You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
346 lines
16 KiB
346 lines
16 KiB
/*===================================================================== |
|
|
|
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 "MissionManagerTest.h" |
|
#include "LinkManager.h" |
|
#include "MultiVehicleManager.h" |
|
|
|
const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = { |
|
{ "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 } }, |
|
{ "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 } }, |
|
{ "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 } }, |
|
{ "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 } }, |
|
{ "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 } }, |
|
{ "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 } }, |
|
{ "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 } }, |
|
{ "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 } }, |
|
}; |
|
const size_t MissionManagerTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]); |
|
|
|
MissionManagerTest::MissionManagerTest(void) |
|
{ |
|
|
|
} |
|
|
|
void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode) |
|
{ |
|
_mockLink->setMissionItemFailureMode(failureMode); |
|
|
|
// Setup our test case data |
|
QmlObjectListModel* list = new QmlObjectListModel(); |
|
|
|
// Editor has a home position item on the front, so we do the same |
|
MissionItem* homeItem = new MissionItem(this); |
|
homeItem->setHomePositionSpecialCase(true); |
|
homeItem->setHomePositionValid(false); |
|
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT); |
|
homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0)); |
|
homeItem->setSequenceNumber(0); |
|
list->insert(0, homeItem); |
|
|
|
for (size_t i=0; i<_cTestCases; i++) { |
|
const TestCase_t* testCase = &_rgTestCases[i]; |
|
|
|
MissionItem* item = new MissionItem(list); |
|
|
|
QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly); |
|
QVERIFY(item->load(loadStream)); |
|
|
|
// Mission Manager expects to get 1-base sequence numbers for write |
|
|
|
item->setSequenceNumber(item->sequenceNumber() + 1); |
|
if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) { |
|
item->setParam1((int)item->param1() + 1); |
|
} |
|
|
|
list->append(item); |
|
} |
|
|
|
// Send the items to the vehicle |
|
_missionManager->writeMissionItems(*list); |
|
|
|
// writeMissionItems should emit these signals before returning: |
|
// inProgressChanged |
|
// newMissionItemsAvailable |
|
QVERIFY(_missionManager->inProgress()); |
|
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(inProgressChangedSignalMask | newMissionItemsAvailableSignalMask), true); |
|
_checkInProgressValues(true); |
|
|
|
_multiSpyMissionManager->clearAllSignals(); |
|
|
|
if (failureMode == MockLinkMissionItemHandler::FailNone) { |
|
// This should be clean run |
|
|
|
// Wait for write sequence to complete. We should get: |
|
// inProgressChanged(false) signal |
|
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); |
|
QCOMPARE(_multiSpyMissionManager->checkOnlySignalByMask(inProgressChangedSignalMask), true); |
|
|
|
// Validate inProgressChanged signal value |
|
_checkInProgressValues(false); |
|
|
|
// Validate item count in mission manager |
|
|
|
int expectedCount = (int)_cTestCases; |
|
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { |
|
// Home position at position 0 comes from vehicle |
|
expectedCount++; |
|
} |
|
|
|
QCOMPARE(_missionManager->missionItems()->count(), expectedCount); |
|
} else { |
|
// This should be a failed run |
|
|
|
setExpectedMessageBox(QMessageBox::Ok); |
|
|
|
// Wait for write sequence to complete. We should get: |
|
// inProgressChanged(false) signal |
|
// error(errorCode, QString) signal |
|
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); |
|
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(inProgressChangedSignalMask | errorSignalMask), true); |
|
|
|
// Validate inProgressChanged signal value |
|
_checkInProgressValues(false); |
|
|
|
// Validate error signal values |
|
QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(errorSignalIndex); |
|
QList<QVariant> signalArgs = spy->takeFirst(); |
|
QCOMPARE(signalArgs.count(), 2); |
|
qDebug() << signalArgs[1].toString(); |
|
|
|
checkExpectedMessageBox(); |
|
} |
|
|
|
delete list; |
|
list = NULL; |
|
_multiSpyMissionManager->clearAllSignals(); |
|
} |
|
|
|
void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode) |
|
{ |
|
_writeItems(MockLinkMissionItemHandler::FailNone); |
|
|
|
_mockLink->setMissionItemFailureMode(failureMode); |
|
|
|
// Read the items back from the vehicle |
|
_missionManager->requestMissionItems(); |
|
|
|
// requestMissionItems should emit inProgressChanged signal before returning so no need to wait for it |
|
QVERIFY(_missionManager->inProgress()); |
|
QCOMPARE(_multiSpyMissionManager->checkOnlySignalByMask(inProgressChangedSignalMask), true); |
|
_checkInProgressValues(true); |
|
|
|
_multiSpyMissionManager->clearAllSignals(); |
|
|
|
if (failureMode == MockLinkMissionItemHandler::FailNone) { |
