@ -7,14 +7,13 @@
* *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
# include "SimpleMissionItemTest.h" # include "SimpleMissionItemTest.h"
# include "QGCApplication.h" # include "QGCApplication.h"
# include "QGroundControlQmlGlobal.h" # include "QGroundControlQmlGlobal.h"
# include "SettingsManager.h" # include "SettingsManager.h"
# include "PlanMasterController.h" # include "PlanMasterController.h"
const SimpleMissionItemTest : : ItemInfo_t SimpleMissionItemTest : : _rgItemInfo [ ] = { static const ItemInfo_t _rgItemInfo [ ] = {
{ MAV_CMD_NAV_WAYPOINT , MAV_FRAME_GLOBAL_RELATIVE_ALT } , { MAV_CMD_NAV_WAYPOINT , MAV_FRAME_GLOBAL_RELATIVE_ALT } ,
{ MAV_CMD_NAV_LOITER_UNLIM , MAV_FRAME_GLOBAL } , { MAV_CMD_NAV_LOITER_UNLIM , MAV_FRAME_GLOBAL } ,
{ MAV_CMD_NAV_LOITER_TURNS , MAV_FRAME_GLOBAL_RELATIVE_ALT } , { MAV_CMD_NAV_LOITER_TURNS , MAV_FRAME_GLOBAL_RELATIVE_ALT } ,
@ -24,42 +23,48 @@ const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
{ MAV_CMD_DO_JUMP , MAV_FRAME_MISSION } , { MAV_CMD_DO_JUMP , MAV_FRAME_MISSION } ,
} ; } ;
const SimpleMissionItemTest : : FactValue_t SimpleMissionItemTest : : _rgFactValuesWaypoint [ ] = { static const FactValue_t _rgFactValuesWaypoint [ ] = {
{ " Hold " , 10.1234567 } , { " Hold " , QGCMAVLink : : VehicleClassMultiRotor , false , 1 } ,
{ " Yaw " , QGCMAVLink : : VehicleClassMultiRotor , true , 4 } ,
} ;
static const FactValue_t _rgFactValuesLoiterUnlim [ ] = {
{ " Radius " , QGCMAVLink : : VehicleClassFixedWing , false , 3 } ,
{ " Yaw " , QGCMAVLink : : VehicleClassMultiRotor , true , 4 } ,
} ; } ;
const SimpleMissionItemTest : : FactValue_t SimpleMissionItemTest : : _rgFactValuesLoiterUnlim [ ] = { static const FactValue_t _rgFactValuesLoiterTurns [ ] = {
{ " Radius " , 30.1234567 } , { " Turns " , QGCMAVLink : : VehicleClassFixedWing , false , 1 } ,
{ " Radius " , QGCMAVLink : : VehicleClassFixedWing , false , 3 } ,
} ; } ;
const SimpleMissionItemTest : : FactValue_t SimpleMissionItemTest : : _rgFactValuesLoiterTurns [ ] = { static const FactValue_t _rgFactValuesLoiterTime [ ] = {
{ " Radius " , 30.1234567 } , { " Loiter Time " , QGCMAVLink : : VehicleClassGeneric , false , 1 } ,
{ " Turns " , 10.1234567 } , { " Radius " , QGCMAVLink : : VehicleClassFixedWing , false , 3 } ,
} ; } ;
const SimpleMissionItemTest : : FactValue_t SimpleMissionItemTest : : _rgFactValuesLoiterTime [ ] = { static const FactValue_t _rgFactValuesLand [ ] = {
{ " Radius " , 30.1234567 } , { " Yaw " , QGCMAVLink : : VehicleClassMultiRotor , true , 4 } ,
{ " Loiter Time " , 10.1234567 } ,
} ; } ;
const SimpleMissionItemTest : : FactValue_t SimpleMissionItemTest : : _rgFactValuesTakeoff [ ] = { static const FactValue_t _rgFactValuesTakeoff [ ] = {
{ " Pitch " , 10.1234567 } , { " Pitch " , QGCMAVLink : : VehicleClassFixedWing , false , 1 } ,
{ " Yaw " , QGCMAVLink : : VehicleClassMultiRotor , true , 4 } ,
} ; } ;
const SimpleMissionItemTest : : FactValue_t SimpleMissionItemTest : : _rgFactValuesDoJump [ ] = { static const FactValue_t _rgFactValuesDoJump [ ] = {
{ " Item # " , 10.1234567 } , { " Item # " , QGCMAVLink : : VehicleClassGeneric , false , 1 } ,
{ " Repeat " , 20.1234567 } , { " Repeat " , QGCMAVLink : : VehicleClassGeneric , false , 2 } ,
} ; } ;
