Don Gagne
10 years ago
6 changed files with 295 additions and 171 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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#include "MissionControllerTest.h" |
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#include "LinkManager.h" |
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#include "MultiVehicleManager.h" |
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UT_REGISTER_TEST(MissionControllerTest) |
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MissionControllerTest::MissionControllerTest(void) |
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: _missionController(NULL) |
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{ |
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} |
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void MissionControllerTest::cleanup(void) |
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{ |
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delete _missionController; |
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MissionControllerManagerTest::cleanup(); |
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} |
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void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) |
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{ |
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MissionControllerManagerTest::_initForFirmwareType(firmwareType); |
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_rgSignals[missionItemsChangedSignalIndex] = SIGNAL(missionItemsChanged()); |
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_rgSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged()); |
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_rgSignals[liveHomePositionAvailableChangedSignalIndex] = SIGNAL(liveHomePositionAvailableChanged(bool)); |
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_rgSignals[liveHomePositionChangedSignalIndex] = SIGNAL(liveHomePositionChanged(const QGeoCoordinate&)); |
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_missionController = new MissionController(); |
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Q_CHECK_PTR(_missionController); |
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_multiSpy = new MultiSignalSpy(); |
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Q_CHECK_PTR(_multiSpy); |
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QCOMPARE(_multiSpy->init(_missionController, _rgSignals, _cSignals), true); |
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_missionController->start(false /* editMode */); |
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// All signals should some through on start
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QCOMPARE(_multiSpy->checkOnlySignalByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask | liveHomePositionAvailableChangedSignalMask | liveHomePositionChangedSignalMask), true); |
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_multiSpy->clearAllSignals(); |
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QmlObjectListModel* missionItems = _missionController->missionItems(); |
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QVERIFY(missionItems); |
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// Empty vehicle only has home position
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QCOMPARE(missionItems->count(), 1); |
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// Home position should be in first slot
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MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0)); |
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QVERIFY(homeItem); |
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QCOMPARE(homeItem->homePosition(), true); |
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// Home should have no children
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QCOMPARE(homeItem->childItems()->count(), 0); |
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// No waypoint lines
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QmlObjectListModel* waypointLines = _missionController->waypointLines(); |
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QVERIFY(waypointLines); |
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QCOMPARE(waypointLines->count(), 0); |
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// Should not have home position yet
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QCOMPARE(_missionController->liveHomePositionAvailable(), false); |
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// AutoSync should be off by default
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QCOMPARE(_missionController->autoSync(), false); |
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} |
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void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType) |
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{ |
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_initForFirmwareType(firmwareType); |
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// FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that
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// sets up an empty vehicle
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// APM stack doesn't support HOME_POSITION yet
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bool expectedHomePositionValid = firmwareType == MAV_AUTOPILOT_PX4 ? true : false; |
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QmlObjectListModel* missionItems = _missionController->missionItems(); |
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QVERIFY(missionItems); |
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MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0)); |
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QVERIFY(homeItem); |
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if (expectedHomePositionValid) { |
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// Wait for the home position to show up
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if (!_missionController->liveHomePositionAvailable()) { |
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QVERIFY(_multiSpy->waitForSignalByIndex(liveHomePositionChangedSignalIndex, 2000)); |
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// Once the home position shows up we get a number of addititional signals
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QCOMPARE(_multiSpy->checkOnlySignalsByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask | waypointLinesChangedSignalMask), true); |
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// These should be signalled once
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QCOMPARE(_multiSpy->checkSignalByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask), true); |
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// Waypoint lines get spit out multiple tiems
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QCOMPARE(_multiSpy->checkSignalByMask(waypointLinesChangedSignalMask), false); |
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_multiSpy->clearAllSignals(); |
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} |
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} |
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QCOMPARE(homeItem->homePositionValid(), expectedHomePositionValid); |
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QCOMPARE(_missionController->liveHomePositionAvailable(), expectedHomePositionValid); |
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QCOMPARE(_missionController->liveHomePosition().isValid(), expectedHomePositionValid); |
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} |
