Don Gagne
10 years ago
10 changed files with 362 additions and 43 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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|
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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 "MissionItemTest.h" |
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UT_REGISTER_TEST(MissionItemTest) |
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const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = { |
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{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION }, |
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{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION }, |
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}; |
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const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = { |
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{ "Latitude:", -10.0 }, |
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{ "Longitude:", -20.0 }, |
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{ "Altitude:", -30.0 }, |
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{ "Heading:", 40.0 }, |
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{ "Radius:", 20.0 }, |
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{ "Hold:", 10.0 }, |
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}; |
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const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = { |
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{ "Latitude:", -10.0 }, |
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{ "Longitude:", -20.0 }, |
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{ "Altitude:", -30.0 }, |
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{ "Heading:", 40.0 }, |
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{ "Radius:", 30.0 }, |
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}; |
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const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] = { |
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{ "Latitude:", -10.0 }, |
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{ "Longitude:", -20.0 }, |
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{ "Altitude:", -30.0 }, |
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{ "Heading:", 40.0 }, |
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{ "Radius:", 30.0 }, |
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{ "Turns:", 10.0 }, |
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}; |
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const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = { |
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{ "Latitude:", -10.0 }, |
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{ "Longitude:", -20.0 }, |
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{ "Altitude:", -30.0 }, |
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{ "Heading:", 40.0 }, |
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{ "Radius:", 30.0 }, |
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{ "Seconds:", 10.0 }, |
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}; |
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const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = { |
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{ "Latitude:", -10.0 }, |
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{ "Longitude:", -20.0 }, |
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{ "Altitude:", -30.0 }, |
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{ "Heading:", 40.0 }, |
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}; |
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const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = { |
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{ "Latitude:", -10.0 }, |
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{ "Longitude:", -20.0 }, |
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{ "Altitude:", -30.0 }, |
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{ "Heading:", 40.0 }, |
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{ "Pitch:", 10.0 }, |
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}; |
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const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesConditionDelay[] = { |
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{ "Seconds:", 10.0 }, |
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}; |
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const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = { |
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{ "Seq #:", 10.0 }, |
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{ "Repeat:", 20.0 }, |
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}; |
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const MissionItemTest::ItemExpected_t MissionItemTest::_rgItemExpected[] = { |
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{ "1\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]), MissionItemTest::_rgFactValuesWaypoint }, |
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{ "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]), MissionItemTest::_rgFactValuesLoiterUnlim }, |
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{ "1\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]), MissionItemTest::_rgFactValuesLoiterTurns }, |
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{ "1\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]), MissionItemTest::_rgFactValuesLoiterTime }, |
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{ "1\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]), MissionItemTest::_rgFactValuesLand }, |
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{ "1\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]), MissionItemTest::_rgFactValuesTakeoff }, |
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{ "1\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay }, |
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{ "1\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]), MissionItemTest::_rgFactValuesDoJump }, |
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}; |
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MissionItemTest::MissionItemTest(void) |
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{ |
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} |
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void MissionItemTest::_test(void) |
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{ |
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for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) { |
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const ItemInfo_t* info = &_rgItemInfo[i]; |
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const ItemExpected_t* expected = &_rgItemExpected[i]; |
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qDebug() << "Command:" << info->command; |
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MissionItem* item = new MissionItem(NULL, |
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info->sequenceNumber, |
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info->coordinate, |
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info->command, |
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info->param1, |
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info->param2, |
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info->param3, |
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info->param4, |
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info->autocontinue, |
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info->isCurrentItem, |
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info->frame); |
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// Validate the saving is working correctly
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QString savedItemString; |
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QTextStream saveStream(&savedItemString, QIODevice::WriteOnly); |
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item->save(saveStream); |
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QCOMPARE(savedItemString, QString(expected->streamString)); |
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// Validate that the fact values are correctly returned
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size_t factCount = 0; |
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for (int i=0; i<item->textFieldFacts()->count(); i++) { |
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Fact* fact = qobject_cast<Fact*>(item->textFieldFacts()->get(i)); |
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bool found = false; |
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for (size_t j=0; j<expected->cFactValues; j++) { |
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const FactValue_t* factValue = &expected->rgFactValues[j]; |
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if (factValue->name == fact->name()) { |
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qDebug() << factValue->name; |
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QCOMPARE(fact->value().toDouble(), factValue->value); |
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factCount ++; |
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found = true; |
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break; |
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} |
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} |
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QVERIFY(found); |
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} |
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QCOMPARE(factCount, expected->cFactValues); |
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// Validate that loading is working correctly
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MissionItem* loadedItem = new MissionItem(); |
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QTextStream loadStream(&savedItemString, QIODevice::ReadOnly); |
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QVERIFY(loadedItem->load(loadStream)); |
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//qDebug() << savedItemString;
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QCOMPARE(loadedItem->coordinate().latitude(), item->coordinate().latitude()); |
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QCOMPARE(loadedItem->coordinate().longitude(), item->coordinate().longitude()); |
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QCOMPARE(loadedItem->coordinate().altitude(), item->coordinate().altitude()); |
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QCOMPARE(loadedItem->command(), item->command()); |
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QCOMPARE(loadedItem->param1(), item->param1()); |
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QCOMPARE(loadedItem->param2(), item->param2()); |
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QCOMPARE(loadedItem->param3(), item->param3()); |
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QCOMPARE(loadedItem->param4(), item->param4()); |
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QCOMPARE(loadedItem->autoContinue(), item->autoContinue()); |
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QCOMPARE(loadedItem->isCurrentItem(), item->isCurrentItem()); |
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QCOMPARE(loadedItem->frame(), item->frame()); |
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delete item; |
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delete loadedItem; |
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} |
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} |
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@ -0,0 +1,83 @@
@@ -0,0 +1,83 @@
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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 |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#ifndef MissionItemTest_H |
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#define MissionItemTest_H |
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#include "UnitTest.h" |
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#include "TCPLink.h" |
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#include "MultiSignalSpy.h" |
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/// @file
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/// @brief FlightGear HIL Simulation unit tests
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///
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/// @author Don Gagne <don@thegagnes.com>
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class MissionItemTest : public UnitTest |
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{ |
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Q_OBJECT |
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public: |
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MissionItemTest(void); |
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private slots: |
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void _test(void); |
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private: |
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typedef struct { |
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int sequenceNumber; |
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QGeoCoordinate coordinate; |
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int command; |
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double param1; |
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double param2; |
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double param3; |
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double param4; |
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bool autocontinue; |
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bool isCurrentItem; |
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int frame; |
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} ItemInfo_t; |
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typedef struct { |
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const char* name; |
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double value; |
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} FactValue_t; |
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typedef struct { |
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const char* streamString; |
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size_t cFactValues; |
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const FactValue_t* rgFactValues; |
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} ItemExpected_t; |
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static const ItemInfo_t _rgItemInfo[]; |
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static const ItemExpected_t _rgItemExpected[]; |
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static const FactValue_t _rgFactValuesWaypoint[]; |
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static const FactValue_t _rgFactValuesLoiterUnlim[]; |
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static const FactValue_t _rgFactValuesLoiterTurns[]; |
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static const FactValue_t _rgFactValuesLoiterTime[]; |
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static const FactValue_t _rgFactValuesLand[]; |
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static const FactValue_t _rgFactValuesTakeoff[]; |
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static const FactValue_t _rgFactValuesConditionDelay[]; |
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static const FactValue_t _rgFactValuesDoJump[]; |
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}; |
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#endif |
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