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293 lines
13 KiB
293 lines
13 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "SimpleMissionItemTest.h" |
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#include "SimpleMissionItem.h" |
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#include "QGCApplication.h" |
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#include "QGroundControlQmlGlobal.h" |
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#include "SettingsManager.h" |
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const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = { |
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{ MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ MAV_CMD_NAV_LOITER_TIME, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ MAV_CMD_NAV_LAND, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ MAV_CMD_NAV_TAKEOFF, MAV_FRAME_GLOBAL_RELATIVE_ALT }, |
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{ MAV_CMD_CONDITION_DELAY, MAV_FRAME_MISSION }, |
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{ MAV_CMD_DO_JUMP, MAV_FRAME_MISSION }, |
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}; |
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const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesWaypoint[] = { |
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{ "Altitude", 70.1234567 }, |
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{ "Hold", 10.1234567 }, |
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}; |
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const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterUnlim[] = { |
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{ "Altitude", 70.1234567 }, |
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{ "Radius", 30.1234567 }, |
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}; |
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const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTurns[] = { |
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{ "Altitude", 70.1234567 }, |
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{ "Radius", 30.1234567 }, |
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{ "Turns", 10.1234567 }, |
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}; |
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const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTime[] = { |
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{ "Altitude", 70.1234567 }, |
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{ "Radius", 30.1234567 }, |
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{ "Hold", 10.1234567 }, |
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}; |
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const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLand[] = { |
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{ "Altitude", 70.1234567 }, |
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}; |
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const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTakeoff[] = { |
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{ "Pitch", 10.1234567 }, |
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{ "Altitude", 70.1234567 }, |
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}; |
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const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesConditionDelay[] = { |
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{ "Hold", 10.1234567 }, |
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}; |
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const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = { |
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{ "Item #", 10.1234567 }, |
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{ "Repeat", 20.1234567 }, |
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}; |
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const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = { |
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{ sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]), SimpleMissionItemTest::_rgFactValuesWaypoint, true }, |
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{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]), SimpleMissionItemTest::_rgFactValuesLoiterUnlim, true }, |
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{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]), SimpleMissionItemTest::_rgFactValuesLoiterTurns, true }, |
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{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]), SimpleMissionItemTest::_rgFactValuesLoiterTime, true }, |
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{ sizeof(SimpleMissionItemTest::_rgFactValuesLand)/sizeof(SimpleMissionItemTest::_rgFactValuesLand[0]), SimpleMissionItemTest::_rgFactValuesLand, true }, |
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{ sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]), SimpleMissionItemTest::_rgFactValuesTakeoff, true }, |
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{ sizeof(SimpleMissionItemTest::_rgFactValuesConditionDelay)/sizeof(SimpleMissionItemTest::_rgFactValuesConditionDelay[0]), SimpleMissionItemTest::_rgFactValuesConditionDelay, false }, |
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{ sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]), SimpleMissionItemTest::_rgFactValuesDoJump, false }, |
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}; |
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SimpleMissionItemTest::SimpleMissionItemTest(void) |
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: _offlineVehicle(NULL) |
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{ |
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} |
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void SimpleMissionItemTest::init(void) |
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{ |
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UnitTest::init(); |
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_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, |
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MAV_TYPE_QUADROTOR, |
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qgcApp()->toolbox()->firmwarePluginManager(), |
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this); |
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} |
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void SimpleMissionItemTest::cleanup(void) |
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{ |
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delete _offlineVehicle; |
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UnitTest::cleanup(); |
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} |
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void SimpleMissionItemTest::_testEditorFacts(void) |
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{ |
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Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager()); |
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for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) { |
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const ItemInfo_t* info = &_rgItemInfo[i]; |
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const ItemExpected_t* expected = &_rgItemExpected[i]; |
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qDebug() << "Command" << info->command; |