const SimpleMissionItemTest : : ItemExpected_t SimpleMissionItemTest : : _rgItemExpected [ ] = { const ItemExpected_t _rgItemExpected [ ] = {
// Text field facts count Fact Values Altitude Altitude Mode
{ sizeof ( _rgFactValuesWaypoint ) / sizeof ( _rgFactValuesWaypoint [ 0 ] ) , _rgFactValuesWaypoint , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeRelative } ,
{ sizeof ( SimpleMissionItemTest : : _rgFactValuesWaypoint ) / sizeof ( SimpleMissionItemTest : : _rgFactValuesWaypoint [ 0 ] ) , SimpleMissionItemTest : : _rgFactValuesWaypoint , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeRelative } , { sizeof ( _rgFactValuesLoiterUnlim ) / sizeof ( _rgFactValuesLoiterUnlim [ 0 ] ) , _rgFactValuesLoiterUnlim , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeAbsolute } ,
{ sizeof ( SimpleMissionItemTest : : _rgFactValuesLoiterUnlim ) / sizeof ( SimpleMissionItemTest : : _rgFactValuesLoiterUnlim [ 0 ] ) , SimpleMissionItemTest : : _rgFactValuesLoiterUnlim , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeAbsolute } , { sizeof ( _rgFactValuesLoiterTurns ) / sizeof ( _rgFactValuesLoiterTurns [ 0 ] ) , _rgFactValuesLoiterTurns , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeRelative } ,
{ sizeof ( SimpleMissionItemTest : : _rgFactValuesLoiterTurns ) / sizeof ( SimpleMissionItemTest : : _rgFactValuesLoiterTurns [ 0 ] ) , SimpleMissionItemTest : : _rgFactValuesLoiterTurns , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeRelative } , { sizeof ( _rgFactValuesLoiterTime ) / sizeof ( _rgFactValuesLoiterTime [ 0 ] ) , _rgFactValuesLoiterTime , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeAbsolute } ,
{ sizeof ( SimpleMissionItemTest : : _rgFactValuesLoiterTime ) / sizeof ( SimpleMissionItemTest : : _rgFactValuesLoiterTime [ 0 ] ) , SimpleMissionItemTest : : _rgFactValuesLoiterTime , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeAbsolute } , { sizeof ( _rgFactValuesLand ) / sizeof ( _rgFactValuesLand [ 0 ] ) , _rgFactValuesLand , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeRelative } ,
{ 0 , nullptr , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeRelative } , { sizeof ( _rgFactValuesTakeoff ) / sizeof ( _rgFactValuesTakeoff [ 0 ] ) , _rgFactValuesTakeoff , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeAbsolute } ,
{ sizeof ( SimpleMissionItemTest : : _rgFactValuesTakeoff ) / sizeof ( SimpleMissionItemTest : : _rgFactValuesTakeoff [ 0 ] ) , SimpleMissionItemTest : : _rgFactValuesTakeoff , 70.1234567 , QGroundControlQmlGlobal : : AltitudeModeAbsolute } , { sizeof ( _rgFactValuesDoJump ) / sizeof ( _rgFactValuesDoJump [ 0 ] ) , _rgFactValuesDoJump , qQNaN ( ) , QGroundControlQmlGlobal : : AltitudeModeRelative } ,
{ sizeof ( SimpleMissionItemTest : : _rgFactValuesDoJump ) / sizeof ( SimpleMissionItemTest : : _rgFactValuesDoJump [ 0 ] ) , SimpleMissionItemTest : : _rgFactValuesDoJump , qQNaN ( ) , QGroundControlQmlGlobal : : AltitudeModeRelative } ,
} ; } ;
SimpleMissionItemTest : : SimpleMissionItemTest ( void ) SimpleMissionItemTest : : SimpleMissionItemTest ( void )
@ -109,16 +114,42 @@ void SimpleMissionItemTest::cleanup(void)
VisualMissionItemTest : : cleanup ( ) ; VisualMissionItemTest : : cleanup ( ) ;
} }
