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Merge pull request #5006 from DonLakeFlyer/UTPlusFixes 

Big investment in Plan oriented unit tests
QGC4.4
Don Gagne 8 years ago committed by GitHub
parent
d862ffce7a 178fa4f785
commit
56f40014e1
22 changed files with 1757 additions and 190 deletions
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  1. 12
      qgroundcontrol.pro
  2. 43
      src/MissionManager/CameraSection.cc
  3. 5
      src/MissionManager/CameraSection.h
  4. 871
      src/MissionManager/CameraSectionTest.cc
  5. 67
      src/MissionManager/CameraSectionTest.h
  6. 4
      src/MissionManager/MissionController.cc
  7. 19
      src/MissionManager/MissionSettingsItem.cc
  8. 2
      src/MissionManager/MissionSettingsItem.h
  9. 4
      src/MissionManager/Section.h
  10. 101
      src/MissionManager/SectionTest.cc
  11. 50
      src/MissionManager/SectionTest.h
  12. 7
      src/MissionManager/SimpleMissionItem.cc
  13. 2
      src/MissionManager/SimpleMissionItem.h
  14. 224
      src/MissionManager/SimpleMissionItemTest.cc
  15. 43
      src/MissionManager/SimpleMissionItemTest.h
  16. 12
      src/MissionManager/SpeedSection.cc
  17. 11
      src/MissionManager/SpeedSection.h
  18. 266
      src/MissionManager/SpeedSectionTest.cc
  19. 52
      src/MissionManager/SpeedSectionTest.h
  20. 58
      src/MissionManager/VisualMissionItemTest.cc
  21. 89
      src/MissionManager/VisualMissionItemTest.h
  22. 5
      src/qgcunittest/UnitTestList.cc

12
qgroundcontrol.pro
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@ -384,13 +384,17 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin { @@ -384,13 +384,17 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/FactSystem/FactSystemTestGeneric.h \
src/FactSystem/FactSystemTestPX4.h \
src/FactSystem/ParameterManagerTest.h \
src/MissionManager/SurveyMissionItemTest.h \
src/MissionManager/CameraSectionTest.h \
src/MissionManager/MissionCommandTreeTest.h \
src/MissionManager/MissionControllerManagerTest.h \
src/MissionManager/MissionControllerTest.h \
src/MissionManager/MissionItemTest.h \
src/MissionManager/MissionManagerTest.h \
src/MissionManager/SectionTest.h \
src/MissionManager/SimpleMissionItemTest.h \
src/MissionManager/SpeedSectionTest.h \
src/MissionManager/SurveyMissionItemTest.h \
src/MissionManager/VisualMissionItemTest.h \
src/qgcunittest/FileDialogTest.h \
src/qgcunittest/FileManagerTest.h \
src/qgcunittest/FlightGearTest.h \
@ -412,13 +416,17 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin { @@ -412,13 +416,17 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/FactSystem/FactSystemTestGeneric.cc \
src/FactSystem/FactSystemTestPX4.cc \
src/FactSystem/ParameterManagerTest.cc \
src/MissionManager/SurveyMissionItemTest.cc \
src/MissionManager/CameraSectionTest.cc \
src/MissionManager/MissionCommandTreeTest.cc \
src/MissionManager/MissionControllerManagerTest.cc \
src/MissionManager/MissionControllerTest.cc \
src/MissionManager/MissionItemTest.cc \
src/MissionManager/MissionManagerTest.cc \
src/MissionManager/SectionTest.cc \
src/MissionManager/SimpleMissionItemTest.cc \
src/MissionManager/SpeedSectionTest.cc \
src/MissionManager/SurveyMissionItemTest.cc \
src/MissionManager/VisualMissionItemTest.cc \
src/qgcunittest/FileDialogTest.cc \
src/qgcunittest/FileManagerTest.cc \
src/qgcunittest/FlightGearTest.cc \

43
src/MissionManager/CameraSection.cc
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@ -48,13 +48,14 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent) @@ -48,13 +48,14 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
_cameraPhotoIntervalDistanceFact.setRawValue (_cameraPhotoIntervalDistanceFact.rawDefaultValue());
_cameraPhotoIntervalTimeFact.setRawValue (_cameraPhotoIntervalTimeFact.rawDefaultValue());
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_setDirtyAndUpdateItemCount);
connect(&_cameraActionFact, &Fact::valueChanged, this, &CameraSection::_setDirtyAndUpdateItemCount);
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_specifyGimbalChanged);
connect(&_cameraActionFact, &Fact::valueChanged, this, &CameraSection::_cameraActionChanged);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalDistanceFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalTimeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalDistanceFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalTimeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalYaw);
}
@ -188,7 +189,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss @@ -188,7 +189,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
}
}
bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanIndex)
bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex)
{
bool foundGimbal = false;
bool foundCameraAction = false;
@ -218,7 +219,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd @@ -218,7 +219,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
case MAV_CMD_DO_MOUNT_CONTROL:
if (!foundGimbal && missionItem.param2() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
foundGimbal = true;
scanIndex++;
setSpecifyGimbal(true);
gimbalPitch()->setRawValue(missionItem.param1());
gimbalYaw()->setRawValue(missionItem.param3());
@ -231,7 +231,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd @@ -231,7 +231,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
case MAV_CMD_IMAGE_START_CAPTURE:
if (!foundCameraAction && missionItem.param1() != 0 && missionItem.param2() == 0 && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
foundCameraAction = true;
scanIndex++;
cameraAction()->setRawValue(TakePhotosIntervalTime);
cameraPhotoIntervalTime()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater();
@ -251,7 +250,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd @@ -251,7 +250,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
if (nextMissionItem.command() == MAV_CMD_IMAGE_STOP_CAPTURE && nextMissionItem.param1() == 0 && nextMissionItem.param2() == 0 && nextMissionItem.param3() == 0 && nextMissionItem.param4() == 0 && nextMissionItem.param5() == 0 && nextMissionItem.param6() == 0 && nextMissionItem.param7() == 0) {
// We found a stop taking photos pair
foundCameraAction = true;
scanIndex += 2;
cameraAction()->setRawValue(StopTakingPhotos);
visualItems->removeAt(scanIndex)->deleteLater();
visualItems->removeAt(scanIndex)->deleteLater();
@ -264,7 +262,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd @@ -264,7 +262,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
// We didn't find a stop taking photos pair, check for trigger distance
if (missionItem.param1() > 0) {
foundCameraAction = true;
scanIndex++;
cameraAction()->setRawValue(TakePhotoIntervalDistance);
cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater();
@ -278,7 +275,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd @@ -278,7 +275,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
case MAV_CMD_VIDEO_START_CAPTURE:
if (!foundCameraAction && missionItem.param1() == 0 && missionItem.param2() == -1 && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
foundCameraAction = true;
scanIndex++;
cameraAction()->setRawValue(TakeVideo);
visualItems->removeAt(scanIndex)->deleteLater();
}
@ -288,7 +284,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd @@ -288,7 +284,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
case MAV_CMD_VIDEO_STOP_CAPTURE:
if (!foundCameraAction && missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
foundCameraAction = true;
scanIndex++;
cameraAction()->setRawValue(StopTakingVideo);
visualItems->removeAt(scanIndex)->deleteLater();
}
@ -337,3 +332,25 @@ void CameraSection::_updateSpecifiedGimbalYaw(void) @@ -337,3 +332,25 @@ void CameraSection::_updateSpecifiedGimbalYaw(void)
{
emit specifiedGimbalYawChanged(specifiedGimbalYaw());
}
void CameraSection::_updateSettingsSpecified(void)
{
bool newSettingsSpecified = _specifyGimbal || _cameraActionFact.rawValue().toInt() != CameraActionNone;
if (newSettingsSpecified != _settingsSpecified) {
_settingsSpecified = newSettingsSpecified;
emit settingsSpecifiedChanged(newSettingsSpecified);
}
}
void CameraSection::_specifyGimbalChanged(bool specifyGimbal)
{
Q_UNUSED(specifyGimbal);
_setDirtyAndUpdateItemCount();
_updateSettingsSpecified();
}
void CameraSection::_cameraActionChanged(void)
{
_setDirtyAndUpdateItemCount();
_updateSettingsSpecified();
}

5
src/MissionManager/CameraSection.h
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@ -56,7 +56,7 @@ public: @@ -56,7 +56,7 @@ public:
bool dirty (void) const override { return _dirty; }
void setAvailable (bool available) override;
void setDirty (bool dirty) override;
bool scanForSection (QmlObjectListModel* visualItems, int& scanIndex) override;
bool scanForSection (QmlObjectListModel* visualItems, int scanIndex) override;
void appendSectionItems (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum) override;
int itemCount (void) const override;
bool settingsSpecified (void) const override {return _settingsSpecified; }
@ -69,6 +69,9 @@ private slots: @@ -69,6 +69,9 @@ private slots:
void _setDirty(void);
void _setDirtyAndUpdateItemCount(void);
void _updateSpecifiedGimbalYaw(void);
void _specifyGimbalChanged(bool specifyGimbal);
void _updateSettingsSpecified(void);
void _cameraActionChanged(void);
private:
bool _available;

