Don Gagne
11 years ago
3 changed files with 397 additions and 2 deletions
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#include "FlightModeConfigTest.h" |
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#include "FlightModeConfig.h" |
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#include "UASManager.h" |
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#include "MockQGCUASParamManager.h" |
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/// @file
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/// @brief FlightModeConfig unit test
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///
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/// @author Don Gagne <don@thegagnes.com>
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FlightModeConfigUnitTest::FlightModeConfigUnitTest(void) : |
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_mockUASManager(NULL) |
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{ |
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} |
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void FlightModeConfigUnitTest::init(void) |
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{ |
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_mockUASManager = new MockUASManager(); |
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Q_ASSERT(_mockUASManager); |
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UASManager::setMockUASManager(_mockUASManager); |
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_mockUAS = new MockUAS(); |
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Q_ASSERT(_mockUAS); |
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} |
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void FlightModeConfigUnitTest::cleanup(void) |
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{ |
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Q_ASSERT(_mockUAS); |
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delete _mockUAS; |
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UASManager::setMockUASManager(NULL); |
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Q_ASSERT(_mockUASManager); |
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delete _mockUASManager; |
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} |
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void FlightModeConfigUnitTest::_nullUAS_test(void) |
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{ |
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// When there is no UAS the widget should be disabled
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FlightModeConfig* fmc = new FlightModeConfig(); |
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QCOMPARE(fmc->isEnabled(), false); |
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} |
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void FlightModeConfigUnitTest::_validUAS_test(void) |
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{ |
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// With an active UAS widget should be enabled
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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QCOMPARE(fmc->isEnabled(), true); |
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} |
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void FlightModeConfigUnitTest::_nullToValidUAS_test(void) |
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{ |
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// start with no UAS
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FlightModeConfig* fmc = new FlightModeConfig(); |
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// clear it out and validate widget gets disabled
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_mockUASManager->setMockActiveUAS(NULL); |
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QCOMPARE(fmc->isEnabled(), false); |
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} |
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void FlightModeConfigUnitTest::_simpleModeFixedWing_test(void) |
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{ |
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// Fixed wing does not have simple mode, all checkboxes should be disabled
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_mockUAS->setMockSystemType(MAV_TYPE_FIXED_WING); |
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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_findControls(fmc); |
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for (size_t i=0; i<_cCombo; i++) { |
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QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), false); |
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} |
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} |
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void FlightModeConfigUnitTest::_simpleModeRover_test(void) |
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{ |
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// Rover does not have simple mode, all checkboxes should be disabled
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_mockUAS->setMockSystemType(MAV_TYPE_GROUND_ROVER); |
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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_findControls(fmc); |
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for (size_t i=0; i<_cCombo; i++) { |
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QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), false); |
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} |
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} |
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void FlightModeConfigUnitTest::_simpleModeRotor_test(void) |
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{ |
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// Rotor has simple mode, all checkboxes should be enabled
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_mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR); |
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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_findControls(fmc); |
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for (size_t i=0; i<_cCombo; i++) { |
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QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), true); |
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} |
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} |
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void FlightModeConfigUnitTest::_modeSwitchParam_test(void) |
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{ |
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_mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR); |
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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_findControls(fmc); |
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const char* rgModeSwitchParam[_cCombo] = { "FLTMODE1", "FLTMODE2", "FLTMODE3", "FLTMODE4", "FLTMODE5", "FLTMODE6" }; |
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const int rgModeSwitchValue[_cCombo] = { 0, 2, 4, 6, 8, 10 }; |
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MockQGCUASParamManager::ParamMap_t mapParams; |
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for (size_t i=0; i<_cCombo; i++) { |
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mapParams[rgModeSwitchParam[i]] = QVariant(QChar(rgModeSwitchValue[i])); |
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} |
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int simpleModeBitMask = 21; |
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mapParams["SIMPLE"] = QVariant(QChar(simpleModeBitMask)); |
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_mockUAS->setMockParametersAndSignal(mapParams); |
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// Check that the UI is showing the correct information
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for (size_t i=0; i<_cCombo; i++) { |
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QComboBox* combo = _rgCombo[i]; |
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// Check for the correct selection in the combo boxes. Combo boxes store the mode
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// in the item data, so use that to compare
