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346 lines
16 KiB
346 lines
16 KiB
/*===================================================================== |
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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 "MissionManagerTest.h" |
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#include "LinkManager.h" |
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#include "MultiVehicleManager.h" |
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const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = { |
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{ "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 0, 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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{ "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 2, 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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{ "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 3, 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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{ "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 4, 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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{ "5\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, 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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{ "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 6, 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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{ "7\t0\t2\t177\t3\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 7, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 3, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } }, |
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}; |
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const size_t MissionManagerTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]); |
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MissionManagerTest::MissionManagerTest(void) |
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{ |
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} |
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void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode) |
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{ |
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_mockLink->setMissionItemFailureMode(failureMode); |
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// Setup our test case data |
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QmlObjectListModel* list = new QmlObjectListModel(); |
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// Editor has a home position item on the front, so we do the same |
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MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this); |
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homeItem->setHomePositionSpecialCase(true); |
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homeItem->setHomePositionValid(false); |
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homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT); |
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homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0)); |
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homeItem->setSequenceNumber(0); |
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list->insert(0, homeItem); |
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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(NULL /* Vehicle */, list); |
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QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly); |
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QVERIFY(item->load(loadStream)); |
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// Mission Manager expects to get 1-base sequence numbers for write |
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item->setSequenceNumber(item->sequenceNumber() + 1); |
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if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) { |
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item->setParam1((int)item->param1() + 1); |
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} |
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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 these signals before returning: |
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// inProgressChanged |
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// newMissionItemsAvailable |
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QVERIFY(_missionManager->inProgress()); |
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QCOMPARE(_multiSpyMissionManager->checkSignalByMask(inProgressChangedSignalMask | newMissionItemsAvailableSignalMask), true); |
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_checkInProgressValues(true); |
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_multiSpyMissionManager->clearAllSignals(); |
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if (failureMode == MockLinkMissionItemHandler::FailNone) { |
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// This should be clean run |
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// Wait for write sequence to complete. We should get: |
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// inProgressChanged(false) signal |
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_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); |
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QCOMPARE(_multiSpyMissionManager->checkOnlySignalByMask(inProgressChangedSignalMask), true); |
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// Validate inProgressChanged signal value |
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_checkInProgressValues(false); |
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// Validate item count in mission manager |
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int expectedCount = (int)_cTestCases; |
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if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { |
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// Home position at position 0 comes from vehicle |
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expectedCount++; |
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} |
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QCOMPARE(_missionManager->missionItems()->count(), expectedCount); |
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} else { |
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// This should be a failed run |
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setExpectedMessageBox(QMessageBox::Ok); |
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// Wait for write sequence to complete. We should get: |
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// inProgressChanged(false) signal |
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// error(errorCode, QString) signal |
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_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); |
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QCOMPARE(_multiSpyMissionManager->checkSignalByMask(inProgressChangedSignalMask | errorSignalMask), true); |
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// Validate inProgressChanged signal value |
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_checkInProgressValues(false); |
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// Validate error signal values |
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QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(errorSignalIndex); |
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QList<QVariant> signalArgs = spy->takeFirst(); |
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QCOMPARE(signalArgs.count(), 2); |
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qDebug() << signalArgs[1].toString(); |
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checkExpectedMessageBox(); |
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} |
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delete list; |
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list = NULL; |
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_multiSpyMissionManager->clearAllSignals(); |
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} |
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void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode) |
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{ |
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_writeItems(MockLinkMissionItemHandler::FailNone); |
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_mockLink->setMissionItemFailureMode(failureMode); |
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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(_multiSpyMissionManager->checkOnlySignalByMask(inProgressChangedSignalMask), true); |
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_checkInProgressValues(true); |
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_multiSpyMissionManager->clearAllSignals(); |
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if (failureMode == MockLinkMissionItemHandler::FailNone) { |
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// This should be clean run |
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// Now wait for read sequence to complete. We should get: |
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// inProgressChanged(false) signal to signal completion |
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// newMissionItemsAvailable signal |
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_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); |
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QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true); |
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_checkInProgressValues(false); |
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} else { |
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// This should be a failed run |
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setExpectedMessageBox(QMessageBox::Ok); |
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// Wait for read sequence to complete. We should get: |
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// inProgressChanged(false) signal to signal completion |
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// error(errorCode, QString) signal |
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// newMissionItemsAvailable signal |
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_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); |
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QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask | errorSignalMask), true); |
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// Validate inProgressChanged signal value |
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_checkInProgressValues(false); |
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// Validate error signal values |
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QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(errorSignalIndex); |
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QList<QVariant> signalArgs = spy->takeFirst(); |
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QCOMPARE(signalArgs.count(), 2); |
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qDebug() << signalArgs[1].toString(); |
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checkExpectedMessageBox(); |
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} |
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_multiSpyMissionManager->clearAllSignals(); |
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// Validate returned items |