871
src/MissionManager/CameraSectionTest.cc
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@ -0,0 +1,871 @@ @@ -0,0 +1,871 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "CameraSectionTest.h"
CameraSectionTest::CameraSectionTest(void)
: _spyCamera(NULL)
, _spySection(NULL)
, _cameraSection(NULL)
, _validGimbalItem(NULL)
, _validDistanceItem(NULL)
, _validTimeItem(NULL)
, _validStartVideoItem(NULL)
, _validStopVideoItem(NULL)
, _validStopDistanceItem(NULL)
, _validStopTimeItem(NULL)
{
}
void CameraSectionTest::init(void)
{
SectionTest::init();
rgCameraSignals[specifyGimbalChangedIndex] = SIGNAL(specifyGimbalChanged(bool));
rgCameraSignals[specifiedGimbalYawChangedIndex] = SIGNAL(specifiedGimbalYawChanged(double));
_cameraSection = _simpleItem->cameraSection();
_createSpy(_cameraSection, &_spyCamera);
QVERIFY(_spyCamera);
SectionTest::_createSpy(_cameraSection, &_spySection);
QVERIFY(_spySection);
_validGimbalItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, MAV_CMD_DO_MOUNT_CONTROL, MAV_FRAME_MISSION, 10.1234, 0, 20.1234, 0, 0, 0, MAV_MOUNT_MODE_MAVLINK_TARGETING, true, false),
this);
_validTimeItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, 48, 0,-1, 0, 0, 0, 0, true, false),
this);
_validDistanceItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_FRAME_MISSION, 72, 0, 0, 0, 0, 0, 0, true, false),
this);
_validStartVideoItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, MAV_CMD_VIDEO_START_CAPTURE, MAV_FRAME_MISSION, 0, -1, -1, 0, 0, 0, 0, true, false),
this);
_validStopVideoItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, MAV_CMD_VIDEO_STOP_CAPTURE, MAV_FRAME_MISSION, 0, 0, 0, 0, 0, 0, 0, true, false),
this);
_validStopDistanceItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_FRAME_MISSION, 0, 0, 0, 0, 0, 0, 0, true, false),
this);
_validStopTimeItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(1, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_FRAME_MISSION, 0, 0, 0, 0, 0, 0, 0, true, false),
this);
}
void CameraSectionTest::cleanup(void)
{
delete _spyCamera;
delete _spySection;
delete _validGimbalItem;
delete _validDistanceItem;
delete _validTimeItem;
delete _validStartVideoItem;
delete _validStopVideoItem;
delete _validStopDistanceItem;
delete _validStopTimeItem;
SectionTest::cleanup();
}
void CameraSectionTest::_createSpy(CameraSection* cameraSection, MultiSignalSpy** cameraSpy)
{
*cameraSpy = NULL;
MultiSignalSpy* spy = new MultiSignalSpy();
QCOMPARE(spy->init(cameraSection, rgCameraSignals, cCameraSignals), true);
*cameraSpy = spy;
}
void CameraSectionTest::_testDirty(void)
{
// Check for dirty not signalled if same value
_cameraSection->setSpecifyGimbal(_cameraSection->specifyGimbal());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalPitch()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->cameraAction()->setRawValue(_cameraSection->cameraAction()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->cameraPhotoIntervalTime()->setRawValue(_cameraSection->cameraPhotoIntervalTime()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
_cameraSection->cameraPhotoIntervalDistance()->setRawValue(_cameraSection->cameraPhotoIntervalDistance()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_cameraSection->dirty(), false);
// Check for no duplicate dirty signalling on change
_cameraSection->setSpecifyGimbal(!_cameraSection->specifyGimbal());
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_spySection->clearAllSignals();
_cameraSection->setSpecifyGimbal(!_cameraSection->specifyGimbal());
QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
QCOMPARE(_cameraSection->dirty(), true);
_spySection->clearAllSignals();
// Check that the dirty bit can be cleared
_cameraSection->setDirty(false);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), false);
QCOMPARE(_cameraSection->dirty(), false);
_spySection->clearAllSignals();
// Check the remaining items that should set dirty bit
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->cameraAction()->setRawValue(_cameraSection->cameraAction()->rawValue().toInt() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->cameraPhotoIntervalTime()->setRawValue(_cameraSection->cameraPhotoIntervalTime()->rawValue().toInt() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->cameraPhotoIntervalDistance()->setRawValue(_cameraSection->cameraPhotoIntervalDistance()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
}
void CameraSectionTest::_testSettingsAvailable(void)
{
// No settings specified to start
QVERIFY(_cameraSection->cameraAction()->rawValue().toInt() == CameraSection::CameraActionNone);
QCOMPARE(_cameraSection->specifyGimbal(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
// Check correct reaction to specifyGimbal on/off
_cameraSection->setSpecifyGimbal(true);
QCOMPARE(_cameraSection->specifyGimbal(), true);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QVERIFY(_spyCamera->checkSignalByMask(specifyGimbalChangedMask));
QCOMPARE(_spyCamera->pullBoolFromSignalIndex(specifyGimbalChangedIndex), true);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), true);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->setSpecifyGimbal(false);
QCOMPARE(_cameraSection->specifyGimbal(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
QVERIFY(_spyCamera->checkSignalByMask(specifyGimbalChangedMask));
QCOMPARE(_spyCamera->pullBoolFromSignalIndex(specifyGimbalChangedIndex), false);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), false);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
// Check correct reaction to cameraAction on/off
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
QVERIFY(_cameraSection->cameraAction()->rawValue().toInt() == CameraSection::TakePhotosIntervalTime);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), true);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
QVERIFY(_cameraSection->cameraAction()->rawValue().toInt() == CameraSection::CameraActionNone);
QCOMPARE(_cameraSection->settingsSpecified(), false);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), false);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
// Check that there is not multiple signalling of settingsSpecified
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
_cameraSection->setSpecifyGimbal(true);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
}
void CameraSectionTest::_checkAvailable(void)
{
MissionItem missionItem(1, // sequence number
MAV_CMD_NAV_TAKEOFF,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
10.1234567, // param 1-7
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true, // autoContinue
false); // isCurrentItem
SimpleMissionItem* item = new SimpleMissionItem(_offlineVehicle, missionItem);
QVERIFY(item->cameraSection());
QCOMPARE(item->cameraSection()->available(), false);
}
void CameraSectionTest::_testItemCount(void)
{
// No settings specified to start
QCOMPARE(_cameraSection->itemCount(), 0);
// Check specifyGimbal
_cameraSection->setSpecifyGimbal(true);
QCOMPARE(_cameraSection->itemCount(), 1);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 1);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->setSpecifyGimbal(false);
QCOMPARE(_cameraSection->itemCount(), 0);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 0);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
// Check camera actions
QList<int> rgCameraActions;
rgCameraActions << CameraSection::TakePhotosIntervalTime << CameraSection::TakePhotoIntervalDistance << CameraSection::StopTakingPhotos << CameraSection::TakeVideo << CameraSection::StopTakingVideo;
foreach(int cameraAction, rgCameraActions) {
qDebug() << "camera action" << cameraAction;
// Reset
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
QCOMPARE(_cameraSection->itemCount(), 0);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
// Set to new action
_cameraSection->cameraAction()->setRawValue(cameraAction);
QCOMPARE(_cameraSection->itemCount(), 1);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 1);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
}
// Reset
_cameraSection->setSpecifyGimbal(false);
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
QCOMPARE(_cameraSection->itemCount(), 0);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
// Check both camera action and gimbal set
_cameraSection->setSpecifyGimbal(true);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
QCOMPARE(_cameraSection->itemCount(), 2);
QVERIFY(_spySection->checkSignalsByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 2);
_spySection->clearAllSignals();
_spyCamera->clearAllSignals();
}
void CameraSectionTest::_testAppendSectionItems(void)
{
int seqNum = 0;
QList<MissionItem*> rgMissionItems;
// No settings specified to start
QCOMPARE(_cameraSection->itemCount(), 0);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 0);
QCOMPARE(seqNum, 0);
rgMissionItems.clear();
// Test specifyGimbal
_cameraSection->setSpecifyGimbal(true);
_cameraSection->gimbalPitch()->setRawValue(_validGimbalItem->missionItem().param1());
_cameraSection->gimbalYaw()->setRawValue(_validGimbalItem->missionItem().param3());
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
_missionItemsEqual(*rgMissionItems[0], _validGimbalItem->missionItem());
_cameraSection->setSpecifyGimbal(false);
rgMissionItems.clear();
seqNum = 0;
// Test camera actions
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
_cameraSection->cameraPhotoIntervalTime()->setRawValue(_validTimeItem->missionItem().param1());
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
_missionItemsEqual(*rgMissionItems[0], _validTimeItem->missionItem());
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
rgMissionItems.clear();
seqNum = 0;
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotoIntervalDistance);
_cameraSection->cameraPhotoIntervalDistance()->setRawValue(_validDistanceItem->missionItem().param1());
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
_missionItemsEqual(*rgMissionItems[0], _validDistanceItem->missionItem());
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
rgMissionItems.clear();
seqNum = 0;
_cameraSection->cameraAction()->setRawValue(CameraSection::TakeVideo);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
_missionItemsEqual(*rgMissionItems[0], _validStartVideoItem->missionItem());
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
rgMissionItems.clear();
seqNum = 0;
_cameraSection->cameraAction()->setRawValue(CameraSection::StopTakingVideo);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
_missionItemsEqual(*rgMissionItems[0], _validStopVideoItem->missionItem());
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
rgMissionItems.clear();
seqNum = 0;
_cameraSection->cameraAction()->setRawValue(CameraSection::StopTakingPhotos);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 2);
QCOMPARE(seqNum, 2);
_missionItemsEqual(*rgMissionItems[0], _validStopDistanceItem->missionItem());
_missionItemsEqual(*rgMissionItems[1], _validStopTimeItem->missionItem());
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
rgMissionItems.clear();
seqNum = 0;
// Test both
_cameraSection->setSpecifyGimbal(true);
_cameraSection->gimbalPitch()->setRawValue(_validGimbalItem->missionItem().param1());
_cameraSection->gimbalYaw()->setRawValue(_validGimbalItem->missionItem().param3());
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
_cameraSection->cameraPhotoIntervalTime()->setRawValue(_validTimeItem->missionItem().param1());
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 2);
QCOMPARE(seqNum, 2);
_missionItemsEqual(*rgMissionItems[0], _validGimbalItem->missionItem());
_missionItemsEqual(*rgMissionItems[1], _validTimeItem->missionItem());
_cameraSection->setSpecifyGimbal(false);
rgMissionItems.clear();
seqNum = 0;
}
void CameraSectionTest::_testScanForGimbalSection(void)
{
QCOMPARE(_cameraSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_cameraSection);
// Check for a scan success
SimpleMissionItem* newValidGimbalItem = new SimpleMissionItem(_offlineVehicle, this);
newValidGimbalItem->missionItem() = _validGimbalItem->missionItem();
visualItems.append(newValidGimbalItem);
scanIndex = 0;
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->specifyGimbal(), true);
QCOMPARE(_cameraSection->gimbalPitch()->rawValue().toDouble(), _validGimbalItem->missionItem().param1());
QCOMPARE(_cameraSection->gimbalYaw()->rawValue().toDouble(), _validGimbalItem->missionItem().param3());
_cameraSection->setSpecifyGimbal(false);
visualItems.clear();
scanIndex = 0;
#if 0
MAV_CMD_DO_MOUNT_CONTROL
Mission Param #1 pitch (WIP: DEPRECATED: or lat in degrees) depending on mount mode.
Mission Param #2 roll (WIP: DEPRECATED: or lon in degrees) depending on mount mode.
Mission Param #3 yaw (WIP: DEPRECATED: or alt in meters) depending on mount mode.
Mission Param #4 WIP: alt in meters depending on mount mode.
Mission Param #5 WIP: latitude in degrees * 1E7, set if appropriate mount mode.
Mission Param #6 WIP: longitude in degrees * 1E7, set if appropriate mount mode.
Mission Param #7 MAV_MOUNT_MODE enum value
#endif
// Gimbal command but incorrect settings
SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validGimbalItem->missionItem());
invalidSimpleItem.missionItem().setParam2(10); // roll is not supported
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->specifyGimbal(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validGimbalItem->missionItem();
invalidSimpleItem.missionItem().setParam4(10); // alt is not supported
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->specifyGimbal(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validGimbalItem->missionItem();
invalidSimpleItem.missionItem().setParam5(10); // lat is not supported
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->specifyGimbal(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validGimbalItem->missionItem();
invalidSimpleItem.missionItem().setParam6(10); // lon is not supported
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->specifyGimbal(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validGimbalItem->missionItem();
invalidSimpleItem.missionItem().setParam7(MAV_MOUNT_MODE_RETRACT); // Only MAV_MOUNT_MODE_MAVLINK_TARGETING supported
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->specifyGimbal(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
}
void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void)
{
QCOMPARE(_cameraSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_cameraSection);
#if 0
MAV_CMD_IMAGE_START_CAPTURE Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture.
Mission Param #1 Duration between two consecutive pictures (in seconds)
Mission Param #2 Number of images to capture total - 0 for unlimited capture
Mission Param #3 Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc), set to 0 if param 4/5 are used, set to -1 for highest resolution possible.
Mission Param #4 WIP: Resolution horizontal in pixels
Mission Param #5 WIP: Resolution horizontal in pixels
Mission Param #6 WIP: Camera ID // Check for a scan success
#endif
SimpleMissionItem* newValidTimeItem = new SimpleMissionItem(_offlineVehicle, this);
newValidTimeItem->missionItem() = _validTimeItem->missionItem();
visualItems.append(newValidTimeItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->cameraAction()->rawValue().toInt(), (int)CameraSection::TakePhotosIntervalTime);
QCOMPARE(_cameraSection->cameraPhotoIntervalTime()->rawValue().toInt(), (int)_validTimeItem->missionItem().param1());
visualItems.clear();
scanIndex = 0;
// Image start command but incorrect settings
SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validTimeItem->missionItem());
invalidSimpleItem.missionItem().setParam2(10); // must be unlimited
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
visualItems.clear();
invalidSimpleItem.missionItem() = _validTimeItem->missionItem();
invalidSimpleItem.missionItem().setParam3(1.3); // must be -1
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validTimeItem->missionItem();
invalidSimpleItem.missionItem().setParam4(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validTimeItem->missionItem();
invalidSimpleItem.missionItem().setParam5(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validTimeItem->missionItem();
invalidSimpleItem.missionItem().setParam6(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validTimeItem->missionItem();
invalidSimpleItem.missionItem().setParam7(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
}
void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
{
QCOMPARE(_cameraSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_cameraSection);
#if 0
MAV_CMD_DO_SET_CAM_TRIGG_DIST Mission command to set CAM_TRIGG_DIST for this flight
Mission Param #1 Camera trigger distance (meters)
Mission Param #2 Empty
Mission Param #3 Empty
Mission Param #4 Empty
Mission Param #5 Empty
Mission Param #6 Empty
Mission Param #7 Empty
#endif
SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, this);
newValidDistanceItem->missionItem() = _validDistanceItem->missionItem();
visualItems.append(newValidDistanceItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->cameraAction()->rawValue().toInt(), (int)CameraSection::TakePhotoIntervalDistance);
QCOMPARE(_cameraSection->cameraPhotoIntervalDistance()->rawValue().toInt(), (int)_validDistanceItem->missionItem().param1());
visualItems.clear();
scanIndex = 0;
// Trigger distance command but incorrect settings
SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validDistanceItem->missionItem());
invalidSimpleItem.missionItem().setParam1(-1); // must be >= 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
invalidSimpleItem.missionItem().setParam2(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
invalidSimpleItem.missionItem().setParam3(1); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
invalidSimpleItem.missionItem().setParam4(100); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
invalidSimpleItem.missionItem().setParam5(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
invalidSimpleItem.missionItem().setParam6(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
invalidSimpleItem.missionItem().setParam7(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
}
void CameraSectionTest::_testScanForStartVideoSection(void)
{
QCOMPARE(_cameraSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_cameraSection);
#if 0
MAV_CMD_VIDEO_STOP_CAPTURE Stop the current video capture (recording)
Mission Param #1 WIP: Camera ID
Mission Param #2 Reserved
Mission Param #3 Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc), set to 0 if param 4/5 are used, set to -1 for highest resolution possible.
Mission Param #4 WIP: Resolution horizontal in pixels
Mission Param #5 WIP: Resolution horizontal in pixels
Mission Param #6 WIP: Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise time in Hz)
#endif
SimpleMissionItem* newValidStartVideoItem = new SimpleMissionItem(_offlineVehicle, this);
newValidStartVideoItem->missionItem() = _validStartVideoItem->missionItem();
visualItems.append(newValidStartVideoItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->cameraAction()->rawValue().toInt(), (int)CameraSection::TakeVideo);
visualItems.clear();
scanIndex = 0;
// Trigger distance command but incorrect settings
SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validStartVideoItem->missionItem());
invalidSimpleItem.missionItem().setParam1(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStartVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam2(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStartVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam3(1); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStartVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam4(100); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStartVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam5(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStartVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam6(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStartVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam7(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
}
void CameraSectionTest::_testScanForStopVideoSection(void)
{
QCOMPARE(_cameraSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_cameraSection);
#if 0
MAV_CMD_VIDEO_STOP_CAPTURE Stop the current video capture (recording)
Mission Param #1 WIP: Camera ID
#endif
SimpleMissionItem* newValidStopVideoItem = new SimpleMissionItem(_offlineVehicle, this);
newValidStopVideoItem->missionItem() = _validStopVideoItem->missionItem();
visualItems.append(newValidStopVideoItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->cameraAction()->rawValue().toInt(), (int)CameraSection::StopTakingVideo);
visualItems.clear();
scanIndex = 0;
// Trigger distance command but incorrect settings
SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validStopVideoItem->missionItem());
invalidSimpleItem.missionItem().setParam1(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStopVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam2(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStopVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam3(1); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStopVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam4(100); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStopVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam5(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStopVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam6(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
invalidSimpleItem.missionItem() = _validStopVideoItem->missionItem();
invalidSimpleItem.missionItem().setParam7(10); // must be 0
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
}
void CameraSectionTest::_testScanForStopImageSection(void)
{
QCOMPARE(_cameraSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_cameraSection);
SimpleMissionItem* newValidStopDistanceItem = new SimpleMissionItem(_offlineVehicle, this);
SimpleMissionItem* newValidStopTimeItem = new SimpleMissionItem(_offlineVehicle, this);
newValidStopDistanceItem->missionItem() = _validStopDistanceItem->missionItem();
newValidStopTimeItem->missionItem() = _validStopTimeItem->missionItem();
visualItems.append(newValidStopDistanceItem);
visualItems.append(newValidStopTimeItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->cameraAction()->rawValue().toInt(), (int)CameraSection::StopTakingPhotos);
visualItems.clear();
// Out of order commands
SimpleMissionItem validStopDistanceItem(_offlineVehicle);
SimpleMissionItem validStopTimeItem(_offlineVehicle);
validStopDistanceItem.missionItem() = _validStopDistanceItem->missionItem();
validStopTimeItem.missionItem() = _validStopTimeItem->missionItem();
visualItems.append(&validStopTimeItem);
visualItems.append(&validStopDistanceItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 2);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
}
void CameraSectionTest::_testScanForFullSection(void)
{
QCOMPARE(_cameraSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_cameraSection);
SimpleMissionItem* newValidGimbalItem = new SimpleMissionItem(_offlineVehicle, this);
SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, this);
newValidGimbalItem->missionItem() = _validGimbalItem->missionItem();
newValidDistanceItem->missionItem() = _validDistanceItem->missionItem();
visualItems.append(newValidGimbalItem);
visualItems.append(newValidDistanceItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_cameraSection->settingsSpecified(), true);
QCOMPARE(_cameraSection->specifyGimbal(), true);
QCOMPARE(_cameraSection->cameraAction()->rawValue().toInt(), (int)CameraSection::TakePhotoIntervalDistance);
QCOMPARE(_cameraSection->gimbalPitch()->rawValue().toDouble(), _validGimbalItem->missionItem().param1());
QCOMPARE(_cameraSection->gimbalYaw()->rawValue().toDouble(), _validGimbalItem->missionItem().param3());
QCOMPARE(_cameraSection->cameraPhotoIntervalDistance()->rawValue().toInt(), (int)_validDistanceItem->missionItem().param1());
visualItems.clear();
}