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QCOMPARE(combo->itemData(combo->currentIndex()), mapParams[rgModeSwitchParam[i]]); |
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// Make sure the text for the current selection doesn't contain the text Unknown
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// which means that it received an unsupported mode
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QCOMPARE(combo->currentText().contains("unknown", Qt::CaseInsensitive), QBool(false)); |
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// Check that the right simple mode check boxes are checked
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QCOMPARE(_rgSimpleModeCheckBox[i]->isChecked(), !!((1 << i) & simpleModeBitMask)); |
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} |
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// Click Save button and make sure we get the same values back through setParameter calls
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QTest::mouseClick(_saveButton, Qt::LeftButton); |
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MockQGCUASParamManager* paramMgr = _mockUAS->getMockQGCUASParamManager(); |
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MockQGCUASParamManager::ParamMap_t mapParamsSet = paramMgr->getMockSetParameters(); |
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QMapIterator<QString, QVariant> i(mapParams); |
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while (i.hasNext()) { |
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i.next(); |
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QCOMPARE(mapParamsSet.contains(i.key()), true); |
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int receivedValue = mapParamsSet[i.key()].toInt(); |
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int expectedValue = i.value().toInt(); |
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QCOMPARE(receivedValue, expectedValue); |
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} |
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} |
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void FlightModeConfigUnitTest::_pwmTestWorker(int systemType, int modeSwitchChannel, const char* modeSwitchParam) |
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{ |
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_mockUAS->setMockSystemType(systemType); |
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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_findControls(fmc); |
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MockQGCUASParamManager::ParamMap_t mapParams; |
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if (modeSwitchParam != NULL) { |
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// Param is 1-based, code in here is all 0-base
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mapParams[modeSwitchParam] = QVariant(QChar(modeSwitchChannel+1)); |
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_mockUAS->setMockParametersAndSignal(mapParams); |
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} |
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const int pwmBoundary[] = { 1230, 1360, 1490, 1620, 1749, 1900 }; |
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int lowerPWM = 0; |
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for (size_t i=0; i<_cCombo; i++) { |
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// emit a PWM value at the mid point of the switch position
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int pwmMidPoint = ((pwmBoundary[i] - lowerPWM) / 2) + lowerPWM; |
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_mockUAS->emitRemoteControlChannelRawChanged(modeSwitchChannel, pwmMidPoint); |
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// Make sure that only the correct pwm label has a style set on it for highlight
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for (size_t j=0; j<_cCombo; j++) { |
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if (j == i) { |
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QVERIFY(_rgPWMLabel[j]->styleSheet().length() > 0); |
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} else { |
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QCOMPARE(_rgPWMLabel[j]->styleSheet().length(), 0); |
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} |
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} |
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lowerPWM = pwmBoundary[i]; |
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} |
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} |
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void FlightModeConfigUnitTest::_pwmFixedWing_test(void) |
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{ |
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// FixedWing has mode switch channel on FLTMODE_CH param
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_pwmTestWorker(MAV_TYPE_FIXED_WING, 7, "FLTMODE_CH"); |
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} |
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void FlightModeConfigUnitTest::_pwmRotor_test(void) |
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{ |
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// Rotor is hardwired to 0-based rc channel 4 for mode wsitch
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_pwmTestWorker(MAV_TYPE_QUADROTOR, 4, NULL); |
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} |
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void FlightModeConfigUnitTest::_pwmRover_test(void) |
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{ |
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// Rover has mode switch channel on MODE_CH param
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_pwmTestWorker(MAV_TYPE_GROUND_ROVER, 7, "MODE_CH"); |
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} |
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void FlightModeConfigUnitTest::_pwmInvalidChannel_test(void) |
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{ |
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// Rover has mode switch channel on MODE_CH param
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_mockUAS->setMockSystemType(MAV_TYPE_GROUND_ROVER); |
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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_findControls(fmc); |
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int modeSwitchChannel = 7; |
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MockQGCUASParamManager::ParamMap_t mapParams; |
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mapParams["MODE_CH"] = QVariant(QChar(modeSwitchChannel+1)); // 1-based
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_mockUAS->setMockParametersAndSignal(mapParams); |
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const int pwmBoundary[] = { 1230, 1360, 1490, 1620, 1749, 1900 }; |
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int lowerPWM = 0; |
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for (size_t i=0; i<_cCombo; i++) { |
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// emit a PWM value at the mid point of the switch position
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int pwmMidPoint = ((pwmBoundary[i] - lowerPWM) / 2) + lowerPWM; |
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// emit rc values on wrong channel
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_mockUAS->emitRemoteControlChannelRawChanged(modeSwitchChannel-1, pwmMidPoint); |
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// Make sure no label have a style set on it for highlight
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for (size_t j=0; j<_cCombo; j++) { |
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QCOMPARE(_rgPWMLabel[j]->styleSheet().length(), 0); |
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} |
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lowerPWM = pwmBoundary[i]; |
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} |
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} |
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void FlightModeConfigUnitTest::_unknownSystemType_test(void) |
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{ |
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// Set the system type to something we can't handle, make sure we are disabled
