Don Gagne
10 years ago
6 changed files with 295 additions and 171 deletions
@ -0,0 +1,185 @@ |
|||||||
|
/*=====================================================================
|
||||||
|
|
||||||
|
QGroundControl Open Source Ground Control Station |
||||||
|
|
||||||
|
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||||
|
|
||||||
|
This file is part of the QGROUNDCONTROL project |
||||||
|
|
||||||
|
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||||
|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
||||||
|
|
||||||
|
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||||
|
GNU General Public License for more details. |
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License |
||||||
|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
======================================================================*/ |
||||||
|
|
||||||
|
#include "MissionControllerTest.h" |
||||||
|
#include "LinkManager.h" |
||||||
|
#include "MultiVehicleManager.h" |
||||||
|
|
||||||
|
UT_REGISTER_TEST(MissionControllerTest) |
||||||
|
|
||||||
|
MissionControllerTest::MissionControllerTest(void) |
||||||
|
: _missionController(NULL) |
||||||
|
{ |
||||||
|
|
||||||
|
} |
||||||
|
|
||||||
|
void MissionControllerTest::cleanup(void) |
||||||
|
{ |
||||||
|
delete _missionController; |
||||||
|
|
||||||
|
MissionControllerManagerTest::cleanup(); |
||||||
|
} |
||||||
|
|
||||||
|
void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) |
||||||
|
{ |
||||||
|
MissionControllerManagerTest::_initForFirmwareType(firmwareType); |
||||||
|
|
||||||
|
_rgSignals[missionItemsChangedSignalIndex] = SIGNAL(missionItemsChanged()); |
||||||
|
_rgSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged()); |
||||||
|
_rgSignals[liveHomePositionAvailableChangedSignalIndex] = SIGNAL(liveHomePositionAvailableChanged(bool)); |
||||||
|
_rgSignals[liveHomePositionChangedSignalIndex] = SIGNAL(liveHomePositionChanged(const QGeoCoordinate&)); |
||||||
|
|
||||||
|
_missionController = new MissionController(); |
||||||
|
Q_CHECK_PTR(_missionController); |
||||||
|
|
||||||
|
_multiSpy = new MultiSignalSpy(); |
||||||
|
Q_CHECK_PTR(_multiSpy); |
||||||
|
QCOMPARE(_multiSpy->init(_missionController, _rgSignals, _cSignals), true); |
||||||
|
|
||||||
|
_missionController->start(false /* editMode */); |
||||||
|
|
||||||
|
// All signals should some through on start
|
||||||
|
QCOMPARE(_multiSpy->checkOnlySignalByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask | liveHomePositionAvailableChangedSignalMask | liveHomePositionChangedSignalMask), true); |
||||||
|
_multiSpy->clearAllSignals(); |
||||||
|
|
||||||
|
QmlObjectListModel* missionItems = _missionController->missionItems(); |
||||||
|
QVERIFY(missionItems); |
||||||
|
|
||||||
|
// Empty vehicle only has home position
|
||||||
|
QCOMPARE(missionItems->count(), 1); |
||||||
|
|
||||||
|
// Home position should be in first slot
|
||||||
|
MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0)); |
||||||
|
QVERIFY(homeItem); |
||||||
|
QCOMPARE(homeItem->homePosition(), true); |
||||||
|
|
||||||
|
// Home should have no children
|
||||||
|
QCOMPARE(homeItem->childItems()->count(), 0); |
||||||
|
|
||||||
|
// No waypoint lines
|
||||||
|
QmlObjectListModel* waypointLines = _missionController->waypointLines(); |
||||||
|
QVERIFY(waypointLines); |
||||||
|
QCOMPARE(waypointLines->count(), 0); |
||||||
|
|
||||||
|
// Should not have home position yet
|
||||||
|
