 1; // 1-based parameter value expectedParameterValue = chanIndex + 1; // 1-based parameter value
} }
qCDebug(PX4RCCalibrationTestLog) << "Validate" << chanFunction << mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(); qCDebug(PX4RCCalibrationTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName)->value().toInt();
QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true); QCOMPARE(_autopilot->getParameterFact(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(), expectedParameterValue);
QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedParameterValue);
} }
// Validate the channel settings. Note the channels are 1-based in parameter names. // Validate the channel settings. Note the channels are 1-based in parameter names.
@ -509,18 +497,13 @@ void PX4RCCalibrationTest::_validateParameters(void)
int rcTrimExpected = _rgChannelSettingsValidate[chan].rcTrim; int rcTrimExpected = _rgChannelSettingsValidate[chan].rcTrim;
bool rcReversedExpected = _rgChannelSettingsValidate[chan].reversed; bool rcReversedExpected = _rgChannelSettingsValidate[chan].reversed;
QCOMPARE(mapParamsSet.contains(minTpl.arg(oneBasedChannel)), true); int rcMinActual = _autopilot->getParameterFact(minTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
QCOMPARE(mapParamsSet.contains(maxTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet.contains(trimTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet.contains(revTpl.arg(oneBasedChannel)), true);
int rcMinActual = mapParamsSet[minTpl.arg(oneBasedChannel)].toInt(&convertOk);
QCOMPARE(convertOk, true); QCOMPARE(convertOk, true);
int rcMaxActual = mapParamsSet[maxTpl.arg(oneBasedChannel)].toInt(&convertOk); int rcMaxActual = _autopilot->getParameterFact(maxTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
QCOMPARE(convertOk, true); QCOMPARE(convertOk, true);
int rcTrimActual = mapParamsSet[trimTpl.arg(oneBasedChannel)].toInt(&convertOk); int rcTrimActual = _autopilot->getParameterFact(trimTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
QCOMPARE(convertOk, true); QCOMPARE(convertOk, true);
float rcReversedFloat = mapParamsSet[revTpl.arg(oneBasedChannel)].toFloat(&convertOk); float rcReversedFloat = _autopilot->getParameterFact(revTpl.arg(oneBasedChannel))->value().toFloat(&convertOk);
QCOMPARE(convertOk, true); QCOMPARE(convertOk, true);
bool rcReversedActual = (rcReversedFloat == -1.0f); bool rcReversedActual = (rcReversedFloat == -1.0f);
@ -535,8 +518,6 @@ void PX4RCCalibrationTest::_validateParameters(void)
// Check mapping for all fuctions // Check mapping for all fuctions
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) { for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true);
int expectedValue; int expectedValue;
if (_rgFunctionChannelMap[chanFunction] == -1) { if (_rgFunctionChannelMap[chanFunction] == -1) {
expectedValue = 0; // 0 signals no mapping expectedValue = 0; // 0 signals no mapping
@ -544,6 +525,6 @@ void PX4RCCalibrationTest::_validateParameters(void)
expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based
} }
// qCDebug(PX4RCCalibrationTestLog) << chanFunction << expectedValue << mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(); // qCDebug(PX4RCCalibrationTestLog) << chanFunction << expectedValue << mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt();
QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedValue); QCOMPARE(_autopilot->getParameterFact(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(), expectedValue);
} }
} }

8
src/qgcunittest/PX4RCCalibrationTest.h
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@ -25,11 +25,11 @@
#define PX4RCCALIBRATIONTEST_H #define PX4RCCALIBRATIONTEST_H
#include "UnitTest.h" #include "UnitTest.h"
#include "MockUASManager.h" #include "MockLink.h"
#include "MockUAS.h"
#include "MultiSignalSpy.h" #include "MultiSignalSpy.h"
#include "px4_configuration/PX4RCCalibration.h" #include "px4_configuration/PX4RCCalibration.h"
#include "QGCLoggingCategory.h" #include "QGCLoggingCategory.h"
#include "AutoPilotPlugin.h"
/// @file /// @file
/// @brief PX4RCCalibration Widget unit test /// @brief PX4RCCalibration Widget unit test
@ -94,8 +94,8 @@ private:
void _validateParameters(void); void _validateParameters(void);
MockUASManager* _mockUASManager; MockLink* _mockLink;
MockUAS* _mockUAS; AutoPilotPlugin* _autopilot;
PX4RCCalibration* _calWidget; PX4RCCalibration* _calWidget;

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