From bc135e96a923026f5f7a1408bb38bfe58b71f117 Mon Sep 17 00:00:00 2001
From: Don Gagne <Don@laptop-3.local>
Date: Mon, 17 Apr 2017 19:01:05 -0700
Subject: [PATCH] Unit testing around gimbal visuals
Fixed found bugs
---
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc | 4 +--
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc | 4 +--
src/FlightMap/MapItems/MissionItemIndicator.qml | 2 +-
src/MissionManager/MissionControllerTest.cc | 24 +++++++++++++++++
src/MissionManager/MissionControllerTest.h | 3 +++
src/MissionManager/MissionSettingsItem.h | 4 +--
src/MissionManager/SimpleMissionItem.cc | 12 +++++----
src/MissionManager/SimpleMissionItemTest.cc | 31 +++++++++++++++++++---
src/MissionManager/SimpleMissionItemTest.h | 5 ++--
src/MissionManager/VisualMissionItem.h | 2 --
src/MissionManager/VisualMissionItemTest.cc | 8 ++++++
src/MissionManager/VisualMissionItemTest.h | 3 +++
12 files changed, 83 insertions(+), 19 deletions(-)
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index ca33b2e..57094a7 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -237,11 +237,11 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
{
- if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
+ if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
return yawMode && yawMode->rawValue().toInt() != 0;
}
- return false;
+ return true;
}
void ArduCopterFirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 669fc01..ce62235 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -518,11 +518,11 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
{
- if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
+ if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
return yawMode && yawMode->rawValue().toInt() == 1;
}
- return false;
+ return true;
}
void PX4FirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)
diff --git a/src/FlightMap/MapItems/MissionItemIndicator.qml b/src/FlightMap/MapItems/MissionItemIndicator.qml
index 440f2a0..d4f3f70 100644
--- a/src/FlightMap/MapItems/MissionItemIndicator.qml
+++ b/src/FlightMap/MapItems/MissionItemIndicator.qml
@@ -35,7 +35,7 @@ MapQuickItem {
index: missionItem ? missionItem.sequenceNumber : 0
gimbalYaw: missionItem.missionGimbalYaw
vehicleYaw: missionItem.missionVehicleYaw
- showGimbalYaw: missionItem.showMissionGimbalYaw
+ showGimbalYaw: !isNaN(missionItem.missionGimbalYaw)
onClicked: _item.clicked()
property bool _isCurrentItem: missionItem ? missionItem.isCurrentItem : false
diff --git a/src/MissionManager/MissionControllerTest.cc b/src/MissionManager/MissionControllerTest.cc
index 0955a9d..d417708 100644
--- a/src/MissionManager/MissionControllerTest.cc
+++ b/src/MissionManager/MissionControllerTest.cc
@@ -200,3 +200,27 @@ void MissionControllerTest::_setupVisualItemSignals(VisualMissionItem* visualIte
Q_CHECK_PTR(_multiSpyMissionItem);
QCOMPARE(_multiSpyMissionItem->init(visualItem, _rgVisualItemSignals, _cVisualItemSignals), true);
}
+
+void MissionControllerTest::_testGimbalRecalc(void)
+{
+ _initForFirmwareType(MAV_AUTOPILOT_PX4);
+ _missionController->insertSimpleMissionItem(QGeoCoordinate(0, 0), 1);
+ _missionController->insertSimpleMissionItem(QGeoCoordinate(0, 0), 2);
+ _missionController->insertSimpleMissionItem(QGeoCoordinate(0, 0), 3);
+ _missionController->insertSimpleMissionItem(QGeoCoordinate(0, 0), 4);
+
+ // No specific gimbal yaw set yet
+ for (int i=1; i<_missionController->visualItems()->count(); i++) {
+ VisualMissionItem* visualItem = _missionController->visualItems()->value<VisualMissionItem*>(i);
+ QVERIFY(qIsNaN(visualItem->missionGimbalYaw()));
+ }
+
+ // Specify gimbal yaw on settings item should generate yaw on all items
+ MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
+ settingsItem->cameraSection()->setSpecifyGimbal(true);
+ settingsItem->cameraSection()->gimbalYaw()->setRawValue(0.0);
+ for (int i=1; i<_missionController->visualItems()->count(); i++) {
+ VisualMissionItem* visualItem = _missionController->visualItems()->value<VisualMissionItem*>(i);
+ QCOMPARE(visualItem->missionGimbalYaw(), 0.0);
+ }
+}