67
src/MissionManager/CameraSectionTest.h
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@ -0,0 +1,67 @@ @@ -0,0 +1,67 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "SectionTest.h"
#include "CameraSection.h"
/// Unit test for CameraSection
class CameraSectionTest : public SectionTest
{
Q_OBJECT
public:
CameraSectionTest(void);
void init(void) override;
void cleanup(void) override;
private slots:
void _testDirty(void);
void _testSettingsAvailable(void);
void _checkAvailable(void);
void _testItemCount(void);
void _testAppendSectionItems(void);
void _testScanForGimbalSection(void);
void _testScanForPhotoIntervalTimeSection(void);
void _testScanForPhotoIntervalDistanceSection(void);
void _testScanForStartVideoSection(void);
void _testScanForStopVideoSection(void);
void _testScanForStopImageSection(void);
void _testScanForFullSection(void);
private:
void _createSpy(CameraSection* cameraSection, MultiSignalSpy** cameraSpy);
enum {
specifyGimbalChangedIndex = 0,
specifiedGimbalYawChangedIndex,
maxSignalIndex,
};
enum {
specifyGimbalChangedMask = 1 << specifyGimbalChangedIndex,
specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex
};
static const size_t cCameraSignals = maxSignalIndex;
const char* rgCameraSignals[cCameraSignals];
MultiSignalSpy* _spyCamera;
MultiSignalSpy* _spySection;
CameraSection* _cameraSection;
SimpleMissionItem* _validGimbalItem;
SimpleMissionItem* _validDistanceItem;
SimpleMissionItem* _validTimeItem;
SimpleMissionItem* _validStartVideoItem;
SimpleMissionItem* _validStopVideoItem;
SimpleMissionItem* _validStopDistanceItem;
SimpleMissionItem* _validStopTimeItem;
};