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void MissionControllerTest::_testEmptyVehiclePX4(void) |
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{ |
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_testEmptyVehicleWorker(MAV_AUTOPILOT_PX4); |
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} |
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void MissionControllerTest::_testEmptyVehicleAPM(void) |
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{ |
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_testEmptyVehicleWorker(MAV_AUTOPILOT_ARDUPILOTMEGA); |
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} |
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void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType) |
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{ |
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_initForFirmwareType(firmwareType); |
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QGeoCoordinate coordinate(37.803784, -122.462276); |
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_missionController->addMissionItem(coordinate); |
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QCOMPARE(_multiSpy->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true); |
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QmlObjectListModel* missionItems = _missionController->missionItems(); |
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QVERIFY(missionItems); |
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QCOMPARE(missionItems->count(), 2); |
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MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0)); |
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MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1)); |
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QVERIFY(homeItem); |
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QVERIFY(item); |
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QCOMPARE(item->command(), MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF); |
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QCOMPARE(homeItem->childItems()->count(), 0); |
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QCOMPARE(item->childItems()->count(), 0); |
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int expectedLineCount; |
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if (homeItem->homePositionValid()) { |
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expectedLineCount = 1; |
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} else { |
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expectedLineCount = 0; |
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} |
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QmlObjectListModel* waypointLines = _missionController->waypointLines(); |
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QVERIFY(waypointLines); |
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QCOMPARE(waypointLines->count(), expectedLineCount); |
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} |
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void MissionControllerTest::_testAddWayppointAPM(void) |
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{ |
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_testAddWaypointWorker(MAV_AUTOPILOT_ARDUPILOTMEGA); |
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} |
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void MissionControllerTest::_testAddWayppointPX4(void) |
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{ |
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_testAddWaypointWorker(MAV_AUTOPILOT_PX4); |
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} |
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@ -0,0 +1,78 @@
@@ -0,0 +1,78 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2015 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 |
||||
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 |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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#ifndef MissionControllerTest_H |
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#define MissionControllerTest_H |
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#include "UnitTest.h" |
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#include "MockLink.h" |
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#include "MissionManager.h" |
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#include "MultiSignalSpy.h" |
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#include "MissionControllerManagerTest.h" |
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#include "MissionController.h" |
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#include <QGeoCoordinate> |
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class MissionControllerTest : public MissionControllerManagerTest |
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{ |
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Q_OBJECT |
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public: |
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MissionControllerTest(void); |
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private slots: |
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void cleanup(void); |
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void _testEmptyVehicleAPM(void); |
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void _testEmptyVehiclePX4(void); |
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void _testAddWayppointAPM(void); |
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void _testAddWayppointPX4(void); |
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private: |
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void _initForFirmwareType(MAV_AUTOPILOT firmwareType); |
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void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType); |
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void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType); |
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enum { |
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missionItemsChangedSignalIndex = 0, |
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waypointLinesChangedSignalIndex, |
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liveHomePositionAvailableChangedSignalIndex, |
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liveHomePositionChangedSignalIndex, |
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maxSignalIndex |
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}; |
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enum { |
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missionItemsChangedSignalMask = 1 << missionItemsChangedSignalIndex, |
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waypointLinesChangedSignalMask = 1 << waypointLinesChangedSignalIndex, |
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liveHomePositionAvailableChangedSignalMask = 1 << liveHomePositionAvailableChangedSignalIndex, |
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liveHomePositionChangedSignalMask = 1 << liveHomePositionChangedSignalIndex, |
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}; |
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MultiSignalSpy* _multiSpy; |
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static const size_t _cSignals = maxSignalIndex; |
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const char* _rgSignals[_cSignals]; |
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MissionController* _missionController; |
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}; |
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#endif |
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