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QG4/src/MissionItemTest.cc

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/*=====================================================================
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 "MissionItemTest.h"
#include "MissionItem.h"
UT_REGISTER_TEST(MissionItemTest)
const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
{ 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 },
{ 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 },
{ 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 },
{ 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 },
{ 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 },
{ 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 },
{ 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 },
{ 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 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 20.0 },
{ "Hold:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
{ "Turns:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
{ "Seconds:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Pitch:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesConditionDelay[] = {
{ "Seconds:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = {
{ "Seq #:", 10.0 },
{ "Repeat:", 20.0 },
};
const MissionItemTest::ItemExpected_t MissionItemTest::_rgItemExpected[] = {
{ "1\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]), MissionItemTest::_rgFactValuesWaypoint },
{ "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]), MissionItemTest::_rgFactValuesLoiterUnlim },
{ "1\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]), MissionItemTest::_rgFactValuesLoiterTurns },
{ "1\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]), MissionItemTest::_rgFactValuesLoiterTime },
{ "1\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]), MissionItemTest::_rgFactValuesLand },
{ "1\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]), MissionItemTest::_rgFactValuesTakeoff },
{ "1\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay },
{ "1\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]), MissionItemTest::_rgFactValuesDoJump },
};
MissionItemTest::MissionItemTest(void)
{
}
void MissionItemTest::_test(void)
{
for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
const ItemInfo_t* info = &_rgItemInfo[i];
const ItemExpected_t* expected = &_rgItemExpected[i];
qDebug() << "Command:" << info->command;
MissionItem* item = new MissionItem(NULL,
info->sequenceNumber,
info->coordinate,
info->command,
info->param1,
info->param2,
info->param3,
info->param4,
info->autocontinue,
info->isCurrentItem,
info->frame);
// Validate the saving is working correctly
QString savedItemString;
QTextStream saveStream(&savedItemString, QIODevice::WriteOnly);
item->save(saveStream);
QCOMPARE(savedItemString, QString(expected->streamString));
// Validate that the fact values are correctly returned
size_t factCount = 0;
for (int i=0; i<item->textFieldFacts()->count(); i++) {
Fact* fact = qobject_cast<Fact*>(item->textFieldFacts()->get(i));
bool found = false;
for (size_t j=0; j<expected->cFactValues; j++) {
const FactValue_t* factValue = &expected->rgFactValues[j];
if (factValue->name == fact->name()) {
qDebug() << factValue->name;
QCOMPARE(fact->value().toDouble(), factValue->value);
factCount ++;
found = true;
break;
}
}
QVERIFY(found);
}
QCOMPARE(factCount, expected->cFactValues);
// Validate that loading is working correctly
MissionItem* loadedItem = new MissionItem();
QTextStream loadStream(&savedItemString, QIODevice::ReadOnly);
QVERIFY(loadedItem->load(loadStream));
//qDebug() << savedItemString;
QCOMPARE(loadedItem->coordinate().latitude(), item->coordinate().latitude());
QCOMPARE(loadedItem->coordinate().longitude(), item->coordinate().longitude());
QCOMPARE(loadedItem->coordinate().altitude(), item->coordinate().altitude());
QCOMPARE(loadedItem->command(), item->command());
QCOMPARE(loadedItem->param1(), item->param1());
QCOMPARE(loadedItem->param2(), item->param2());
QCOMPARE(loadedItem->param3(), item->param3());
QCOMPARE(loadedItem->param4(), item->param4());
QCOMPARE(loadedItem->autoContinue(), item->autoContinue());
QCOMPARE(loadedItem->isCurrentItem(), item->isCurrentItem());
QCOMPARE(loadedItem->frame(), item->frame());
delete item;
delete loadedItem;
}
}