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Unit test for FlightModeConfig 

Good example for usage of new mock uas interfaces and implementations.
QGC4.4
Don Gagne 11 years ago
parent
97c56e47d4
commit
b90a0e9616
3 changed files with 397 additions and 2 deletions
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  1. 6
      qgroundcontrol.pro
  2. 306
      src/qgcunittest/FlightModeConfigTest.cc
  3. 87
      src/qgcunittest/FlightModeConfigTest.h

6
qgroundcontrol.pro
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@ -751,13 +751,15 @@ CONFIG(debug, debug|release) { @@ -751,13 +751,15 @@ CONFIG(debug, debug|release) {
src/qgcunittest/UASUnitTest.h \
src/qgcunittest/MockUASManager.h \
src/qgcunittest/MockUAS.h \
src/qgcunittest/MockQGCUASParamManager.h
src/qgcunittest/MockQGCUASParamManager.h \
src/qgcunittest/FlightModeConfigTest.h
SOURCES += \
src/qgcunittest/UASUnitTest.cc \
src/qgcunittest/MockUASManager.cc \
src/qgcunittest/MockUAS.cc \
src/qgcunittest/MockQGCUASParamManager.cc
src/qgcunittest/MockQGCUASParamManager.cc \
src/qgcunittest/FlightModeConfigTest.cc
}
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler

306
src/qgcunittest/FlightModeConfigTest.cc
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@ -0,0 +1,306 @@ @@ -0,0 +1,306 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "FlightModeConfigTest.h"
#include "FlightModeConfig.h"
#include "UASManager.h"
#include "MockQGCUASParamManager.h"
/// @file
/// @brief FlightModeConfig unit test
///
/// @author Don Gagne <don@thegagnes.com>
FlightModeConfigUnitTest::FlightModeConfigUnitTest(void) :
_mockUASManager(NULL)
{
}
void FlightModeConfigUnitTest::init(void)
{
_mockUASManager = new MockUASManager();
Q_ASSERT(_mockUASManager);
UASManager::setMockUASManager(_mockUASManager);
_mockUAS = new MockUAS();
Q_ASSERT(_mockUAS);
}
void FlightModeConfigUnitTest::cleanup(void)
{
Q_ASSERT(_mockUAS);
delete _mockUAS;
UASManager::setMockUASManager(NULL);
Q_ASSERT(_mockUASManager);
delete _mockUASManager;
}
void FlightModeConfigUnitTest::_nullUAS_test(void)
{
// When there is no UAS the widget should be disabled
FlightModeConfig* fmc = new FlightModeConfig();
QCOMPARE(fmc->isEnabled(), false);
}
void FlightModeConfigUnitTest::_validUAS_test(void)
{
// With an active UAS widget should be enabled
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
QCOMPARE(fmc->isEnabled(), true);
}
void FlightModeConfigUnitTest::_nullToValidUAS_test(void)
{
// start with no UAS
FlightModeConfig* fmc = new FlightModeConfig();
// clear it out and validate widget gets disabled
_mockUASManager->setMockActiveUAS(NULL);
QCOMPARE(fmc->isEnabled(), false);
}
void FlightModeConfigUnitTest::_simpleModeFixedWing_test(void)
{
// Fixed wing does not have simple mode, all checkboxes should be disabled
_mockUAS->setMockSystemType(MAV_TYPE_FIXED_WING);
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
_findControls(fmc);
for (size_t i=0; i<_cCombo; i++) {
QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), false);
}
}
void FlightModeConfigUnitTest::_simpleModeRover_test(void)
{
// Rover does not have simple mode, all checkboxes should be disabled
_mockUAS->setMockSystemType(MAV_TYPE_GROUND_ROVER);
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
_findControls(fmc);
for (size_t i=0; i<_cCombo; i++) {
QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), false);
}
}
void FlightModeConfigUnitTest::_simpleModeRotor_test(void)
{
// Rotor has simple mode, all checkboxes should be enabled
_mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR);
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
_findControls(fmc);
for (size_t i=0; i<_cCombo; i++) {
QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), true);
}
}
void FlightModeConfigUnitTest::_modeSwitchParam_test(void)
{
_mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR);
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
_findControls(fmc);
const char* rgModeSwitchParam[_cCombo] = { "FLTMODE1", "FLTMODE2", "FLTMODE3", "FLTMODE4", "FLTMODE5", "FLTMODE6" };
const int rgModeSwitchValue[_cCombo] = { 0, 2, 4, 6, 8, 10 };
MockQGCUASParamManager::ParamMap_t mapParams;
for (size_t i=0; i<_cCombo; i++) {
mapParams[rgModeSwitchParam[i]] = QVariant(QChar(rgModeSwitchValue[i]));
}
int simpleModeBitMask = 21;
mapParams["SIMPLE"] = QVariant(QChar(simpleModeBitMask));
_mockUAS->setMockParametersAndSignal(mapParams);
// Check that the UI is showing the correct information
for (size_t i=0; i<_cCombo; i++) {
QComboBox* combo = _rgCombo[i];
// Check for the correct selection in the combo boxes. Combo boxes store the mode
// in the item data, so use that to compare
QCOMPARE(combo->itemData(combo->currentIndex()), mapParams[rgModeSwitchParam[i]]);
// Make sure the text for the current selection doesn't contain the text Unknown
// which means that it received an unsupported mode
QCOMPARE(combo->currentText().contains("unknown", Qt::CaseInsensitive), QBool(false));
// Check that the right simple mode check boxes are checked
QCOMPARE(_rgSimpleModeCheckBox[i]->isChecked(), !!((1 << i) & simpleModeBitMask));
}
// Click Save button and make sure we get the same values back through setParameter calls
QTest::mouseClick(_saveButton, Qt::LeftButton);
MockQGCUASParamManager* paramMgr = _mockUAS->getMockQGCUASParamManager();
MockQGCUASParamManager::ParamMap_t mapParamsSet = paramMgr->getMockSetParameters();
QMapIterator<QString, QVariant> i(mapParams);
while (i.hasNext()) {
i.next();
QCOMPARE(mapParamsSet.contains(i.key()), true);
int receivedValue = mapParamsSet[i.key()].toInt();
int expectedValue = i.value().toInt();
QCOMPARE(receivedValue, expectedValue);
}
}
void FlightModeConfigUnitTest::_pwmTestWorker(int systemType, int modeSwitchChannel, const char* modeSwitchParam)
{
_mockUAS->setMockSystemType(systemType);
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
_findControls(fmc);
MockQGCUASParamManager::ParamMap_t mapParams;
if (modeSwitchParam != NULL) {
// Param is 1-based, code in here is all 0-base
mapParams[modeSwitchParam] = QVariant(QChar(modeSwitchChannel+1));
_mockUAS->setMockParametersAndSignal(mapParams);
}
const int pwmBoundary[] = { 1230, 1360, 1490, 1620, 1749, 1900 };
int lowerPWM = 0;
for (size_t i=0; i<_cCombo; i++) {
// emit a PWM value at the mid point of the switch position
int pwmMidPoint = ((pwmBoundary[i] - lowerPWM) / 2) + lowerPWM;
_mockUAS->emitRemoteControlChannelRawChanged(modeSwitchChannel, pwmMidPoint);
// Make sure that only the correct pwm label has a style set on it for highlight
for (size_t j=0; j<_cCombo; j++) {
if (j == i) {
QVERIFY(_rgPWMLabel[j]->styleSheet().length() > 0);
} else {
QCOMPARE(_rgPWMLabel[j]->styleSheet().length(), 0);
}
}
lowerPWM = pwmBoundary[i];
}
}
void FlightModeConfigUnitTest::_pwmFixedWing_test(void)
{
// FixedWing has mode switch channel on FLTMODE_CH param
_pwmTestWorker(MAV_TYPE_FIXED_WING, 7, "FLTMODE_CH");
}
void FlightModeConfigUnitTest::_pwmRotor_test(void)
{
// Rotor is hardwired to 0-based rc channel 4 for mode wsitch
_pwmTestWorker(MAV_TYPE_QUADROTOR, 4, NULL);
}
void FlightModeConfigUnitTest::_pwmRover_test(void)
{
// Rover has mode switch channel on MODE_CH param
_pwmTestWorker(MAV_TYPE_GROUND_ROVER, 7, "MODE_CH");
}
void FlightModeConfigUnitTest::_pwmInvalidChannel_test(void)
{
// Rover has mode switch channel on MODE_CH param
_mockUAS->setMockSystemType(MAV_TYPE_GROUND_ROVER);
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
_findControls(fmc);
int modeSwitchChannel = 7;
MockQGCUASParamManager::ParamMap_t mapParams;
mapParams["MODE_CH"] = QVariant(QChar(modeSwitchChannel+1)); // 1-based
_mockUAS->setMockParametersAndSignal(mapParams);
