Unit tests for .waypoints and .mission file format load

8 years ago · 30d65882c8
8 changed files with 226 additions and 2 deletions
--- a/UnitTest.qrc
+++ b/UnitTest.qrc
@ -6,5 +6,7 @@
				@@ -6,5 +6,7 @@
        <file alias="MavCmdInfoRover.json">src/MissionManager/UnitTest/MavCmdInfoRover.json</file>
        <file alias="MavCmdInfoSub.json">src/MissionManager/UnitTest/MavCmdInfoSub.json</file>
        <file alias="MavCmdInfoVTOL.json">src/MissionManager/UnitTest/MavCmdInfoVTOL.json</file>
+        <file alias="MissionPlanner.waypoints">src/MissionManager/UnitTest/MissionPlanner.waypoints</file>
+        <file alias="OldFileFormat.mission">src/MissionManager/UnitTest/OldFileFormat.mission</file>
    </qresource>
 </RCC>
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@ -390,6 +390,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
				@@ -390,6 +390,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
        src/MissionManager/MissionControllerTest.h \
        src/MissionManager/MissionItemTest.h \
        src/MissionManager/MissionManagerTest.h \
+        src/MissionManager/PlanMasterControllerTest.h \
        src/MissionManager/SectionTest.h \
        src/MissionManager/SimpleMissionItemTest.h \
        src/MissionManager/SpeedSectionTest.h \
@ -422,6 +423,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
				@@ -422,6 +423,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
        src/MissionManager/MissionControllerTest.cc \
        src/MissionManager/MissionItemTest.cc \
        src/MissionManager/MissionManagerTest.cc \
+        src/MissionManager/PlanMasterControllerTest.cc \
        src/MissionManager/SectionTest.cc \
        src/MissionManager/SimpleMissionItemTest.cc \
        src/MissionManager/SpeedSectionTest.cc \
--- a/src/MissionManager/PlanMasterControllerTest.cc
+++ b/src/MissionManager/PlanMasterControllerTest.cc
@ -0,0 +1,52 @@
				@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "PlanMasterControllerTest.h"
+#include "LinkManager.h"
+#include "MultiVehicleManager.h"
+#include "SimpleMissionItem.h"
+#include "MissionSettingsItem.h"
+#include "QGCApplication.h"
+#include "SettingsManager.h"
+#include "AppSettings.h"
+
+PlanMasterControllerTest::PlanMasterControllerTest(void)
+    : _masterController(NULL)
+{
+    
+}
+
+void PlanMasterControllerTest::init(void)
+{
+    UnitTest::init();
+
+    _masterController = new PlanMasterController(this);
+    _masterController->start(true /* editMode */);
+}
+
+void PlanMasterControllerTest::cleanup(void)
+{
+    delete _masterController;
+    _masterController = NULL;
+
+    UnitTest::cleanup();
+}
+
+void PlanMasterControllerTest::_testMissionFileLoad(void)
+{
+    _masterController->loadFromFile(":/json/unittest/OldFileFormat.mission");
+    QCOMPARE(_masterController->missionController()->visualItems()->count(), 7);
+}
+
+
+void PlanMasterControllerTest::_testMissionPlannerFileLoad(void)
+{
+    _masterController->loadFromFile(":/json/unittest/MissionPlanner.waypoints");
+    QCOMPARE(_masterController->missionController()->visualItems()->count(), 6);
+}
--- a/src/MissionManager/PlanMasterControllerTest.h
+++ b/src/MissionManager/PlanMasterControllerTest.h
@ -0,0 +1,39 @@
				@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UnitTest.h"
+#include "MockLink.h"
+#include "MissionManager.h"
+#include "MultiSignalSpy.h"
+#include "MissionControllerManagerTest.h"
+#include "PlanMasterController.h"
+#include "MissionController.h"
+#include "SimpleMissionItem.h"
+
+#include <QGeoCoordinate>
+
+class PlanMasterControllerTest : public UnitTest
+{
+    Q_OBJECT
+    
+public:
+    PlanMasterControllerTest(void);
+
+private slots:
+    void init(void) final;
+    void cleanup(void) final;
+
+    void _testMissionFileLoad(void);
+    void _testMissionPlannerFileLoad(void);
+
+private:
+    PlanMasterController*   _masterController;
+};
--- a/src/MissionManager/UnitTest/MissionPlanner.waypoints
+++ b/src/MissionManager/UnitTest/MissionPlanner.waypoints
@ -0,0 +1,7 @@
				@@ -0,0 +1,7 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	47.660459	-122.103167	5.210000	1
+1	0	3	16	0.000000	0.000000	0.000000	0.000000	47.661298	-122.103274	100.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	47.661030	-122.101858	100.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	47.659961	-122.101525	100.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	47.659195	-122.103370	100.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	47.660459	-122.105538	100.000000	1
--- a/src/MissionManager/UnitTest/OldFileFormat.mission
+++ b/src/MissionManager/UnitTest/OldFileFormat.mission
@ -0,0 +1,120 @@
				@@ -0,0 +1,120 @@
+{
+    "firmwareType": 3,
+    "groundStation": "QGroundControl",
+    "items": [
+        {
+            "autoContinue": true,
+            "command": 22,
+            "coordinate": [
+                47.660137763851573,
+                -122.29411931627152,
+                50
+            ],
+            "doJumpId": 1,
+            "frame": 2,
+            "params": [
+                0,
+                0,
+                0,
+                0
+            ],
+            "type": "SimpleItem"
+        },
+        {
+            "autoContinue": true,
+            "command": 18,
+            "coordinate": [
+                47.660316610000002,
+                -122.29423867,
+                10
+            ],
+            "doJumpId": 2,
+            "frame": 3,
+            "params": [
+                1,
+                0,
+                0,
+                0
+            ],
+            "type": "SimpleItem"
+        },
+        {
+            "autoContinue": true,
+            "command": 18,
+            "coordinate": [
+                47.660299945473923,
+                -122.29402946102036,
+                20
+            ],
+            "doJumpId": 3,
+            "frame": 3,
+            "params": [
+                3,
+                0,
+                0,
+                0
+            ],
+            "type": "SimpleItem"
+        },
+        {
+            "autoContinue": true,
+            "command": 16,
+            "coordinate": [
+                47.660239429999997,
+                -122.29371564,
+                5
+            ],
+            "doJumpId": 4,
+            "frame": 3,
+            "params": [
+                0,
+                0,
+                0,
+                0
+            ],
+            "type": "SimpleItem"
+        },
+        {
+            "autoContinue": true,
+            "command": 16,
+            "coordinate": [
+                47.660368599999998,
+                -122.29426013,
+                5
+            ],
+            "doJumpId": 5,
+            "frame": 3,
+            "params": [
+                0,
+                0,
+                0,
+                0
+            ],
+            "type": "SimpleItem"
+        },
+        {
+            "autoContinue": true,
+            "command": 21,
+            "coordinate": [
+                47.660153620000003,
+                -122.29410455999999,
+                3
+            ],
+            "doJumpId": 6,
+            "frame": 3,
+            "params": [
+                0,
+                0,
+                0,
+                0
+            ],
+            "type": "SimpleItem"
+        }
+    ],
+    "plannedHomePosition": [
+        47.660137763851573,
+        -122.29411931627152,
+        0
+    ],
+    "version": 2
+}
--- a/src/qgcunittest/UnitTest.h
+++ b/src/qgcunittest/UnitTest.h
@ -98,11 +98,11 @@ protected slots:
				@@ -98,11 +98,11 @@ protected slots:
    // call the UnitTest private implementation.
    