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MissionItem missionItem(1, // sequence number |
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info->command, |
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info->frame, |
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10.1234567, // param 1-7 |
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20.1234567, |
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30.1234567, |
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40.1234567, |
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50.1234567, |
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60.1234567, |
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70.1234567, |
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true, // autoContinue |
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false); // isCurrentItem |
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SimpleMissionItem simpleMissionItem(vehicle, missionItem); |
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// Validate that the fact values are correctly returned |
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size_t factCount = 0; |
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for (int i=0; i<simpleMissionItem.textFieldFacts()->count(); i++) { |
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Fact* fact = qobject_cast<Fact*>(simpleMissionItem.textFieldFacts()->get(i)); |
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bool found = false; |
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for (size_t j=0; j<expected->cFactValues; j++) { |
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const FactValue_t* factValue = &expected->rgFactValues[j]; |
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if (factValue->name == fact->name()) { |
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QCOMPARE(fact->rawValue().toDouble(), factValue->value); |
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factCount ++; |
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found = true; |
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break; |
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} |
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} |
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qDebug() << fact->name(); |
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QVERIFY(found); |
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} |
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QCOMPARE(factCount, expected->cFactValues); |
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int expectedCount = expected->relativeAltCheckbox ? 1 : 0; |
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QCOMPARE(simpleMissionItem.checkboxFacts()->count(), expectedCount); |
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} |
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delete vehicle; |
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} |
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void SimpleMissionItemTest::_testDefaultValues(void) |
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{ |
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SimpleMissionItem item(_offlineVehicle); |
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item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT); |
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item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT); |
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QCOMPARE(item.missionItem().param7(), qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble()); |
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} |
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void SimpleMissionItemTest::_testSignals(void) |
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{ |
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enum { |
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commandChangedIndex = 0, |
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frameChangedIndex, |
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friendlyEditAllowedChangedIndex, |
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headingDegreesChangedIndex, |
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rawEditChangedIndex, |
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coordinateChangedIndex, |
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exitCoordinateChangedIndex, |
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dirtyChangedIndex, |
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maxSignalIndex |
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}; |
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enum { |
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commandChangedMask = 1 << commandChangedIndex, |
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frameChangedMask = 1 << frameChangedIndex, |
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friendlyEditAllowedChangedMask = 1 << friendlyEditAllowedChangedIndex, |
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headingDegreesChangedMask = 1 << headingDegreesChangedIndex, |
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rawEditChangedMask = 1 << rawEditChangedIndex, |
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coordinateChangedMask = 1 << coordinateChangedIndex, |
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exitCoordinateChangedMask = 1 << exitCoordinateChangedIndex, |
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dirtyChangedMask = 1 << dirtyChangedIndex, |
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}; |
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static const size_t cSimpleMissionItemSignals = maxSignalIndex; |
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const char* rgSimpleMissionItemSignals[cSimpleMissionItemSignals]; |
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rgSimpleMissionItemSignals[commandChangedIndex] = SIGNAL(commandChanged(int)); |
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rgSimpleMissionItemSignals[coordinateChangedIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&)); |
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rgSimpleMissionItemSignals[exitCoordinateChangedIndex] = SIGNAL(exitCoordinateChanged(const QGeoCoordinate&)); |
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rgSimpleMissionItemSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool)); |
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rgSimpleMissionItemSignals[frameChangedIndex] = SIGNAL(frameChanged(int)); |
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rgSimpleMissionItemSignals[friendlyEditAllowedChangedIndex] = SIGNAL(friendlyEditAllowedChanged(bool)); |
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rgSimpleMissionItemSignals[headingDegreesChangedIndex] = SIGNAL(headingDegreesChanged(double)); |
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rgSimpleMissionItemSignals[rawEditChangedIndex] = SIGNAL(rawEditChanged(bool)); |
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MissionItem missionItem(1, // sequence number |
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MAV_CMD_NAV_WAYPOINT, |
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MAV_FRAME_GLOBAL_RELATIVE_ALT, |
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10.1234567, // param 1-7 |
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20.1234567, |
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30.1234567, |