QCOMPARE(_missionController->liveHomePositionAvailable(), false); |
||||||
|
|
||||||
|
// AutoSync should be off by default
|
||||||
|
QCOMPARE(_missionController->autoSync(), false); |
||||||
|
} |
||||||
|
|
||||||
|
void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType) |
||||||
|
{ |
||||||
|
_initForFirmwareType(firmwareType); |
||||||
|
|
||||||
|
// FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that
|
||||||
|
// sets up an empty vehicle
|
||||||
|
|
||||||
|
// APM stack doesn't support HOME_POSITION yet
|
||||||
|
bool expectedHomePositionValid = firmwareType == MAV_AUTOPILOT_PX4 ? true : false; |
||||||
|
|
||||||
|
QmlObjectListModel* missionItems = _missionController->missionItems(); |
||||||
|
QVERIFY(missionItems); |
||||||
|
MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0)); |
||||||
|
QVERIFY(homeItem); |
||||||
|
|
||||||
|
if (expectedHomePositionValid) { |
||||||
|
// Wait for the home position to show up
|
||||||
|
|
||||||
|
if (!_missionController->liveHomePositionAvailable()) { |
||||||
|
QVERIFY(_multiSpy->waitForSignalByIndex(liveHomePositionChangedSignalIndex, 2000)); |
||||||
|
|
||||||
|
// Once the home position shows up we get a number of addititional signals
|
||||||
|
QCOMPARE(_multiSpy->checkOnlySignalsByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask | waypointLinesChangedSignalMask), true); |
||||||
|
|
||||||
|
// These should be signalled once
|
||||||
|
QCOMPARE(_multiSpy->checkSignalByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask), true); |
||||||
|
|
||||||
|
// Waypoint lines get spit out multiple tiems
|
||||||
|
QCOMPARE(_multiSpy->checkSignalByMask(waypointLinesChangedSignalMask), false); |
||||||
|
|
||||||
|
_multiSpy->clearAllSignals(); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
QCOMPARE(homeItem->homePositionValid(), expectedHomePositionValid); |
||||||
|
QCOMPARE(_missionController->liveHomePositionAvailable(), expectedHomePositionValid); |
||||||
|
QCOMPARE(_missionController->liveHomePosition().isValid(), expectedHomePositionValid); |
||||||
|
} |
||||||
|
|
||||||
|
void MissionControllerTest::_testEmptyVehiclePX4(void) |
||||||
|
{ |
||||||
|
_testEmptyVehicleWorker(MAV_AUTOPILOT_PX4); |
||||||
|
} |
||||||
|
|
||||||
|
void MissionControllerTest::_testEmptyVehicleAPM(void) |
||||||
|
{ |
||||||
|
_testEmptyVehicleWorker(MAV_AUTOPILOT_ARDUPILOTMEGA); |
||||||
|
} |
||||||
|
|
||||||
|
void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType) |
||||||
|
{ |
||||||
|
_initForFirmwareType(firmwareType); |
||||||
|
|
||||||
|
QGeoCoordinate coordinate(37.803784, -122.462276); |
||||||
|
|
||||||
|
_missionController->addMissionItem(coordinate); |
||||||
|
|
||||||
|
QCOMPARE(_multiSpy->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true); |
||||||
|
|
||||||
|
QmlObjectListModel* missionItems = _missionController->missionItems(); |
||||||
|
QVERIFY(missionItems); |
||||||
|
|
||||||
|
QCOMPARE(missionItems->count(), 2); |
||||||
|
|
||||||
|
MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0)); |
||||||
|
MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1)); |
||||||
|
QVERIFY(homeItem); |
||||||
|
QVERIFY(item); |
||||||
|
|
||||||
|
QCOMPARE(item->command(), MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF); |
||||||
|
QCOMPARE(homeItem->childItems()->count(), 0); |
||||||
|
QCOMPARE(item->childItems()->count(), 0); |
||||||
|
|
||||||
|
int expectedLineCount; |
||||||
|
if (homeItem->homePositionValid()) { |