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size_t cMissionItemsExpected; |
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if (failureMode == MockLinkMissionItemHandler::FailNone) { |
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cMissionItemsExpected = (int)_cTestCases; |
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if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { |
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// Home position at position 0 comes from vehicle |
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cMissionItemsExpected++; |
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} |
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} else { |
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cMissionItemsExpected = 0; |
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} |
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QCOMPARE(_missionManager->missionItems()->count(), (int)cMissionItemsExpected); |
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size_t firstActualItem = 0; |
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if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { |
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// First item is home position, don't validate it |
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firstActualItem++; |
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} |
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int testCaseIndex = 0; |
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for (size_t actualItemIndex=firstActualItem; actualItemIndex<cMissionItemsExpected; actualItemIndex++) { |
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const TestCase_t* testCase = &_rgTestCases[testCaseIndex]; |
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int expectedSequenceNumber = testCase->expectedItem.sequenceNumber; |
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int expectedParam1 = (int)testCase->expectedItem.param1; |
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if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { |
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// Account for home position in first item |
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expectedSequenceNumber++; |
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if (testCase->expectedItem.command == MAV_CMD_DO_JUMP) { |
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// Expected data in test case is for PX4 |
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expectedParam1++; |
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} |
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} |
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MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(actualItemIndex)); |
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qDebug() << "Test case" << testCaseIndex; |
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QCOMPARE(actual->sequenceNumber(), expectedSequenceNumber); |
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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((int)actual->param1(), (int)expectedParam1); |
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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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testCaseIndex++; |
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} |
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} |
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void MissionManagerTest::_testWriteFailureHandlingWorker(void) |
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{ |
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/* |
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/// Called to send a MISSION_ACK message while the MissionManager is in idle state |
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void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); } |
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/// Called to send a MISSION_ITEM message while the MissionManager is in idle state |
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void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); } |
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/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state |
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void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); } |
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*/ |
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typedef struct { |
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const char* failureText; |
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MockLinkMissionItemHandler::FailureMode_t failureMode; |
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} TestCase_t; |
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static const TestCase_t rgTestCases[] = { |
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{ "No Failure", MockLinkMissionItemHandler::FailNone }, |
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{ "FailWriteRequest0NoResponse", MockLinkMissionItemHandler::FailWriteRequest0NoResponse }, |
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{ "FailWriteRequest1NoResponse", MockLinkMissionItemHandler::FailWriteRequest1NoResponse }, |
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{ "FailWriteRequest0IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest0IncorrectSequence }, |
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{ "FailWriteRequest1IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest1IncorrectSequence }, |
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{ "FailWriteRequest0ErrorAck", MockLinkMissionItemHandler::FailWriteRequest0ErrorAck }, |
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{ "FailWriteRequest1ErrorAck", MockLinkMissionItemHandler::FailWriteRequest1ErrorAck }, |
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{ "FailWriteFinalAckNoResponse", MockLinkMissionItemHandler::FailWriteFinalAckNoResponse }, |
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{ "FailWriteFinalAckErrorAck", MockLinkMissionItemHandler::FailWriteFinalAckErrorAck }, |
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{ "FailWriteFinalAckMissingRequests", MockLinkMissionItemHandler::FailWriteFinalAckMissingRequests }, |
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}; |
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for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { |
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qDebug() << "TEST CASE " << rgTestCases[i].failureText; |
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_writeItems(rgTestCases[i].failureMode); |
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_mockLink->resetMissionItemHandler(); |
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} |
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} |
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void MissionManagerTest::_testReadFailureHandlingWorker(void) |
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{ |
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/* |
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/// Called to send a MISSION_ACK message while the MissionManager is in idle state |
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void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); } |
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/// Called to send a MISSION_ITEM message while the MissionManager is in idle state |
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void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); } |
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/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state |
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void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); } |
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*/ |
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typedef struct { |
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const char* failureText; |
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MockLinkMissionItemHandler::FailureMode_t failureMode; |
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} TestCase_t; |
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static const TestCase_t rgTestCases[] = { |
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{ "No Failure", MockLinkMissionItemHandler::FailNone }, |
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{ "FailReadRequestListNoResponse", MockLinkMissionItemHandler::FailReadRequestListNoResponse }, |
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{ "FailReadRequest0NoResponse", MockLinkMissionItemHandler::FailReadRequest0NoResponse }, |
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{ "FailReadRequest1NoResponse", MockLinkMissionItemHandler::FailReadRequest1NoResponse }, |
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{ "FailReadRequest0IncorrectSequence", MockLinkMissionItemHandler::FailReadRequest0IncorrectSequence }, |
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{ "FailReadRequest1IncorrectSequence", MockLinkMissionItemHandler::FailReadRequest1IncorrectSequence }, |
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{ "FailReadRequest0ErrorAck", MockLinkMissionItemHandler::FailReadRequest0ErrorAck }, |
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{ "FailReadRequest1ErrorAck", MockLinkMissionItemHandler::FailReadRequest1ErrorAck }, |
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}; |
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for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { |
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qDebug() << "TEST CASE " << rgTestCases[i].failureText; |
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_roundTripItems(rgTestCases[i].failureMode); |
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_mockLink->resetMissionItemHandler(); |
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_multiSpyMissionManager->clearAllSignals(); |
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} |
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} |
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void MissionManagerTest::_testWriteFailureHandlingAPM(void) |
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{ |
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_initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA); |
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_testWriteFailureHandlingWorker(); |
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} |
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void MissionManagerTest::_testReadFailureHandlingAPM(void) |
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{ |
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_initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA); |
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_testReadFailureHandlingWorker(); |
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} |
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void MissionManagerTest::_testWriteFailureHandlingPX4(void) |
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{ |
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_initForFirmwareType(MAV_AUTOPILOT_PX4); |
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_testWriteFailureHandlingWorker(); |
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} |
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void MissionManagerTest::_testReadFailureHandlingPX4(void) |
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{ |
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_initForFirmwareType(MAV_AUTOPILOT_PX4); |
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_testReadFailureHandlingWorker(); |
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}
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