void SimpleMissionItemTest : : _testEditorFacts ( void ) bool SimpleMissionItemTest : : _classMatch ( QGCMAVLink : : VehicleClass_t vehicleClass , QGCMAVLink : : VehicleClass_t testClass )
{
return vehicleClass = = QGCMAVLink : : VehicleClassGeneric | | vehicleClass = = testClass ;
}
void SimpleMissionItemTest : : _testEditorFactsWorker ( QGCMAVLink : : VehicleClass_t vehicleClass , QGCMAVLink : : VehicleClass_t vtolMode , const ItemExpected_t * rgExpected )
{ {
PlanMasterController fwMasterController ( MAV_AUTOPILOT_PX4 , MAV_TYPE_FIXED_WING ) ; qDebug ( ) < < " vehicleClass:vtolMode " < < QGCMAVLink : : vehicleClassToString ( vehicleClass ) < < QGCMAVLink : : vehicleClassToString ( vtolMode ) ;
PlanMasterController planController ( MAV_AUTOPILOT_PX4 , QGCMAVLink : : vehicleClassToMavType ( vehicleClass ) ) ;
QGCMAVLink : : VehicleClass_t commandVehicleClass = vtolMode = = QGCMAVLink : : VehicleClassGeneric ? vehicleClass : vtolMode ;
for ( size_t i = 0 ; i < sizeof ( _rgItemInfo ) / sizeof ( _rgItemInfo [ 0 ] ) ; i + + ) { for ( size_t i = 0 ; i < sizeof ( _rgItemInfo ) / sizeof ( _rgItemInfo [ 0 ] ) ; i + + ) {
const ItemInfo_t * info = & _rgItemInfo [ i ] ; const ItemInfo_t * info = & _rgItemInfo [ i ] ;
const ItemExpected_t * expected = & _rgItemExpected [ i ] ; const ItemExpected_t * expected = & rgExpected [ i ] ;
qDebug ( ) < < " Command " < < info - > command ; qDebug ( ) < < " Command " < < info - > command ;
// Determine how many fact values we should get back
int cExpectedTextFieldFacts = 0 ;
int cExpectedNaNFieldFacts = 0 ;
for ( size_t j = 0 ; j < expected - > cFactValues ; j + + ) {
const FactValue_t * factValue = & expected - > rgFactValues [ j ] ;
if ( ! _classMatch ( factValue - > vehicleClass , commandVehicleClass ) ) {
continue ;
}
if ( factValue - > nanValue ) {
cExpectedNaNFieldFacts + + ;
} else {
cExpectedTextFieldFacts + + ;
}
}
MissionItem missionItem ( 1 , // sequence number
MissionItem missionItem ( 1 , // sequence number
info - > command , info - > command ,
info - > frame , info - > frame ,
@ -131,11 +162,18 @@ void SimpleMissionItemTest::_testEditorFacts(void)
70.1234567 , 70.1234567 ,
true , // autoContinue
true , // autoContinue
false ) ; // isCurrentItem
false ) ; // isCurrentItem
SimpleMissionItem simpleMissionItem ( & fwMasterController , false /* flyView */ , missionItem , nullptr ) ; SimpleMissionItem simpleMissionItem ( & planController , false /* flyView */ , missionItem , nullptr ) ;
MissionController : : MissionFlightStatus_t missionFlightStatus ;
missionFlightStatus . vtolMode = vtolMode ;
missionFlightStatus . vehicleSpeed = 10 ;
missionFlightStatus . gimbalYaw = qQNaN ( ) ;
missionFlightStatus . gimbalPitch = qQNaN ( ) ;
simpleMissionItem . setMissionFlightStatus ( missionFlightStatus ) ;
// Validate that the fact values are correctly returned
// Validate that the fact values are correctly returned
size_t factCount = 0 ; int foundTextField Count= 0 ;
for ( int i = 0 ; i < simpleMissionItem . textFieldFacts ( ) - > count ( ) ; i + + ) { for ( int i = 0 ; i < simpleMissionItem . textFieldFacts ( ) - > count ( ) ; i + + ) {
Fact * fact = qobject_cast < Fact * > ( simpleMissionItem . textFieldFacts ( ) - > get ( i ) ) ; Fact * fact = qobject_cast < Fact * > ( simpleMissionItem . textFieldFacts ( ) - > get ( i ) ) ;