4
src/MissionManager/MissionController.cc
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@ -1543,7 +1543,9 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte @@ -1543,7 +1543,9 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
if (settingsItem && settingsItem->scanForMissionSettings(visualItems, scanIndex)) {
if (settingsItem) {
scanIndex++;
settingsItem->scanForMissionSettings(visualItems, scanIndex);
continue;
}

19
src/MissionManager/MissionSettingsItem.cc
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@ -43,11 +43,12 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent) @@ -43,11 +43,12 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
}
_plannedHomePositionAltitudeFact.setMetaData (_metaDataMap[_plannedHomePositionAltitudeName]);
_plannedHomePositionAltitudeFact.setRawValue (_plannedHomePositionAltitudeFact.rawDefaultValue());
setHomePositionSpecialCase(true);
_cameraSection.setAvailable(true);
_speedSection.setAvailable(true);
connect(this, &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(this, &MissionSettingsItem::missionEndRTLChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_cameraSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
@ -184,17 +185,9 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems @@ -184,17 +185,9 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
qCDebug(MissionSettingsComplexItemLog) << "MissionSettingsItem::scanForMissionSettings count:scanIndex" << visualItems->count() << scanIndex;
MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(scanIndex);
if (!settingsItem) {
qWarning() << "Item specified by scanIndex not MissionSettingsItem";
return false;
}
// Scan through the initial mission items for possible mission settings
scanIndex++;
foundCameraSection = settingsItem->_cameraSection.scanForSection(visualItems, scanIndex);
foundSpeedSection = settingsItem->_speedSection.scanForSection(visualItems, scanIndex);
foundCameraSection = _cameraSection.scanForSection(visualItems, scanIndex);
foundSpeedSection = _speedSection.scanForSection(visualItems, scanIndex);
// Look at the end of the mission for end actions
@ -206,7 +199,7 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems @@ -206,7 +199,7 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
if (missionItem.command() == MAV_CMD_NAV_RETURN_TO_LAUNCH &&
missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
settingsItem->_missionEndRTL = true;
_missionEndRTL = true;
visualItems->removeAt(lastIndex)->deleteLater();
}
}

2
src/MissionManager/MissionSettingsItem.h
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@ -37,7 +37,7 @@ public: @@ -37,7 +37,7 @@ public:
QObject* speedSection(void) { return &_speedSection; }
/// Scans the loaded items for settings items
static bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
/// Adds the optional mission end action to the list
/// @param items Mission items list to append to

4
src/MissionManager/Section.h
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@ -41,9 +41,9 @@ public: @@ -41,9 +41,9 @@ public:
/// Scans the loaded items for the section items
/// @param visualItems Item list
/// @param scanIndex[in,out] Index to start scanning from
/// @param scanIndex Index to start scanning from
/// @return true: section found, items added, scanIndex updated
virtual bool scanForSection(QmlObjectListModel* visualItems, int& scanIndex) = 0;
virtual bool scanForSection(QmlObjectListModel* visualItems, int scanIndex) = 0;
/// Appends the mission items associated with this section
/// @param items List to append to

101
src/MissionManager/SectionTest.cc
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@ -0,0 +1,101 @@ @@ -0,0 +1,101 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "SectionTest.h"
#include "SurveyMissionItem.h"
SectionTest::SectionTest(void)
: _simpleItem(NULL)
{
}
void SectionTest::init(void)
{
VisualMissionItemTest::init();
rgSectionSignals[availableChangedIndex] = SIGNAL(availableChanged(bool));
rgSectionSignals[settingsSpecifiedChangedIndex] = SIGNAL(settingsSpecifiedChanged(bool));
rgSectionSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
rgSectionSignals[itemCountChangedIndex] = SIGNAL(itemCountChanged(int));
MissionItem missionItem(1, // sequence number
MAV_CMD_NAV_WAYPOINT,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
10.1234567, // param 1-7
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true, // autoContinue
false); // isCurrentItem
_simpleItem = new SimpleMissionItem(_offlineVehicle, missionItem);
}
void SectionTest::cleanup(void)
{
delete _simpleItem;
VisualMissionItemTest::cleanup();
}
void SectionTest::_createSpy(Section* section, MultiSignalSpy** sectionSpy)
{
*sectionSpy = NULL;
MultiSignalSpy* spy = new MultiSignalSpy();
QCOMPARE(spy->init(section, rgSectionSignals, cSectionSignals), true);
*sectionSpy = spy;
}
void SectionTest::_missionItemsEqual(MissionItem& item1, MissionItem& item2)
{
QCOMPARE(item1.command(), item2.command());
QCOMPARE(item1.frame(), item2.frame());
QCOMPARE(item1.autoContinue(), item2.autoContinue());
QCOMPARE(item1.param1(), item2.param1());
QCOMPARE(item1.param2(), item2.param2());
QCOMPARE(item1.param3(), item2.param3());
QCOMPARE(item1.param4(), item2.param4());
QCOMPARE(item1.param5(), item2.param5());
QCOMPARE(item1.param6(), item2.param6());
QCOMPARE(item1.param7(), item2.param7());
}
void SectionTest::_commonScanTest(Section* section)
{
QCOMPARE(section->available(), true);
QmlObjectListModel emptyVisualItems;
QmlObjectListModel waypointVisualItems;
MissionItem waypointItem(0, MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, 0, 0, 0, 0, 0, 0, true, false);
SimpleMissionItem simpleItem(_offlineVehicle, waypointItem);
waypointVisualItems.append(&simpleItem);
waypointVisualItems.append(&simpleItem);
waypointVisualItems.append(&simpleItem);
QmlObjectListModel complexVisualItems;
SurveyMissionItem surveyItem(_offlineVehicle);
complexVisualItems.append(&surveyItem);
// This tests the common cases which should not lead to scan succeess
int scanIndex = 0;
QCOMPARE(section->scanForSection(&emptyVisualItems, scanIndex), false);
QCOMPARE(scanIndex, 0);
scanIndex = 0;
QCOMPARE(section->scanForSection(&waypointVisualItems, scanIndex), false);
QCOMPARE(scanIndex, 0);
scanIndex = 0;
QCOMPARE(section->scanForSection(&complexVisualItems, scanIndex), false);
QCOMPARE(scanIndex, 0);
}