const int pwmBoundary[] = { 1230, 1360, 1490, 1620, 1749, 1900 };
int lowerPWM = 0;
for (size_t i=0; i<_cCombo; i++) {
// emit a PWM value at the mid point of the switch position
int pwmMidPoint = ((pwmBoundary[i] - lowerPWM) / 2) + lowerPWM;
// emit rc values on wrong channel
_mockUAS->emitRemoteControlChannelRawChanged(modeSwitchChannel-1, pwmMidPoint);
// Make sure no label have a style set on it for highlight
for (size_t j=0; j<_cCombo; j++) {
QCOMPARE(_rgPWMLabel[j]->styleSheet().length(), 0);
}
lowerPWM = pwmBoundary[i];
}
}
void FlightModeConfigUnitTest::_unknownSystemType_test(void)
{
// Set the system type to something we can't handle, make sure we are disabled
_mockUAS->setMockSystemType(MAV_TYPE_ENUM_END);
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
QCOMPARE(fmc->isEnabled(), false);
}
void FlightModeConfigUnitTest::_unknownMode_test(void)
{
_mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR);
_mockUASManager->setMockActiveUAS(_mockUAS);
FlightModeConfig* fmc = new FlightModeConfig();
_findControls(fmc);
// Set an unknown mode
MockQGCUASParamManager::ParamMap_t mapParams;
mapParams["FLTMODE1"] = QVariant(QChar(100));
_mockUAS->setMockParametersAndSignal(mapParams);
// Check for the correct selection in the combo boxes. Combo boxes store the mode
// in the item data, so use that to compare
QCOMPARE(_rgCombo[0]->itemData(_rgCombo[0]->currentIndex()), mapParams["FLTMODE1"]);
// Make sure the text for the current selection contains the text Unknown
QCOMPARE(_rgCombo[0]->currentText().contains("unknown", Qt::CaseInsensitive), QBool(true));
}
void FlightModeConfigUnitTest::_findControls(QObject* fmc)
{
// Find all the controls
for (size_t i=0; i<_cCombo; i++) {
_rgLabel[i] = fmc->findChild<QLabel*>(QString("mode%1Label").arg(i));
_rgCombo[i] = fmc->findChild<QComboBox*>(QString("mode%1ComboBox").arg(i));
_rgSimpleModeCheckBox[i] = fmc->findChild<QCheckBox*>(QString("mode%1SimpleCheckBox").arg(i));
_rgPWMLabel[i] = fmc->findChild<QLabel*>(QString("mode%1PWMLabel").arg(i));
Q_ASSERT(_rgLabel[i]);
Q_ASSERT(_rgCombo[i]);
Q_ASSERT(_rgSimpleModeCheckBox[i]);
Q_ASSERT(_rgPWMLabel[i]);
}
_saveButton = fmc->findChild<QPushButton*>("savePushButton");
Q_ASSERT(_saveButton);
}

87
src/qgcunittest/FlightModeConfigTest.h
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@ -0,0 +1,87 @@ @@ -0,0 +1,87 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef FLIGHTMODECONFIGTEST_H
#define FLIGHTMODECONFIGTEST_H
#include "AutoTest.h"
#include "MockUASManager.h"
#include "MockUAS.h"
#include <QLabel>
#include <QComboBox>
#include <QCheckBox>
#include <QLabel>
#include <QPushButton>
class FlightModeConfig;
/// @file
/// @brief FlightModeConfig unit test
///
/// @author Don Gagne <don@thegagnes.com>
class FlightModeConfigUnitTest : public QObject
{
Q_OBJECT
public:
FlightModeConfigUnitTest(void);
private slots:
void init(void);
void cleanup(void);
void _nullUAS_test(void);
void _validUAS_test(void);
void _nullToValidUAS_test(void);
void _simpleModeFixedWing_test(void);
void _simpleModeRover_test(void);
void _simpleModeRotor_test(void);
void _modeSwitchParam_test(void);
void _pwmFixedWing_test(void);
void _pwmRotor_test(void);
void _pwmRover_test(void);
void _pwmInvalidChannel_test(void);
void _unknownSystemType_test(void);
void _unknownMode_test(void);
private:
void _findControls(QObject* fmc);
void _pwmTestWorker(int systemType, int modeSwitchChannel, const char* modeSwitchParam);
private:
MockUASManager* _mockUASManager;
MockUAS* _mockUAS;
// FlightModeConfig ui elements
static const size_t _cCombo = 6;
QLabel* _rgLabel[_cCombo];
QComboBox* _rgCombo[_cCombo];
QCheckBox* _rgSimpleModeCheckBox[_cCombo];
QLabel* _rgPWMLabel[_cCombo];
QPushButton* _saveButton;
};
DECLARE_TEST(FlightModeConfigUnitTest)
#endif
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