@ -143,9 +181,13 @@ void SimpleMissionItemTest::_testEditorFacts(void)
for ( size_t j = 0 ; j < expected - > cFactValues ; j + + ) { for ( size_t j = 0 ; j < expected - > cFactValues ; j + + ) {
const FactValue_t * factValue = & expected - > rgFactValues [ j ] ; const FactValue_t * factValue = & expected - > rgFactValues [ j ] ;
if ( ! _classMatch ( factValue - > vehicleClass , commandVehicleClass ) ) {
continue ;
}
if ( factValue - > name = = fact - > name ( ) ) { if ( factValue - > name = = fact - > name ( ) ) {
QCOMPARE ( fact - > rawValue ( ) . toDouble ( ) , factValue - > value ) ; QCOMPARE ( fact - > rawValue ( ) . toDouble ( ) , ( factValue - > paramIndex * 10.0 ) + 0.1234567 ) ;
factCount + + ; foundTextField Count + + ;
found = true ; found = true ;
break ; break ;
} }
@ -154,7 +196,32 @@ void SimpleMissionItemTest::_testEditorFacts(void)
qDebug ( ) < < " textFieldFact " < < fact - > name ( ) ; qDebug ( ) < < " textFieldFact " < < fact - > name ( ) ;
QVERIFY ( found ) ; QVERIFY ( found ) ;
} }
QCOMPARE ( factCount , expected - > cFactValues ) ; QCOMPARE ( foundTextFieldCount , cExpectedTextFieldFacts ) ;
int foundNaNFieldCount = 0 ;
for ( int i = 0 ; i < simpleMissionItem . nanFacts ( ) - > count ( ) ; i + + ) {
Fact * fact = qobject_cast < Fact * > ( simpleMissionItem . nanFacts ( ) - > get ( i ) ) ;
bool found = false ;
for ( size_t j = 0 ; j < expected - > cFactValues ; j + + ) {
const FactValue_t * factValue = & expected - > rgFactValues [ j ] ;
if ( ! _classMatch ( factValue - > vehicleClass , commandVehicleClass ) ) {
continue ;
}
if ( factValue - > name = = fact - > name ( ) ) {
QCOMPARE ( fact - > rawValue ( ) . toDouble ( ) , ( factValue - > paramIndex * 10.0 ) + 0.1234567 ) ;
foundNaNFieldCount + + ;
found = true ;
break ;
}
}
qDebug ( ) < < " nanFieldFact " < < fact - > name ( ) ;
QVERIFY ( found ) ;
}
QCOMPARE ( foundNaNFieldCount , cExpectedNaNFieldFacts ) ;
if ( ! qIsNaN ( expected - > altValue ) ) { if ( ! qIsNaN ( expected - > altValue ) ) {
QCOMPARE ( simpleMissionItem . altitudeMode ( ) , expected - > altMode ) ; QCOMPARE ( simpleMissionItem . altitudeMode ( ) , expected - > altMode ) ;
@ -163,6 +230,14 @@ void SimpleMissionItemTest::_testEditorFacts(void)
} }
} }
void SimpleMissionItemTest : : _testEditorFacts ( void )
{
_testEditorFactsWorker ( QGCMAVLink : : VehicleClassMultiRotor , QGCMAVLink : : VehicleClassGeneric , _rgItemExpected ) ;
_testEditorFactsWorker ( QGCMAVLink : : VehicleClassFixedWing , QGCMAVLink : : VehicleClassGeneric , _rgItemExpected ) ;
_testEditorFactsWorker ( QGCMAVLink : : VehicleClassVTOL , QGCMAVLink : : VehicleClassMultiRotor , _rgItemExpected ) ;
_testEditorFactsWorker ( QGCMAVLink : : VehicleClassVTOL , QGCMAVLink : : VehicleClassFixedWing , _rgItemExpected ) ;
}
void SimpleMissionItemTest : : _testDefaultValues ( void ) void SimpleMissionItemTest : : _testDefaultValues ( void )
{ {
SimpleMissionItem item ( _masterController , false /* flyView */ , false /* forLoad */ , nullptr ) ; SimpleMissionItem item ( _masterController , false /* flyView */ , false /* forLoad */ , nullptr ) ;
Don Gagne
5 years ago
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