||||||
|
expectedLineCount = 1; |
||||||
|
} else { |
||||||
|
expectedLineCount = 0; |
||||||
|
} |
||||||
|
|
||||||
|
QmlObjectListModel* waypointLines = _missionController->waypointLines(); |
||||||
|
QVERIFY(waypointLines); |
||||||
|
QCOMPARE(waypointLines->count(), expectedLineCount); |
||||||
|
} |
||||||
|
|
||||||
|
void MissionControllerTest::_testAddWayppointAPM(void) |
||||||
|
{ |
||||||
|
_testAddWaypointWorker(MAV_AUTOPILOT_ARDUPILOTMEGA); |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
void MissionControllerTest::_testAddWayppointPX4(void) |
||||||
|
{ |
||||||
|
_testAddWaypointWorker(MAV_AUTOPILOT_PX4); |
||||||
|
} |
||||||
@ -0,0 +1,78 @@ |
|||||||
|
/*=====================================================================
|
||||||
|
|
||||||
|
QGroundControl Open Source Ground Control Station |
||||||
|
|
||||||
|
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||||
|
|
||||||
|
This file is part of the QGROUNDCONTROL project |
||||||
|
|
||||||
|
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||||
|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
||||||
|
|
||||||
|
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||||
|
GNU General Public License for more details. |
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License |
||||||
|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
======================================================================*/ |
||||||
|
|
||||||
|
#ifndef MissionControllerTest_H |
||||||
|
#define MissionControllerTest_H |
||||||
|
|
||||||
|
#include "UnitTest.h" |
||||||
|
#include "MockLink.h" |
||||||
|
#include "MissionManager.h" |
||||||
|
#include "MultiSignalSpy.h" |
||||||
|
#include "MissionControllerManagerTest.h" |
||||||
|
#include "MissionController.h" |
||||||
|
|
||||||
|
#include <QGeoCoordinate> |
||||||
|
|
||||||
|
class MissionControllerTest : public MissionControllerManagerTest |
||||||
|
{ |
||||||
|
Q_OBJECT |
||||||
|
|
||||||
|
public: |
||||||
|
MissionControllerTest(void); |
||||||
|
|
||||||
|
private slots: |
||||||
|
void cleanup(void); |
||||||
|
|
||||||
|
void _testEmptyVehicleAPM(void); |
||||||
|
void _testEmptyVehiclePX4(void); |
||||||
|
void _testAddWayppointAPM(void); |
||||||
|
void _testAddWayppointPX4(void); |
||||||
|
|
||||||
|
private: |
||||||
|
void _initForFirmwareType(MAV_AUTOPILOT firmwareType); |
||||||
|
void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType); |
||||||
|
void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType); |
||||||
|
|
||||||
|
enum { |
||||||
|
missionItemsChangedSignalIndex = 0, |
||||||
|
waypointLinesChangedSignalIndex, |
||||||
|
liveHomePositionAvailableChangedSignalIndex, |
||||||
|
liveHomePositionChangedSignalIndex, |
||||||
|
maxSignalIndex |
||||||
|
}; |
||||||
|
|
||||||
|
enum { |
||||||
|
missionItemsChangedSignalMask = 1 << missionItemsChangedSignalIndex, |
||||||
|
waypointLinesChangedSignalMask = 1 << waypointLinesChangedSignalIndex, |
||||||
|
liveHomePositionAvailableChangedSignalMask = 1 << liveHomePositionAvailableChangedSignalIndex, |
||||||
|
liveHomePositionChangedSignalMask = 1 << liveHomePositionChangedSignalIndex, |
||||||
|
}; |
||||||
|
|
||||||
|
MultiSignalSpy* _multiSpy; |
||||||
|
static const size_t _cSignals = maxSignalIndex; |
||||||
|
const char* _rgSignals[_cSignals]; |
||||||
|
|
||||||
|
MissionController* _missionController; |
||||||
|
}; |
||||||
|
|
||||||
|
#endif |
||||||
Loading…
Reference in new issue