Don Gagne
10 years ago
10 changed files with 484 additions and 1270 deletions
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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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 "MissionManagerTest.h" |
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#include "LinkManager.h" |
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#include "MultiVehicleManager.h" |
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UT_REGISTER_TEST(MissionManagerTest) |
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const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = { |
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{ "1\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, |
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{ "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, |
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{ "1\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, |
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{ "1\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, |
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{ "1\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, |
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{ "1\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, |
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{ "1\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } }, |
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{ "1\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } }, |
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}; |
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MissionManagerTest::MissionManagerTest(void) |
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: _mockLink(NULL) |
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{ |
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} |
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void MissionManagerTest::init(void) |
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{ |
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UnitTest::init(); |
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LinkManager* linkMgr = LinkManager::instance(); |
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Q_CHECK_PTR(linkMgr); |
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_mockLink = new MockLink(); |
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Q_CHECK_PTR(_mockLink); |
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LinkManager::instance()->_addLink(_mockLink); |
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linkMgr->connectLink(_mockLink); |
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// Wait for the Vehicle to work it's way through the various threads
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QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*))); |
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QCOMPARE(spyVehicle.wait(5000), true); |
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// Wait for the Mission Manager to finish it's initial load
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_missionManager = MultiVehicleManager::instance()->activeVehicle()->missionManager(); |
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QVERIFY(_missionManager); |
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_rgSignals[canEditChangedSignalIndex] = SIGNAL(canEditChanged(bool)); |
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_rgSignals[newMissionItemsAvailableSignalIndex] = SIGNAL(newMissionItemsAvailable(void)); |
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_rgSignals[inProgressChangedSignalIndex] = SIGNAL(inProgressChanged(bool)); |
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_multiSpy = new MultiSignalSpy(); |
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Q_CHECK_PTR(_multiSpy); |
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QCOMPARE(_multiSpy->init(_missionManager, _rgSignals, _cSignals), true); |
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if (_missionManager->inProgress()) { |
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_multiSpy->waitForSignalByIndex(newMissionItemsAvailableSignalIndex, 1000); |
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_multiSpy->waitForSignalByIndex(inProgressChangedSignalIndex, 1000); |
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QCOMPARE(_multiSpy->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true); |
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QCOMPARE(_multiSpy->checkNoSignalByMask(canEditChangedSignalIndex), true); |
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} |
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QVERIFY(!_missionManager->inProgress()); |
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QCOMPARE(_missionManager->missionItems()->count(), 0); |
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_multiSpy->clearAllSignals(); |
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} |
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void MissionManagerTest::cleanup(void) |
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{ |
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delete _multiSpy; |
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_multiSpy = NULL; |
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LinkManager::instance()->disconnectLink(_mockLink); |
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_mockLink = NULL; |
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QTest::qWait(1000); // Need to allow signals to move between threads
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UnitTest::cleanup(); |
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} |
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/// Checks the state of the inProgress value and signal to match the specified value
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void MissionManagerTest::_checkInProgressValues(bool inProgress) |
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{ |
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QCOMPARE(_missionManager->inProgress(), inProgress); |
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QSignalSpy* spy = _multiSpy->getSpyByIndex(inProgressChangedSignalIndex); |
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QList<QVariant> signalArgs = spy->takeFirst(); |
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QCOMPARE(signalArgs.count(), 1); |
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QCOMPARE(signalArgs[0].toBool(), inProgress); |
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} |
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void MissionManagerTest::_readEmptyVehicle(void) |
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{ |
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_missionManager->requestMissionItems(); |
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// requestMissionItems should emit inProgressChanged signal before returning so no need to wait for it
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QVERIFY(_missionManager->inProgress()); |
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QCOMPARE(_multiSpy->checkOnlySignalByMask(inProgressChangedSignalMask), true); |
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_checkInProgressValues(true); |
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_multiSpy->clearAllSignals(); |
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// Now wait for read sequence to complete. We should get both a newMissionItemsAvailable and a
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// inProgressChanged signal to signal completion.
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_multiSpy->waitForSignalByIndex(newMissionItemsAvailableSignalIndex, 1000); |
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_multiSpy->waitForSignalByIndex(inProgressChangedSignalIndex, 1000); |
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QCOMPARE(_multiSpy->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true); |
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QCOMPARE(_multiSpy->checkNoSignalByMask(canEditChangedSignalMask), true); |
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_checkInProgressValues(false); |
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// Vehicle should have no items at this point
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QCOMPARE(_missionManager->missionItems()->count(), 0); |
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QCOMPARE(_missionManager->canEdit(), true); |
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} |
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void MissionManagerTest::_roundTripItems(void) |
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{ |
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// Setup our test case data
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const size_t cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]); |
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QmlObjectListModel* list = new QmlObjectListModel(); |
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for (size_t i=0; i<cTestCases; i++) { |
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const TestCase_t* testCase = &_rgTestCases[i]; |
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MissionItem* item = new MissionItem(list); |
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QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly); |
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QVERIFY(item->load(loadStream)); |
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list->append(item); |
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} |
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// Send the items to the vehicle
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_missionManager->writeMissionItems(*list); |
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// writeMissionItems should emit inProgressChanged signal before returning so no need to wait for it
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QVERIFY(_missionManager->inProgress()); |
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QCOMPARE(_multiSpy->checkOnlySignalByMask(inProgressChangedSignalMask), true); |
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_checkInProgressValues(true); |
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_multiSpy->clearAllSignals(); |
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// Now wait for write sequence to complete. We should only get an inProgressChanged signal to signal completion.