50
src/MissionManager/SectionTest.h
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@ -0,0 +1,50 @@ @@ -0,0 +1,50 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "VisualMissionItemTest.h"
#include "SimpleMissionItemTest.h"
/// Unit test for Sections
class SectionTest : public VisualMissionItemTest
{
Q_OBJECT
public:
SectionTest(void);
void init(void) override;
void cleanup(void) override;
protected:
void _createSpy(Section* section, MultiSignalSpy** sectionSpy);
void _missionItemsEqual(MissionItem& item1, MissionItem& item2);
void _commonScanTest(Section* section);
enum {
availableChangedIndex = 0,
settingsSpecifiedChangedIndex,
dirtyChangedIndex,
itemCountChangedIndex,
maxSignalIndex,
};
enum {
availableChangedMask = 1 << availableChangedIndex,
settingsSpecifiedChangedMask = 1 << settingsSpecifiedChangedIndex,
dirtyChangedMask = 1 << dirtyChangedIndex,
itemCountChangedMask = 1 << itemCountChangedIndex
};
static const size_t cSectionSignals = maxSignalIndex;
const char* rgSectionSignals[cSectionSignals];
SimpleMissionItem* _simpleItem;
};

7
src/MissionManager/SimpleMissionItem.cc
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@ -560,7 +560,10 @@ void SimpleMissionItem::setDirty(bool dirty) @@ -560,7 +560,10 @@ void SimpleMissionItem::setDirty(bool dirty)
{
if (!_homePositionSpecialCase || (_dirty != dirty)) {
_dirty = dirty;
_cameraSection->setDirty(false);
if (!dirty) {
_cameraSection->setDirty(false);
_speedSection->setDirty(false);
}
emit dirtyChanged(dirty);
}
}
@ -690,7 +693,7 @@ double SimpleMissionItem::specifiedGimbalYaw(void) @@ -690,7 +693,7 @@ double SimpleMissionItem::specifiedGimbalYaw(void)
return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
}
bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int& scanIndex, Vehicle* vehicle)
bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
{
bool sectionFound = false;

2
src/MissionManager/SimpleMissionItem.h
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@ -52,7 +52,7 @@ public: @@ -52,7 +52,7 @@ public:
/// @param scanIndex Index to start scanning from
/// @param vehicle Vehicle associated with this mission
/// @return true: section found, scanIndex updated
bool scanForSections(QmlObjectListModel* visualItems, int& scanIndex, Vehicle* vehicle);
bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
// Property accesors