    /// @brief Called before each test.
-    ///         Make sure to call _init first in your derived class.
+    ///         Make sure to call UnitTest::init first in your derived class.
    virtual void init(void);
    
    /// @brief Called after each test.
-    ///         Make sure to call _cleanup first in your derived class.
+    ///         Make sure to call UnitTest::cleanup last in your derived class.
    virtual void cleanup(void);
    
 protected:
--- a/src/qgcunittest/UnitTestList.cc
+++ b/src/qgcunittest/UnitTestList.cc
@ -35,6 +35,7 @@
				@@ -35,6 +35,7 @@
 #include "VisualMissionItemTest.h"
 #include "CameraSectionTest.h"
 #include "SpeedSectionTest.h"
+#include "PlanMasterControllerTest.h"

 UT_REGISTER_TEST(FactSystemTestGeneric)
 UT_REGISTER_TEST(FactSystemTestPX4)
@ -56,6 +57,7 @@ UT_REGISTER_TEST(SendMavCommandTest)
				@@ -56,6 +57,7 @@ UT_REGISTER_TEST(SendMavCommandTest)
 UT_REGISTER_TEST(SurveyMissionItemTest)
 UT_REGISTER_TEST(CameraSectionTest)
 UT_REGISTER_TEST(SpeedSectionTest)
+UT_REGISTER_TEST(PlanMasterControllerTest)

 // List of unit test which are currently disabled.
 // If disabling a new test, include reason in comment.