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_mockUAS->setMockSystemType(MAV_TYPE_ENUM_END); |
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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QCOMPARE(fmc->isEnabled(), false); |
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} |
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void FlightModeConfigUnitTest::_unknownMode_test(void) |
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{ |
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_mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR); |
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_mockUASManager->setMockActiveUAS(_mockUAS); |
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FlightModeConfig* fmc = new FlightModeConfig(); |
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_findControls(fmc); |
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// Set an unknown mode
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MockQGCUASParamManager::ParamMap_t mapParams; |
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mapParams["FLTMODE1"] = QVariant(QChar(100)); |
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_mockUAS->setMockParametersAndSignal(mapParams); |
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// Check for the correct selection in the combo boxes. Combo boxes store the mode
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// in the item data, so use that to compare
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QCOMPARE(_rgCombo[0]->itemData(_rgCombo[0]->currentIndex()), mapParams["FLTMODE1"]); |
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// Make sure the text for the current selection contains the text Unknown
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QCOMPARE(_rgCombo[0]->currentText().contains("unknown", Qt::CaseInsensitive), QBool(true)); |
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} |
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void FlightModeConfigUnitTest::_findControls(QObject* fmc) |
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{ |
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// Find all the controls
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for (size_t i=0; i<_cCombo; i++) { |
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_rgLabel[i] = fmc->findChild<QLabel*>(QString("mode%1Label").arg(i)); |
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_rgCombo[i] = fmc->findChild<QComboBox*>(QString("mode%1ComboBox").arg(i)); |
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_rgSimpleModeCheckBox[i] = fmc->findChild<QCheckBox*>(QString("mode%1SimpleCheckBox").arg(i)); |
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_rgPWMLabel[i] = fmc->findChild<QLabel*>(QString("mode%1PWMLabel").arg(i)); |
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Q_ASSERT(_rgLabel[i]); |
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Q_ASSERT(_rgCombo[i]); |
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Q_ASSERT(_rgSimpleModeCheckBox[i]); |
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Q_ASSERT(_rgPWMLabel[i]); |
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} |
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_saveButton = fmc->findChild<QPushButton*>("savePushButton"); |
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Q_ASSERT(_saveButton); |
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} |
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@ -0,0 +1,87 @@ |
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/*=====================================================================
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|
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QGroundControl Open Source Ground Control Station |
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|
||||||
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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|
the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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|
GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#ifndef FLIGHTMODECONFIGTEST_H |
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#define FLIGHTMODECONFIGTEST_H |
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#include "AutoTest.h" |
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#include "MockUASManager.h" |
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#include "MockUAS.h" |
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#include <QLabel> |
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#include <QComboBox> |
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#include <QCheckBox> |
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#include <QLabel> |
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#include <QPushButton> |
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class FlightModeConfig; |
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/// @file
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/// @brief FlightModeConfig unit test
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///
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/// @author Don Gagne <don@thegagnes.com>
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|
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class FlightModeConfigUnitTest : public QObject |
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{ |
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Q_OBJECT |
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public: |
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FlightModeConfigUnitTest(void); |
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private slots: |
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void init(void); |
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void cleanup(void); |
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void _nullUAS_test(void); |
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void _validUAS_test(void); |
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void _nullToValidUAS_test(void); |
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void _simpleModeFixedWing_test(void); |
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void _simpleModeRover_test(void); |
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void _simpleModeRotor_test(void); |
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void _modeSwitchParam_test(void); |
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void _pwmFixedWing_test(void); |
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void _pwmRotor_test(void); |
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void _pwmRover_test(void); |
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void _pwmInvalidChannel_test(void); |
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void _unknownSystemType_test(void); |
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void _unknownMode_test(void); |
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private: |
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void _findControls(QObject* fmc); |
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void _pwmTestWorker(int systemType, int modeSwitchChannel, const char* modeSwitchParam); |
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private: |
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MockUASManager* _mockUASManager; |
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MockUAS* _mockUAS; |
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// FlightModeConfig ui elements
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static const size_t _cCombo = 6; |
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QLabel* _rgLabel[_cCombo]; |
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QComboBox* _rgCombo[_cCombo]; |
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QCheckBox* _rgSimpleModeCheckBox[_cCombo]; |
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QLabel* _rgPWMLabel[_cCombo]; |
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QPushButton* _saveButton; |
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}; |
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DECLARE_TEST(FlightModeConfigUnitTest) |
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#endif |
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