224
src/MissionManager/SimpleMissionItemTest.cc
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@ -9,7 +9,6 @@ @@ -9,7 +9,6 @@
#include "SimpleMissionItemTest.h"
#include "SimpleMissionItem.h"
#include "QGCApplication.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
@ -21,7 +20,6 @@ const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = { @@ -21,7 +20,6 @@ const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
{ MAV_CMD_NAV_LOITER_TIME, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LAND, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_TAKEOFF, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_CONDITION_DELAY, MAV_FRAME_MISSION },
{ MAV_CMD_DO_JUMP, MAV_FRAME_MISSION },
};
@ -56,10 +54,6 @@ const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTak @@ -56,10 +54,6 @@ const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTak
{ "Altitude", 70.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesConditionDelay[] = {
{ "Hold", 10.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = {
{ "Item #", 10.1234567 },
{ "Repeat", 20.1234567 },
@ -72,30 +66,55 @@ const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpect @@ -72,30 +66,55 @@ const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpect
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]), SimpleMissionItemTest::_rgFactValuesLoiterTime, true },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLand)/sizeof(SimpleMissionItemTest::_rgFactValuesLand[0]), SimpleMissionItemTest::_rgFactValuesLand, true },
{ sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]), SimpleMissionItemTest::_rgFactValuesTakeoff, true },
{ sizeof(SimpleMissionItemTest::_rgFactValuesConditionDelay)/sizeof(SimpleMissionItemTest::_rgFactValuesConditionDelay[0]), SimpleMissionItemTest::_rgFactValuesConditionDelay, false },
{ sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]), SimpleMissionItemTest::_rgFactValuesDoJump, false },
};
SimpleMissionItemTest::SimpleMissionItemTest(void)
: _offlineVehicle(NULL)
: _simpleItem(NULL)
{
}
void SimpleMissionItemTest::init(void)
{
UnitTest::init();
_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4,
MAV_TYPE_QUADROTOR,
qgcApp()->toolbox()->firmwarePluginManager(),
this);
VisualMissionItemTest::init();
rgSimpleItemSignals[commandChangedIndex] = SIGNAL(commandChanged(int));
rgSimpleItemSignals[frameChangedIndex] = SIGNAL(frameChanged(int));
rgSimpleItemSignals[friendlyEditAllowedChangedIndex] = SIGNAL(friendlyEditAllowedChanged(bool));
rgSimpleItemSignals[headingDegreesChangedIndex] = SIGNAL(headingDegreesChanged(double));
rgSimpleItemSignals[rawEditChangedIndex] = SIGNAL(rawEditChanged(bool));
rgSimpleItemSignals[cameraSectionChangedIndex] = SIGNAL(rawEditChanged(bool));
rgSimpleItemSignals[speedSectionChangedIndex] = SIGNAL(rawEditChanged(bool));
MissionItem missionItem(1, // sequence number
MAV_CMD_NAV_WAYPOINT,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
10.1234567, // param 1-7
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true, // autoContinue
false); // isCurrentItem
_simpleItem = new SimpleMissionItem(_offlineVehicle, missionItem);
// It's important top check that the right signals are emitted at the right time since that drives ui change.
// It's also important to check that things are not being over-signalled when they should not be, since that can lead
// to incorrect ui or perf impact of uneeded signals propogating ui change.
_spySimpleItem = new MultiSignalSpy();
QCOMPARE(_spySimpleItem->init(_simpleItem, rgSimpleItemSignals, cSimpleItemSignals), true);
_spyVisualItem = new MultiSignalSpy();
QCOMPARE(_spyVisualItem->init(_simpleItem, rgVisualItemSignals, cVisualItemSignals), true);
}
void SimpleMissionItemTest::cleanup(void)
{
delete _offlineVehicle;
UnitTest::cleanup();
delete _simpleItem;
VisualMissionItemTest::cleanup();
}
void SimpleMissionItemTest::_testEditorFacts(void)
@ -140,7 +159,7 @@ void SimpleMissionItemTest::_testEditorFacts(void) @@ -140,7 +159,7 @@ void SimpleMissionItemTest::_testEditorFacts(void)
}
}
qDebug() << fact->name();
qDebug() << "textFieldFact" << fact->name();
QVERIFY(found);
}
QCOMPARE(factCount, expected->cFactValues);
@ -163,131 +182,82 @@ void SimpleMissionItemTest::_testDefaultValues(void) @@ -163,131 +182,82 @@ void SimpleMissionItemTest::_testDefaultValues(void)
void SimpleMissionItemTest::_testSignals(void)
{
enum {
commandChangedIndex = 0,
frameChangedIndex,
friendlyEditAllowedChangedIndex,
headingDegreesChangedIndex,
rawEditChangedIndex,
coordinateChangedIndex,
exitCoordinateChangedIndex,
dirtyChangedIndex,
maxSignalIndex
};
enum {
commandChangedMask = 1 << commandChangedIndex,
frameChangedMask = 1 << frameChangedIndex,
friendlyEditAllowedChangedMask = 1 << friendlyEditAllowedChangedIndex,
headingDegreesChangedMask = 1 << headingDegreesChangedIndex,
rawEditChangedMask = 1 << rawEditChangedIndex,
coordinateChangedMask = 1 << coordinateChangedIndex,
exitCoordinateChangedMask = 1 << exitCoordinateChangedIndex,
dirtyChangedMask = 1 << dirtyChangedIndex,
};
static const size_t cSimpleMissionItemSignals = maxSignalIndex;
const char* rgSimpleMissionItemSignals[cSimpleMissionItemSignals];
rgSimpleMissionItemSignals[commandChangedIndex] = SIGNAL(commandChanged(int));
rgSimpleMissionItemSignals[coordinateChangedIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&));
rgSimpleMissionItemSignals[exitCoordinateChangedIndex] = SIGNAL(exitCoordinateChanged(const QGeoCoordinate&));
rgSimpleMissionItemSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
rgSimpleMissionItemSignals[frameChangedIndex] = SIGNAL(frameChanged(int));
rgSimpleMissionItemSignals[friendlyEditAllowedChangedIndex] = SIGNAL(friendlyEditAllowedChanged(bool));
rgSimpleMissionItemSignals[headingDegreesChangedIndex] = SIGNAL(headingDegreesChanged(double));
rgSimpleMissionItemSignals[rawEditChangedIndex] = SIGNAL(rawEditChanged(bool));
MissionItem& missionItem = _simpleItem->missionItem();
MissionItem missionItem(1, // sequence number
MAV_CMD_NAV_WAYPOINT,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
10.1234567, // param 1-7
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true, // autoContinue
false); // isCurrentItem
SimpleMissionItem simpleMissionItem(_offlineVehicle, missionItem);
// It's important top check that the right signals are emitted at the right time since that drives ui change.
// It's also important to check that things are not being over-signalled when they should not be, since that can lead
// to incorrect ui or perf impact of uneeded signals propogating ui change.
MultiSignalSpy* multiSpy = new MultiSignalSpy();
Q_CHECK_PTR(multiSpy);
QCOMPARE(multiSpy->init(&simpleMissionItem, rgSimpleMissionItemSignals, cSimpleMissionItemSignals), true);
// Check commandChanged signalling. Call setCommand should trigger:
// commandChanged
// dirtyChanged
// coordinateChanged - since altitude will be set back to default
simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME);
QVERIFY(multiSpy->checkSignalsByMask(commandChangedMask | dirtyChangedMask | coordinateChangedMask));
multiSpy->clearAllSignals();
// Check that changing to the same coordinate does not signal
_simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5(), missionItem.param6(), missionItem.param7()));
QVERIFY(_spyVisualItem->checkNoSignals());
QVERIFY(_spySimpleItem->checkNoSignals());
// Check coordinateChanged signalling. Calling setCoordinate should trigger:
// coordinateChanged
// dirtyChanged
// Check that changing to the same coordinate does not signal
simpleMissionItem.setCoordinate(QGeoCoordinate(50.1234567, 60.1234567, qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble()));
QVERIFY(multiSpy->checkNoSignals());
// Check that actually changing coordinate signals correctly
simpleMissionItem.setCoordinate(QGeoCoordinate(50.1234567, 60.1234567, 70.1234567));
QVERIFY(multiSpy->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
multiSpy->clearAllSignals();
_simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5() + 1, missionItem.param6(), missionItem.param7()));
QVERIFY(_spyVisualItem->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
_spyVisualItem->clearAllSignals();
_simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5(), missionItem.param6() + 1, missionItem.param7()));
QVERIFY(_spyVisualItem->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
_spyVisualItem->clearAllSignals();
_simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5(), missionItem.param6(), missionItem.param7() + 1));
QVERIFY(_spyVisualItem->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
_spyVisualItem->clearAllSignals();
// Check dirtyChanged signalling
// Reset param 1-5 for testing
simpleMissionItem.missionItem().setParam1(10.1234567);
simpleMissionItem.missionItem().setParam2(20.1234567);
simpleMissionItem.missionItem().setParam3(30.1234567);
simpleMissionItem.missionItem().setParam4(40.1234567);
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setParam1(10.1234567);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setParam1(20.1234567);
QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setParam2(20.1234567);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setParam2(30.1234567);
QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setParam3(30.1234567);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setParam3(40.1234567);
QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setParam4(40.1234567);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setParam4(50.1234567);
QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
multiSpy->clearAllSignals();
missionItem.setParam1(missionItem.param1());
QVERIFY(_spyVisualItem->checkNoSignals());
missionItem.setParam2(missionItem.param2());
QVERIFY(_spyVisualItem->checkNoSignals());
missionItem.setParam3(missionItem.param3());
QVERIFY(_spyVisualItem->checkNoSignals());
missionItem.setParam4(missionItem.param4());
QVERIFY(_spyVisualItem->checkNoSignals());
missionItem.setParam1(missionItem.param1() + 1);
QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
_spyVisualItem->clearAllSignals();
missionItem.setParam1(missionItem.param2() + 1);
QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
_spyVisualItem->clearAllSignals();
missionItem.setParam1(missionItem.param3() + 1);
QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
_spyVisualItem->clearAllSignals();
missionItem.setParam1(missionItem.param4() + 1);
QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
_spyVisualItem->clearAllSignals();
// Check frameChanged signalling. Calling setFrame should signal:
// frameChanged
// dirtyChanged
// friendlyEditAllowedChanged - this signal is not very smart on when it gets sent
simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL);
QVERIFY(multiSpy->checkOnlySignalByMask(frameChangedMask | dirtyChangedMask | friendlyEditAllowedChangedMask));
multiSpy->clearAllSignals();
missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
QVERIFY(_spyVisualItem->checkNoSignals());
QVERIFY(_spySimpleItem->checkNoSignals());
missionItem.setFrame(MAV_FRAME_GLOBAL);
QVERIFY(_spySimpleItem->checkOnlySignalByMask(frameChangedMask | dirtyChangedMask | friendlyEditAllowedChangedMask));
_spySimpleItem->clearAllSignals();
_spyVisualItem->clearAllSignals();
// Check commandChanged signalling. Call setCommand should trigger:
// commandChanged
// commandNameChanged
// dirtyChanged
// coordinateChanged - since altitude will be set back to default
_simpleItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
QVERIFY(_spyVisualItem->checkNoSignals());
QVERIFY(_spySimpleItem->checkNoSignals());
_simpleItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME);
QVERIFY(_spySimpleItem->checkSignalsByMask(commandChangedMask));
QVERIFY(_spyVisualItem->checkSignalsByMask(commandNameChangedMask | dirtyChangedMask | coordinateChangedMask));
}
void SimpleMissionItemTest::_testCameraSectionSignals(void)
{
}

43
src/MissionManager/SimpleMissionItemTest.h
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@ -7,18 +7,13 @@ @@ -7,18 +7,13 @@
*
****************************************************************************/
#pragma once
#ifndef SimpleMissionItemTest_H
#define SimpleMissionItemTest_H
#include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
#include <QGeoCoordinate>
#include "VisualMissionItemTest.h"
#include "SimpleMissionItem.h"
/// Unit test for SimpleMissionItem
class SimpleMissionItemTest : public UnitTest
class SimpleMissionItemTest : public VisualMissionItemTest
{
Q_OBJECT
@ -30,10 +25,34 @@ public: @@ -30,10 +25,34 @@ public:
private slots:
void _testSignals(void);
void _testCameraSectionSignals(void);
void _testEditorFacts(void);
void _testDefaultValues(void);
private:
enum {
commandChangedIndex = 0,
frameChangedIndex,
friendlyEditAllowedChangedIndex,
headingDegreesChangedIndex,
rawEditChangedIndex,
cameraSectionChangedIndex,
speedSectionChangedIndex,
maxSignalIndex,
};
enum {
commandChangedMask = 1 << commandChangedIndex,
frameChangedMask = 1 << frameChangedIndex,
friendlyEditAllowedChangedMask = 1 << friendlyEditAllowedChangedIndex,
headingDegreesChangedMask = 1 << headingDegreesChangedIndex,
rawEditChangedMask = 1 << rawEditChangedIndex,
cameraSectionChangedMask = 1 << cameraSectionChangedIndex,
speedSectionChangedMask = 1 << speedSectionChangedIndex
};
static const size_t cSimpleItemSignals = maxSignalIndex;
const char* rgSimpleItemSignals[cSimpleItemSignals];
typedef struct {
MAV_CMD command;
@ -51,7 +70,9 @@ private: @@ -51,7 +70,9 @@ private:
bool relativeAltCheckbox;
} ItemExpected_t;
Vehicle* _offlineVehicle;
SimpleMissionItem* _simpleItem;
MultiSignalSpy* _spySimpleItem;
MultiSignalSpy* _spyVisualItem;
static const ItemInfo_t _rgItemInfo[];
static const ItemExpected_t _rgItemExpected[];
@ -64,5 +85,3 @@ private: @@ -64,5 +85,3 @@ private:
static const FactValue_t _rgFactValuesConditionDelay[];
static const FactValue_t _rgFactValuesDoJump[];
};
#endif