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_multiSpy->waitForSignalByIndex(inProgressChangedSignalIndex, 1000); |
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QCOMPARE(_multiSpy->checkOnlySignalByMask(inProgressChangedSignalMask), true); |
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_checkInProgressValues(false); |
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QCOMPARE(_missionManager->missionItems()->count(), (int)cTestCases); |
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QCOMPARE(_missionManager->canEdit(), true); |
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delete list; |
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list = NULL; |
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_multiSpy->clearAllSignals(); |
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// Read the items back from the vehicle
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_missionManager->requestMissionItems(); |
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// requestMissionItems should emit inProgressChanged signal before returning so no need to wait for it
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QVERIFY(_missionManager->inProgress()); |
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QCOMPARE(_multiSpy->checkOnlySignalByMask(inProgressChangedSignalMask), true); |
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_checkInProgressValues(true); |
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_multiSpy->clearAllSignals(); |
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// Now wait for read sequence to complete. We should get both a newMissionItemsAvailable and a
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// inProgressChanged signal to signal completion.
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_multiSpy->waitForSignalByIndex(newMissionItemsAvailableSignalIndex, 1000); |
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_multiSpy->waitForSignalByIndex(inProgressChangedSignalIndex, 1000); |
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QCOMPARE(_multiSpy->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true); |
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QCOMPARE(_multiSpy->checkNoSignalByMask(canEditChangedSignalMask), true); |
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_checkInProgressValues(false); |
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QCOMPARE(_missionManager->missionItems()->count(), (int)cTestCases); |
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QCOMPARE(_missionManager->canEdit(), true); |
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// Validate the returned items against our test data
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for (size_t i=0; i<cTestCases; i++) { |
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const TestCase_t* testCase = &_rgTestCases[i]; |
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MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(i)); |
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qDebug() << "Test case" << i; |
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QCOMPARE(actual->coordinate().latitude(), testCase->expectedItem.coordinate.latitude()); |
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QCOMPARE(actual->coordinate().longitude(), testCase->expectedItem.coordinate.longitude()); |
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QCOMPARE(actual->coordinate().altitude(), testCase->expectedItem.coordinate.altitude()); |
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QCOMPARE((int)actual->command(), (int)testCase->expectedItem.command); |
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QCOMPARE(actual->param1(), testCase->expectedItem.param1); |
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QCOMPARE(actual->param2(), testCase->expectedItem.param2); |
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QCOMPARE(actual->param3(), testCase->expectedItem.param3); |
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QCOMPARE(actual->param4(), testCase->expectedItem.param4); |
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QCOMPARE(actual->autoContinue(), testCase->expectedItem.autocontinue); |
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QCOMPARE(actual->frame(), testCase->expectedItem.frame); |
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} |
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} |
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@ -0,0 +1,90 @@
@@ -0,0 +1,90 @@
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/*=====================================================================
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|
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
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 MissionManagerTest_H |
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#define MissionManagerTest_H |
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#include "UnitTest.h" |
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#include "MockLink.h" |
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#include "MissionManager.h" |
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#include "MultiSignalSpy.h" |
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class MissionManagerTest : public UnitTest |
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{ |
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Q_OBJECT |
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public: |
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MissionManagerTest(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 _readEmptyVehicle(void); |
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void _roundTripItems(void); |
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private: |
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void _checkInProgressValues(bool inProgress); |
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MockLink* _mockLink; |
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MissionManager* _missionManager; |
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enum { |
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canEditChangedSignalIndex = 0, |
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newMissionItemsAvailableSignalIndex, |
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inProgressChangedSignalIndex, |
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maxSignalIndex |
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}; |
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enum { |
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canEditChangedSignalMask = 1 << canEditChangedSignalIndex, |
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newMissionItemsAvailableSignalMask = 1 << newMissionItemsAvailableSignalIndex, |
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inProgressChangedSignalMask = 1 << inProgressChangedSignalIndex, |
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}; |
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MultiSignalSpy* _multiSpy; |
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static const size_t _cSignals = maxSignalIndex; |
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const char* _rgSignals[_cSignals]; |
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typedef struct { |
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int sequenceNumber; |
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QGeoCoordinate coordinate; |
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int command; |
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double param1; |
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double param2; |
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double param3; |
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double param4; |
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bool autocontinue; |
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bool isCurrentItem; |
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int frame; |
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} ItemInfo_t; |
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typedef struct { |
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const char* itemStream; |
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const ItemInfo_t expectedItem; |
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} TestCase_t; |
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static const TestCase_t _rgTestCases[]; |
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}; |
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#endif |
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