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40.1234567, |
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50.1234567, |
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60.1234567, |
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70.1234567, |
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true, // autoContinue |
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false); // isCurrentItem |
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SimpleMissionItem simpleMissionItem(_offlineVehicle, missionItem); |
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// It's important top check that the right signals are emitted at the right time since that drives ui change. |
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// It's also important to check that things are not being over-signalled when they should not be, since that can lead |
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// to incorrect ui or perf impact of uneeded signals propogating ui change. |
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MultiSignalSpy* multiSpy = new MultiSignalSpy(); |
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Q_CHECK_PTR(multiSpy); |
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QCOMPARE(multiSpy->init(&simpleMissionItem, rgSimpleMissionItemSignals, cSimpleMissionItemSignals), true); |
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// Check commandChanged signalling. Call setCommand should trigger: |
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// commandChanged |
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// dirtyChanged |
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// coordinateChanged - since altitude will be set back to default |
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simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT); |
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QVERIFY(multiSpy->checkNoSignals()); |
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simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME); |
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QVERIFY(multiSpy->checkSignalsByMask(commandChangedMask | dirtyChangedMask | coordinateChangedMask)); |
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multiSpy->clearAllSignals(); |
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// Check coordinateChanged signalling. Calling setCoordinate should trigger: |
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// coordinateChanged |
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// dirtyChanged |
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// Check that changing to the same coordinate does not signal |
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simpleMissionItem.setCoordinate(QGeoCoordinate(50.1234567, 60.1234567, qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble())); |
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QVERIFY(multiSpy->checkNoSignals()); |
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// Check that actually changing coordinate signals correctly |
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simpleMissionItem.setCoordinate(QGeoCoordinate(50.1234567, 60.1234567, 70.1234567)); |
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QVERIFY(multiSpy->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask)); |
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multiSpy->clearAllSignals(); |
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// Check dirtyChanged signalling |
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// Reset param 1-5 for testing |
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simpleMissionItem.missionItem().setParam1(10.1234567); |
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simpleMissionItem.missionItem().setParam2(20.1234567); |
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simpleMissionItem.missionItem().setParam3(30.1234567); |
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simpleMissionItem.missionItem().setParam4(40.1234567); |
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multiSpy->clearAllSignals(); |
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simpleMissionItem.missionItem().setParam1(10.1234567); |
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QVERIFY(multiSpy->checkNoSignals()); |
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simpleMissionItem.missionItem().setParam1(20.1234567); |
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QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask)); |
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multiSpy->clearAllSignals(); |
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simpleMissionItem.missionItem().setParam2(20.1234567); |
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QVERIFY(multiSpy->checkNoSignals()); |
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simpleMissionItem.missionItem().setParam2(30.1234567); |
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QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask)); |
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multiSpy->clearAllSignals(); |
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simpleMissionItem.missionItem().setParam3(30.1234567); |
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QVERIFY(multiSpy->checkNoSignals()); |
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simpleMissionItem.missionItem().setParam3(40.1234567); |
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QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask)); |
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multiSpy->clearAllSignals(); |
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simpleMissionItem.missionItem().setParam4(40.1234567); |
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QVERIFY(multiSpy->checkNoSignals()); |
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simpleMissionItem.missionItem().setParam4(50.1234567); |
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QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask)); |
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multiSpy->clearAllSignals(); |
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// Check frameChanged signalling. Calling setFrame should signal: |
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// frameChanged |
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// dirtyChanged |
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// friendlyEditAllowedChanged - this signal is not very smart on when it gets sent |
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simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT); |
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simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT); |
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multiSpy->clearAllSignals(); |
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simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT); |
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QVERIFY(multiSpy->checkNoSignals()); |
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simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL); |
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QVERIFY(multiSpy->checkOnlySignalByMask(frameChangedMask | dirtyChangedMask | friendlyEditAllowedChangedMask)); |
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multiSpy->clearAllSignals(); |
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}
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