12
src/MissionManager/SpeedSection.cc
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@ -41,7 +41,6 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent) @@ -41,7 +41,6 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
_flightSpeedFact.setMetaData(_metaDataMap[_flightSpeedName]);
_flightSpeedFact.setRawValue(flightSpeed);
connect(this, &SpeedSection::specifyFlightSpeedChanged, this, &SpeedSection::_setDirtyAndUpdateItemCount);
connect(this, &SpeedSection::specifyFlightSpeedChanged, this, &SpeedSection::settingsSpecifiedChanged);
connect(&_flightSpeedFact, &Fact::valueChanged, this, &SpeedSection::_setDirty);
}
@ -66,12 +65,6 @@ void SpeedSection::_setDirty(void) @@ -66,12 +65,6 @@ void SpeedSection::_setDirty(void)
setDirty(true);
}
void SpeedSection::_setDirtyAndUpdateItemCount(void)
{
setDirty(true);
emit itemCountChanged(itemCount());
}
void SpeedSection::setDirty(bool dirty)
{
if (_dirty != dirty) {
@ -85,6 +78,8 @@ void SpeedSection::setSpecifyFlightSpeed(bool specifyFlightSpeed) @@ -85,6 +78,8 @@ void SpeedSection::setSpecifyFlightSpeed(bool specifyFlightSpeed)
if (specifyFlightSpeed != _specifyFlightSpeed) {
_specifyFlightSpeed = specifyFlightSpeed;
emit specifyFlightSpeedChanged(specifyFlightSpeed);
setDirty(true);
emit itemCountChanged(itemCount());
}
}
@ -113,7 +108,7 @@ void SpeedSection::appendSectionItems(QList<MissionItem*>& items, QObject* missi @@ -113,7 +108,7 @@ void SpeedSection::appendSectionItems(QList<MissionItem*>& items, QObject* missi
}
}
bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int& scanIndex)
bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex)
{
if (!_available || scanIndex >= visualItems->count()) {
return false;
@ -137,7 +132,6 @@ bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int& scanInde @@ -137,7 +132,6 @@ bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int& scanInde
visualItems->removeAt(scanIndex)->deleteLater();
_flightSpeedFact.setRawValue(missionItem.param2());
setSpecifyFlightSpeed(true);
scanIndex++;
return true;
}

11
src/MissionManager/SpeedSection.h
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@ -32,7 +32,7 @@ public: @@ -32,7 +32,7 @@ public:
bool dirty (void) const override { return _dirty; }
void setAvailable (bool available) override;
void setDirty (bool dirty) override;
bool scanForSection (QmlObjectListModel* visualItems, int& scanIndex) override;
bool scanForSection (QmlObjectListModel* visualItems, int scanIndex) override;
void appendSectionItems (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum) override;
int itemCount (void) const override;
bool settingsSpecified (void) const override;
@ -42,13 +42,12 @@ signals: @@ -42,13 +42,12 @@ signals:
private slots:
void _setDirty(void);
void _setDirtyAndUpdateItemCount(void);
private:
bool _available;
bool _dirty;
bool _specifyFlightSpeed;
Fact _flightSpeedFact;
bool _available;
bool _dirty;
bool _specifyFlightSpeed;
Fact _flightSpeedFact;
static QMap<QString, FactMetaData*> _metaDataMap;

266
src/MissionManager/SpeedSectionTest.cc
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@ -0,0 +1,266 @@ @@ -0,0 +1,266 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "SpeedSectionTest.h"
SpeedSectionTest::SpeedSectionTest(void)
: _spySpeed(NULL)
, _spySection(NULL)
, _speedSection(NULL)
{
}
void SpeedSectionTest::init(void)
{
SectionTest::init();
rgSpeedSignals[specifyFlightSpeedChangedIndex] = SIGNAL(specifyFlightSpeedChanged(bool));
_speedSection = _simpleItem->speedSection();
_createSpy(_speedSection, &_spySpeed);
QVERIFY(_spySpeed);
SectionTest::_createSpy(_speedSection, &_spySection);
QVERIFY(_spySection);
}
void SpeedSectionTest::cleanup(void)
{
delete _spySpeed;
delete _spySection;
SectionTest::cleanup();
}
void SpeedSectionTest::_createSpy(SpeedSection* speedSection, MultiSignalSpy** speedSpy)
{
*speedSpy = NULL;
MultiSignalSpy* spy = new MultiSignalSpy();
QCOMPARE(spy->init(speedSection, rgSpeedSignals, cSpeedSignals), true);
*speedSpy = spy;
}
void SpeedSectionTest::_testDirty(void)
{
// Check for dirty not signalled if same value
_speedSection->setSpecifyFlightSpeed(_speedSection->specifyFlightSpeed());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_speedSection->dirty(), false);
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_speedSection->dirty(), false);
// Check for no duplicate dirty signalling on change
_speedSection->setSpecifyFlightSpeed(!_speedSection->specifyFlightSpeed());
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_speedSection->dirty(), true);
_spySection->clearAllSignals();
_speedSection->setSpecifyFlightSpeed(!_speedSection->specifyFlightSpeed());
QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
QCOMPARE(_speedSection->dirty(), true);
_spySection->clearAllSignals();
// Check that the dirty bit can be cleared
_speedSection->setDirty(false);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), false);
QCOMPARE(_speedSection->dirty(), false);
_spySection->clearAllSignals();
// Check the remaining items that should set dirty bit
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_speedSection->dirty(), true);
}
void SpeedSectionTest::_testSettingsAvailable(void)
{
// No settings specified to start
QCOMPARE(_speedSection->specifyFlightSpeed(), false);
QCOMPARE(_speedSection->settingsSpecified(), false);
// Check correct reaction to specifyFlightSpeed on/off
_speedSection->setSpecifyFlightSpeed(true);
QCOMPARE(_speedSection->specifyFlightSpeed(), true);
QCOMPARE(_speedSection->settingsSpecified(), true);
QVERIFY(_spySpeed->checkSignalByMask(specifyFlightSpeedChangedMask));
QCOMPARE(_spySpeed->pullBoolFromSignalIndex(specifyFlightSpeedChangedIndex), true);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), true);
_spySection->clearAllSignals();
_spySpeed->clearAllSignals();
_speedSection->setSpecifyFlightSpeed(false);
QCOMPARE(_speedSection->specifyFlightSpeed(), false);
QCOMPARE(_speedSection->settingsSpecified(), false);
QVERIFY(_spySpeed->checkSignalByMask(specifyFlightSpeedChangedMask));
QCOMPARE(_spySpeed->pullBoolFromSignalIndex(specifyFlightSpeedChangedIndex), false);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), false);
_spySection->clearAllSignals();
_spySpeed->clearAllSignals();
}
void SpeedSectionTest::_checkAvailable(void)
{
MissionItem missionItem(1, // sequence number
MAV_CMD_NAV_TAKEOFF,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
10.1234567, // param 1-7
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true, // autoContinue
false); // isCurrentItem
SimpleMissionItem* item = new SimpleMissionItem(_offlineVehicle, missionItem);
QVERIFY(item->speedSection());
QCOMPARE(item->speedSection()->available(), false);
}
void SpeedSectionTest::_testItemCount(void)
{
// No settings specified to start
QCOMPARE(_speedSection->itemCount(), 0);
_speedSection->setSpecifyFlightSpeed(true);
QCOMPARE(_speedSection->itemCount(), 1);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 1);
_spySection->clearAllSignals();
_spySpeed->clearAllSignals();
_speedSection->setSpecifyFlightSpeed(false);
QCOMPARE(_speedSection->itemCount(), 0);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 0);
_spySection->clearAllSignals();
_spySpeed->clearAllSignals();
}
void SpeedSectionTest::_testAppendSectionItems(void)
{
int seqNum = 0;
QList<MissionItem*> rgMissionItems;
// No settings specified to start
QCOMPARE(_speedSection->itemCount(), 0);
_speedSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 0);
QCOMPARE(seqNum, 0);
rgMissionItems.clear();
_speedSection->setSpecifyFlightSpeed(true);
_speedSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
MissionItem expectedSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _offlineVehicle->multiRotor() ? 1 : 0, _speedSection->flightSpeed()->rawValue().toDouble(), -1, 0, 0, 0, 0, true, false);
_missionItemsEqual(*rgMissionItems[0], expectedSpeedItem);
}
void SpeedSectionTest::_testScanForSection(void)
{
QCOMPARE(_speedSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_speedSection);
// Check for a scan success
double flightSpeed = 10.123456;
MissionItem validSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _offlineVehicle->multiRotor() ? 1 : 0, flightSpeed, -1, 0, 0, 0, 0, true, false);
SimpleMissionItem simpleItem(_offlineVehicle, validSpeedItem);
MissionItem& simpleMissionItem = simpleItem.missionItem();
visualItems.append(&simpleItem);
scanIndex = 0;
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_speedSection->settingsSpecified(), true);
QCOMPARE(_speedSection->specifyFlightSpeed(), true);
QCOMPARE(_speedSection->flightSpeed()->rawValue().toDouble(), flightSpeed);
_speedSection->setSpecifyFlightSpeed(false);
visualItems.clear();
scanIndex = 0;
// Flight speed command but incorrect settings
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam1(_offlineVehicle->multiRotor() ? 0 : 1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam3(50);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam4(1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam5(1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam6(1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam7(1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
// Valid item in wrong position
QmlObjectListModel waypointVisualItems;
MissionItem waypointMissionItem(0, MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, 0, 0, 0, 0, 0, 0, true, false);
SimpleMissionItem simpleWaypointItem(_offlineVehicle, waypointMissionItem);
simpleMissionItem = validSpeedItem;
visualItems.append(&simpleWaypointItem);
visualItems.append(&simpleMissionItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 2);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
}