diff --git a/src/MissionManager/MissionControllerTest.h b/src/MissionManager/MissionControllerTest.h
index 9e469a9..2cc2559 100644
--- a/src/MissionManager/MissionControllerTest.h
+++ b/src/MissionManager/MissionControllerTest.h
@@ -31,6 +31,9 @@ public:
private slots:
void cleanup(void);
+ void _testGimbalRecalc(void);
+
+private:
void _testEmptyVehicleAPM(void);
void _testEmptyVehiclePX4(void);
void _testAddWayppointAPM(void);
diff --git a/src/MissionManager/MissionSettingsItem.h b/src/MissionManager/MissionSettingsItem.h
index 39e9e16..8679f49 100644
--- a/src/MissionManager/MissionSettingsItem.h
+++ b/src/MissionManager/MissionSettingsItem.h
@@ -33,8 +33,8 @@ public:
Fact* plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
- QObject* cameraSection(void) { return &_cameraSection; }
- QObject* speedSection(void) { return &_speedSection; }
+ CameraSection* cameraSection(void) { return &_cameraSection; }
+ SpeedSection* speedSection(void) { return &_speedSection; }
/// Scans the loaded items for settings items
bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index c90b06f..bc982fa 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -80,9 +80,9 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
connect(&_missionItem, &MissionItem::specifiedFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
- connect(this, &SimpleMissionItem::sequenceNumberChanged, this, &SimpleMissionItem::lastSequenceNumberChanged);
- connect(this, &SimpleMissionItem::cameraSectionChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
- connect(this, &SimpleMissionItem::cameraSectionChanged, this, &SimpleMissionItem::_updateLastSequenceNumber);
+ connect(this, &SimpleMissionItem::sequenceNumberChanged, this, &SimpleMissionItem::lastSequenceNumberChanged);
+ connect(this, &SimpleMissionItem::cameraSectionChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
+ connect(this, &SimpleMissionItem::cameraSectionChanged, this, &SimpleMissionItem::_updateLastSequenceNumber);
}
SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent)
@@ -736,8 +736,10 @@ void SimpleMissionItem::_updateOptionalSections(void)
connect(_cameraSection, &CameraSection::specifyGimbalChanged, this, &SimpleMissionItem::specifiedGimbalYawChanged);
connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &SimpleMissionItem::specifiedGimbalYawChanged);
- connect(_speedSection, &CameraSection::dirtyChanged, this, &SimpleMissionItem::_sectionDirtyChanged);
- connect(_speedSection, &CameraSection::itemCountChanged, this, &SimpleMissionItem::_updateLastSequenceNumber);
+ connect(_speedSection, &SpeedSection::dirtyChanged, this, &SimpleMissionItem::_sectionDirtyChanged);
+ connect(_speedSection, &SpeedSection::itemCountChanged, this, &SimpleMissionItem::_updateLastSequenceNumber);
+ connect(_speedSection, &SpeedSection::specifyFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
+ connect(_speedSection->flightSpeed(), &Fact::rawValueChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
emit cameraSectionChanged(_cameraSection);
emit speedSectionChanged(_speedSection);
diff --git a/src/MissionManager/SimpleMissionItemTest.cc b/src/MissionManager/SimpleMissionItemTest.cc
index e36795c..6d2f9bb 100644
--- a/src/MissionManager/SimpleMissionItemTest.cc
+++ b/src/MissionManager/SimpleMissionItemTest.cc
@@ -107,8 +107,7 @@ void SimpleMissionItemTest::init(void)
_spySimpleItem = new MultiSignalSpy();
QCOMPARE(_spySimpleItem->init(_simpleItem, rgSimpleItemSignals, cSimpleItemSignals), true);
- _spyVisualItem = new MultiSignalSpy();
- QCOMPARE(_spyVisualItem->init(_simpleItem, rgVisualItemSignals, cVisualItemSignals), true);
+ VisualMissionItemTest::_createSpy(_simpleItem, &_spyVisualItem);
}
void SimpleMissionItemTest::cleanup(void)
@@ -257,7 +256,33 @@ void SimpleMissionItemTest::_testSignals(void)
QVERIFY(_spyVisualItem->checkSignalsByMask(commandNameChangedMask | dirtyChangedMask | coordinateChangedMask));
}
-void SimpleMissionItemTest::_testCameraSectionSignals(void)
+void SimpleMissionItemTest::_testCameraSection(void)
{
+ // No gimbal yaw to start with
