Don Gagne
10 years ago
6 changed files with 274 additions and 5 deletions
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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#include "FactSystemTest.h" |
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#include "LinkManager.h" |
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#include "MockLink.h" |
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#include "AutoPilotPluginManager.h" |
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#include "UASManager.h" |
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#include "QGCApplication.h" |
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#include "QGCQuickWidget.h" |
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#include <QQuickItem> |
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UT_REGISTER_TEST(FactSystemTest) |
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/// FactSystem Unit Test
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FactSystemTest::FactSystemTest(void) |
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{ |
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} |
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void FactSystemTest::init(void) |
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{ |
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UnitTest::init(); |
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LinkManager* _linkMgr = LinkManager::instance(); |
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MockLink* link = new MockLink(); |
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_linkMgr->addLink(link); |
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_linkMgr->connectLink(link); |
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// Wait for the uas to work it's way through the various threads
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QSignalSpy spyUas(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*))); |
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QCOMPARE(spyUas.wait(5000), true); |
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_uas = UASManager::instance()->getActiveUAS(); |
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Q_ASSERT(_uas); |
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_paramMgr = _uas->getParamManager(); |
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Q_ASSERT(_paramMgr); |
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// Get the plugin for the uas
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AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance(); |
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Q_ASSERT(pluginMgr); |
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_plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas); |
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Q_ASSERT(_plugin); |
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// Wait for the plugin to be ready
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QSignalSpy spyPlugin(_plugin, SIGNAL(pluginReady())); |
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if (!_plugin->pluginIsReady()) { |
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QCOMPARE(spyPlugin.wait(5000), true); |
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} |
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Q_ASSERT(_plugin->pluginIsReady()); |
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} |
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void FactSystemTest::cleanup(void) |
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{ |
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UnitTest::cleanup(); |
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} |
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/// Basic test of parameter values in Fact System
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void FactSystemTest::_parameter_test(void) |
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{ |
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// Get the parameter facts from the AutoPilot
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AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance(); |
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Q_ASSERT(pluginMgr); |
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AutoPilotPlugin* plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas); |
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Q_ASSERT(plugin); |
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QObject* parameterFacts = plugin->parameterFacts(); |
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QVERIFY(parameterFacts != NULL); |
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// Compare the value in the Parameter Manager with the value from the FactSystem
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QVariant factVariant = parameterFacts->property("RC_MAP_THROTTLE"); |
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Fact* fact = factVariant.value<Fact*>(); |
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QVERIFY(fact != NULL); |
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QVariant factValue = fact->value(); |
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QCOMPARE(factValue.isValid(), true); |
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QVariant paramValue; |
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Q_ASSERT(_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue)); |
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QCOMPARE(factValue.toInt(), paramValue.toInt()); |
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} |
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/// Test that QML can reference a Fact
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void FactSystemTest::_qml_test(void) |
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{ |
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QGCQuickWidget* widget = new QGCQuickWidget; |
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widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml")); |
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QQuickItem* rootObject = widget->rootObject(); |
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QObject* control = rootObject->findChild<QObject*>("testControl"); |
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QVERIFY(control != NULL); |
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QVariant qmlValue = control->property("text").toInt(); |
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QVariant paramMgrValue; |
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Q_ASSERT(_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramMgrValue)); |
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QCOMPARE(qmlValue.toInt(), paramMgrValue.toInt()); |
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} |
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// Test correct behavior when the Param Manager gets a parameter update
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void FactSystemTest::_paramMgrSignal_test(void) |
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{ |
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// Get the parameter Fact from the AutoPilot
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AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance(); |
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Q_ASSERT(pluginMgr); |
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AutoPilotPlugin* plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas); |
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Q_ASSERT(plugin); |
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QObject* parameterFacts = plugin->parameterFacts(); |
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QVERIFY(parameterFacts != NULL); |
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QVariant factVariant = parameterFacts->property("RC_MAP_THROTTLE"); |
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Fact* fact = factVariant.value<Fact*>(); |
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QVERIFY(fact != NULL); |
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// Setting a new value into the parameter should trigger a valueChanged signal on the Fact
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QSignalSpy spyFact(fact, SIGNAL(valueChanged(QVariant))); |
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QVariant paramValue = 12; |
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_paramMgr->setParameter(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue); |
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_paramMgr->sendPendingParameters(true, false); |
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// Wait for the Fact::valueChanged signal to come through
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QCOMPARE(spyFact.wait(5000), true); |
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// Make sure the signal has the right value
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QList<QVariant> arguments = spyFact.takeFirst(); |
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qDebug() << arguments.at(0).type(); |
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QCOMPARE(arguments.at(0).toInt(), 12); |
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// Make sure the Fact has the new value
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QCOMPARE(fact->value().toInt(), 12); |
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} |
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/// Test QML getting an updated Fact value
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void FactSystemTest::_qmlUpdate_test(void) |
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{ |
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QGCQuickWidget* widget = new QGCQuickWidget; |
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widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml")); |
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// Change the value using param manager
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QVariant paramValue = 12; |
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_paramMgr->setParameter(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue); |
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_paramMgr->sendPendingParameters(true, false); |
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QTest::qWait(500); // Let the signals flow through
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// Make sure the qml has the right value
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QQuickItem* rootObject = widget->rootObject(); |
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QObject* control = rootObject->findChild<QObject*>("testControl"); |
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QVERIFY(control != NULL); |
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QCOMPARE(control->property("text").toInt(), 12); |
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} |
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@ -0,0 +1,58 @@
@@ -0,0 +1,58 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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#ifndef FactSystemTest_H |
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#define FactSystemTest_H |
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#include "UnitTest.h" |
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#include "UASInterface.h" |
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#include "AutoPilotPlugin.h" |
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// Unit Test for Fact System
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class FactSystemTest : public UnitTest |
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{ |
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Q_OBJECT |
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public: |
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FactSystemTest(void); |
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private slots: |
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void init(void); |
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void cleanup(void); |
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void _parameter_test(void); |
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void _qml_test(void); |
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void _paramMgrSignal_test(void); |
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void _qmlUpdate_test(void); |
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private: |
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UASInterface* _uas; |
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QGCUASParamManagerInterface* _paramMgr; |
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AutoPilotPlugin* _plugin; |
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LinkManager* _linkMgr; |
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}; |
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#endif |
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@ -0,0 +1,16 @@
@@ -0,0 +1,16 @@
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import QtQuick 2.2 |
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import QtQuick.Controls 1.2 |
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import QGroundControl.FactSystem 1.0 |
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import QGroundControlFactControls 1.0 |
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Item { |
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TextInput { |
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objectName: "testControl" |
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text: parameterFacts.RC_MAP_THROTTLE.value |
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font.family: "Helvetica" |
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font.pointSize: 24 |
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color: "red" |
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focus: true |
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onAccepted: { parameterFacts.RC_MAP_THROTTLE.value = text; } |
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} |
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} |
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