52
src/MissionManager/SpeedSectionTest.h
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@ -0,0 +1,52 @@ @@ -0,0 +1,52 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "SectionTest.h"
#include "SpeedSection.h"
/// Unit test for CameraSection
class SpeedSectionTest : public SectionTest
{
Q_OBJECT
public:
SpeedSectionTest(void);
void init(void) override;
void cleanup(void) override;
private slots:
void _testDirty(void);
void _testSettingsAvailable(void);
void _checkAvailable(void);
void _testItemCount(void);
void _testAppendSectionItems(void);
void _testScanForSection(void);
private:
void _createSpy(SpeedSection* speedSection, MultiSignalSpy** speedSpy);
enum {
specifyFlightSpeedChangedIndex = 0,
maxSignalIndex,
};
enum {
specifyFlightSpeedChangedMask = 1 << specifyFlightSpeedChangedIndex
};
static const size_t cSpeedSignals = maxSignalIndex;
const char* rgSpeedSignals[cSpeedSignals];
MultiSignalSpy* _spySpeed;
MultiSignalSpy* _spySection;
SpeedSection* _speedSection;
};

58
src/MissionManager/VisualMissionItemTest.cc
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@ -0,0 +1,58 @@ @@ -0,0 +1,58 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "VisualMissionItemTest.h"
#include "SimpleMissionItem.h"
#include "QGCApplication.h"
VisualMissionItemTest::VisualMissionItemTest(void)
: _offlineVehicle(NULL)
{
}
void VisualMissionItemTest::init(void)
{
UnitTest::init();
_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4,
MAV_TYPE_QUADROTOR,
qgcApp()->toolbox()->firmwarePluginManager(),
this);
rgVisualItemSignals[altDifferenceChangedIndex] = SIGNAL(altDifferenceChanged(double));
rgVisualItemSignals[altPercentChangedIndex] = SIGNAL(altPercentChanged(double));
rgVisualItemSignals[azimuthChangedIndex] = SIGNAL(azimuthChanged(double));
rgVisualItemSignals[commandDescriptionChangedIndex] = SIGNAL(commandDescriptionChanged());
rgVisualItemSignals[commandNameChangedIndex] = SIGNAL(commandNameChanged());
rgVisualItemSignals[abbreviationChangedIndex] = SIGNAL(abbreviationChanged());
rgVisualItemSignals[coordinateChangedIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&));
rgVisualItemSignals[exitCoordinateChangedIndex] = SIGNAL(exitCoordinateChanged(const QGeoCoordinate&));
rgVisualItemSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
rgVisualItemSignals[distanceChangedIndex] = SIGNAL(distanceChanged(double));
rgVisualItemSignals[isCurrentItemChangedIndex] = SIGNAL(isCurrentItemChanged(bool));
rgVisualItemSignals[sequenceNumberChangedIndex] = SIGNAL(sequenceNumberChanged(int));
rgVisualItemSignals[isSimpleItemChangedIndex] = SIGNAL(isSimpleItemChanged(bool));
rgVisualItemSignals[specifiesCoordinateChangedIndex] = SIGNAL(specifiesCoordinateChanged());
rgVisualItemSignals[isStandaloneCoordinateChangedIndex] = SIGNAL(isStandaloneCoordinateChanged());
rgVisualItemSignals[specifiesAltitudeOnlyChangedIndex] = SIGNAL(specifiesAltitudeOnlyChanged());
rgVisualItemSignals[specifiedFlightSpeedChangedIndex] = SIGNAL(specifiedFlightSpeedChanged());
rgVisualItemSignals[specifiedGimbalYawChangedIndex] = SIGNAL(specifiedGimbalYawChanged());
rgVisualItemSignals[lastSequenceNumberChangedIndex] = SIGNAL(lastSequenceNumberChanged(int));
rgVisualItemSignals[missionGimbalYawChangedIndex] = SIGNAL(missionGimbalYawChanged(double));
rgVisualItemSignals[missionVehicleYawChangedIndex] = SIGNAL(missionVehicleYawChanged(double));
rgVisualItemSignals[coordinateHasRelativeAltitudeChangedIndex] = SIGNAL(coordinateHasRelativeAltitudeChanged(bool));
rgVisualItemSignals[exitCoordinateHasRelativeAltitudeChangedIndex] = SIGNAL(exitCoordinateHasRelativeAltitudeChanged(bool));
rgVisualItemSignals[exitCoordinateSameAsEntryChangedIndex] = SIGNAL(exitCoordinateSameAsEntryChanged(bool));
}
void VisualMissionItemTest::cleanup(void)
{
delete _offlineVehicle;
UnitTest::cleanup();
}

89
src/MissionManager/VisualMissionItemTest.h
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@ -0,0 +1,89 @@ @@ -0,0 +1,89 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
#include <QGeoCoordinate>
/// Unit test for SimpleMissionItem
class VisualMissionItemTest : public UnitTest
{
Q_OBJECT
public:
VisualMissionItemTest(void);
void init(void) override;
void cleanup(void) override;
protected:
enum {
altDifferenceChangedIndex = 0,
altPercentChangedIndex,
azimuthChangedIndex,
commandDescriptionChangedIndex,
commandNameChangedIndex,
abbreviationChangedIndex,
coordinateChangedIndex,
exitCoordinateChangedIndex,
dirtyChangedIndex,
distanceChangedIndex,
isCurrentItemChangedIndex,
sequenceNumberChangedIndex,
isSimpleItemChangedIndex,
specifiesCoordinateChangedIndex,
isStandaloneCoordinateChangedIndex,
specifiesAltitudeOnlyChangedIndex,
specifiedFlightSpeedChangedIndex,
specifiedGimbalYawChangedIndex,
lastSequenceNumberChangedIndex,
missionGimbalYawChangedIndex,
missionVehicleYawChangedIndex,
coordinateHasRelativeAltitudeChangedIndex,
exitCoordinateHasRelativeAltitudeChangedIndex,
exitCoordinateSameAsEntryChangedIndex,
maxSignalIndex,
};
enum {
altDifferenceChangedMask = 1 << altDifferenceChangedIndex,
altPercentChangedMask = 1 << altPercentChangedIndex,
azimuthChangedMask = 1 << azimuthChangedIndex,
commandDescriptionChangedMask = 1 << commandDescriptionChangedIndex,
commandNameChangedMask = 1 << commandNameChangedIndex,
abbreviationChangedMask = 1 << abbreviationChangedIndex,
coordinateChangedMask = 1 << coordinateChangedIndex,
exitCoordinateChangedMask = 1 << exitCoordinateChangedIndex,
dirtyChangedMask = 1 << dirtyChangedIndex,
distanceChangedMask = 1 << distanceChangedIndex,
isCurrentItemChangedMask = 1 << isCurrentItemChangedIndex,
sequenceNumberChangedMask = 1 << sequenceNumberChangedIndex,
isSimpleItemChangedMask = 1 << isSimpleItemChangedIndex,
specifiesCoordinateChangedMask = 1 << specifiesCoordinateChangedIndex,
isStandaloneCoordinateChangedMask = 1 << isStandaloneCoordinateChangedIndex,
specifiesAltitudeOnlyChangedMask = 1 << specifiesAltitudeOnlyChangedIndex,
specifiedFlightSpeedChangedMask = 1 << specifiedFlightSpeedChangedIndex,
specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex,
lastSequenceNumberChangedMask = 1 << lastSequenceNumberChangedIndex,
missionGimbalYawChangedMask = 1 << missionGimbalYawChangedIndex,
missionVehicleYawChangedMask = 1 << missionVehicleYawChangedIndex,
coordinateHasRelativeAltitudeChangedMask = 1 << coordinateHasRelativeAltitudeChangedIndex,
exitCoordinateHasRelativeAltitudeChangedMask = 1 << exitCoordinateHasRelativeAltitudeChangedIndex,
exitCoordinateSameAsEntryChangedMask = 1 << exitCoordinateSameAsEntryChangedIndex,
};
static const size_t cVisualItemSignals = maxSignalIndex;
const char* rgVisualItemSignals[cVisualItemSignals];
Vehicle* _offlineVehicle;
};

5
src/qgcunittest/UnitTestList.cc
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@ -32,6 +32,9 @@ @@ -32,6 +32,9 @@
#include "MissionCommandTreeTest.h"
#include "LogDownloadTest.h"
#include "SendMavCommandTest.h"
#include "VisualMissionItemTest.h"
#include "CameraSectionTest.h"
#include "SpeedSectionTest.h"
UT_REGISTER_TEST(FactSystemTestGeneric)
UT_REGISTER_TEST(FactSystemTestPX4)
@ -51,6 +54,8 @@ UT_REGISTER_TEST(MissionCommandTreeTest) @@ -51,6 +54,8 @@ UT_REGISTER_TEST(MissionCommandTreeTest)
UT_REGISTER_TEST(LogDownloadTest)
UT_REGISTER_TEST(SendMavCommandTest)
UT_REGISTER_TEST(SurveyMissionItemTest)
UT_REGISTER_TEST(CameraSectionTest)
UT_REGISTER_TEST(SpeedSectionTest)
// List of unit test which are currently disabled.
// If disabling a new test, include reason in comment.

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