+ QVERIFY(qIsNaN(_simpleItem->specifiedGimbalYaw()));
+ QVERIFY(qIsNaN(_simpleItem->missionGimbalYaw()));
+ QCOMPARE(_simpleItem->dirty(), false);
+
+ double gimbalYaw = 10.1234;
+ _simpleItem->cameraSection()->setSpecifyGimbal(true);
+ _simpleItem->cameraSection()->gimbalYaw()->setRawValue(gimbalYaw);
+ QCOMPARE(_simpleItem->specifiedGimbalYaw(), gimbalYaw);
+ QVERIFY(qIsNaN(_simpleItem->missionGimbalYaw()));
+ QCOMPARE(_spyVisualItem->checkSignalsByMask(specifiedGimbalYawChangedMask), true);
+ QCOMPARE(_simpleItem->dirty(), true);
+}
+
+void SimpleMissionItemTest::_testSpeedSection(void)
+{
+ // No flight speed
+ QVERIFY(qIsNaN(_simpleItem->specifiedFlightSpeed()));
+ QCOMPARE(_simpleItem->dirty(), false);
+
+ double flightSpeed = 10.1234;
+ _simpleItem->speedSection()->setSpecifyFlightSpeed(true);
+ _simpleItem->speedSection()->flightSpeed()->setRawValue(flightSpeed);
+ QCOMPARE(_simpleItem->specifiedFlightSpeed(), flightSpeed);
+ QCOMPARE(_spyVisualItem->checkSignalsByMask(specifiedFlightSpeedChangedMask), true);
+ QCOMPARE(_simpleItem->dirty(), true);
}
diff --git a/src/MissionManager/SimpleMissionItemTest.h b/src/MissionManager/SimpleMissionItemTest.h
index e28178a..1572f2b 100644
--- a/src/MissionManager/SimpleMissionItemTest.h
+++ b/src/MissionManager/SimpleMissionItemTest.h
@@ -25,10 +25,11 @@ public:
private slots:
void _testSignals(void);
- void _testCameraSectionSignals(void);
void _testEditorFacts(void);
void _testDefaultValues(void);
-
+ void _testCameraSection(void);
+ void _testSpeedSection(void);
+
private:
enum {
commandChangedIndex = 0,
diff --git a/src/MissionManager/VisualMissionItem.h b/src/MissionManager/VisualMissionItem.h
index b2cdba8..cb63d4a 100644
--- a/src/MissionManager/VisualMissionItem.h
+++ b/src/MissionManager/VisualMissionItem.h
@@ -67,7 +67,6 @@ public:
Q_PROPERTY(double specifiedGimbalYaw READ specifiedGimbalYaw NOTIFY specifiedGimbalYawChanged) ///< NaN if this item goes not specify gimbal yaw
Q_PROPERTY(double missionGimbalYaw READ missionGimbalYaw NOTIFY missionGimbalYawChanged) ///< Current gimbal yaw state at this point in mission
Q_PROPERTY(double missionVehicleYaw READ missionVehicleYaw NOTIFY missionVehicleYawChanged) ///< Expected vehicle yaw at this point in mission
- Q_PROPERTY(double showMissionGimbalYaw READ showMissionGimbalYaw NOTIFY missionGimbalYawChanged) ///< true: Show gimbal yaw position on map indicators
// The following properties are calculated/set by the MissionController recalc methods
@@ -143,7 +142,6 @@ public:
double missionGimbalYaw (void) const { return _missionGimbalYaw; }
double missionVehicleYaw (void) const { return _missionVehicleYaw; }
- bool showMissionGimbalYaw(void) const { return !qIsNaN(_missionGimbalYaw); }
void setMissionVehicleYaw(double vehicleYaw);
static const char* jsonTypeKey; ///< Json file attribute which specifies the item type
diff --git a/src/MissionManager/VisualMissionItemTest.cc b/src/MissionManager/VisualMissionItemTest.cc
index eee77ca..43a0278 100644
--- a/src/MissionManager/VisualMissionItemTest.cc
+++ b/src/MissionManager/VisualMissionItemTest.cc
@@ -56,3 +56,11 @@ void VisualMissionItemTest::cleanup(void)
delete _offlineVehicle;
UnitTest::cleanup();
}
+
+void VisualMissionItemTest::_createSpy(SimpleMissionItem* simpleItem, MultiSignalSpy** visualSpy)
+{
+ *visualSpy = NULL;
+ MultiSignalSpy* spy = new MultiSignalSpy();
+ QCOMPARE(spy->init(simpleItem, rgVisualItemSignals, cVisualItemSignals), true);
+ *visualSpy = spy;
+}
diff --git a/src/MissionManager/VisualMissionItemTest.h b/src/MissionManager/VisualMissionItemTest.h
index 30d4c19..3728bfe 100644
--- a/src/MissionManager/VisualMissionItemTest.h
+++ b/src/MissionManager/VisualMissionItemTest.h
@@ -12,6 +12,7 @@
#include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
+#include "SimpleMissionItem.h"
#include <QGeoCoordinate>
@@ -27,6 +28,8 @@ public:
void cleanup(void) override;
protected:
+ void _createSpy(SimpleMissionItem* simpleItem, MultiSignalSpy** visualSpy);
+
enum {
altDifferenceChangedIndex = 0,
altPercentChangedIndex,