|
// This should be clean run |
|
|
|
// Now wait for read sequence to complete. We should get: |
|
// inProgressChanged(false) signal to signal completion |
|
// newMissionItemsAvailable signal |
|
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); |
|
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true); |
|
_checkInProgressValues(false); |
|
|
|
} else { |
|
// This should be a failed run |
|
|
|
setExpectedMessageBox(QMessageBox::Ok); |
|
|
|
// Wait for read sequence to complete. We should get: |
|
// inProgressChanged(false) signal to signal completion |
|
// error(errorCode, QString) signal |
|
// newMissionItemsAvailable signal |
|
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); |
|
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask | errorSignalMask), true); |
|
|
|
// Validate inProgressChanged signal value |
|
_checkInProgressValues(false); |
|
|
|
// Validate error signal values |
|
QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(errorSignalIndex); |
|
QList<QVariant> signalArgs = spy->takeFirst(); |
|
QCOMPARE(signalArgs.count(), 2); |
|
qDebug() << signalArgs[1].toString(); |
|
|
|
checkExpectedMessageBox(); |
|
} |
|
|
|
_multiSpyMissionManager->clearAllSignals(); |
|
|
|
// Validate returned items |
|
|
|
size_t cMissionItemsExpected; |
|
|
|
if (failureMode == MockLinkMissionItemHandler::FailNone) { |
|
cMissionItemsExpected = (int)_cTestCases; |
|
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { |
|
// Home position at position 0 comes from vehicle |
|
cMissionItemsExpected++; |
|
} |
|
} else { |
|
cMissionItemsExpected = 0; |
|
} |
|
|
|
QCOMPARE(_missionManager->missionItems()->count(), (int)cMissionItemsExpected); |
|
|
|
size_t firstActualItem = 0; |
|
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { |
|
// First item is home position, don't validate it |
|
firstActualItem++; |
|
} |
|
|
|
int testCaseIndex = 0; |
|
for (size_t actualItemIndex=firstActualItem; actualItemIndex<cMissionItemsExpected; actualItemIndex++) { |
|
const TestCase_t* testCase = &_rgTestCases[testCaseIndex]; |
|
|
|
int expectedSequenceNumber = testCase->expectedItem.sequenceNumber; |
|
int expectedParam1 = (int)testCase->expectedItem.param1; |
|
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { |
|
// Account for home position in first item |
|
expectedSequenceNumber++; |
|
if (testCase->expectedItem.command == MAV_CMD_DO_JUMP) { |
|
// Expected data in test case is for PX4 |
|
expectedParam1++; |
|
} |
|
} |
|
|
|
MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(actualItemIndex)); |
|
|
|
qDebug() << "Test case" << testCaseIndex; |
|
QCOMPARE(actual->sequenceNumber(), expectedSequenceNumber); |
|
QCOMPARE(actual->coordinate().latitude(), testCase->expectedItem.coordinate.latitude()); |
|
QCOMPARE(actual->coordinate().longitude(), testCase->expectedItem.coordinate.longitude()); |
|
QCOMPARE(actual->coordinate().altitude(), testCase->expectedItem.coordinate.altitude()); |
|
QCOMPARE((int)actual->command(), (int)testCase->expectedItem.command); |
|
QCOMPARE((int)actual->param1(), (int)expectedParam1); |
|
QCOMPARE(actual->param2(), testCase->expectedItem.param2); |
|
QCOMPARE(actual->param3(), testCase->expectedItem.param3); |
|
QCOMPARE(actual->param4(), testCase->expectedItem.param4); |
|
QCOMPARE(actual->autoContinue(), testCase->expectedItem.autocontinue); |
|
QCOMPARE(actual->frame(), testCase->expectedItem.frame); |
|
|
|
testCaseIndex++; |
|
} |
|
|
|
} |
|
|
|
void MissionManagerTest::_testWriteFailureHandlingWorker(void) |
|
{ |
|
/* |
|
/// Called to send a MISSION_ACK message while the MissionManager is in idle state |
|
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); } |
|
|
|
/// Called to send a MISSION_ITEM message while the MissionManager is in idle state |
|
void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); } |
|
|
|
/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state |
|
void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); } |
|
*/ |
|
|
|
typedef struct { |
|
const char* failureText; |
|
MockLinkMissionItemHandler::FailureMode_t failureMode; |
|
} TestCase_t; |
|
|
|
static const TestCase_t rgTestCases[] = { |
|
{ "No Failure", MockLinkMissionItemHandler::FailNone }, |
|
{ "FailWriteRequest0NoResponse", MockLinkMissionItemHandler::FailWriteRequest0NoResponse }, |
|
{ "FailWriteRequest1NoResponse", MockLinkMissionItemHandler::FailWriteRequest1NoResponse }, |
|
{ "FailWriteRequest0IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest0IncorrectSequence }, |
|
{ "FailWriteRequest1IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest1IncorrectSequence }, |
|
{ "FailWriteRequest0ErrorAck", MockLinkMissionItemHandler::FailWriteRequest0ErrorAck }, |
|
{ "FailWriteRequest1ErrorAck", MockLinkMissionItemHandler::FailWriteRequest1ErrorAck }, |
|
{ "FailWriteFinalAckNoResponse", MockLinkMissionItemHandler::FailWriteFinalAckNoResponse }, |
|
{ "FailWriteFinalAckErrorAck", MockLinkMissionItemHandler::FailWriteFinalAckErrorAck }, |
|
{ "FailWriteFinalAckMissingRequests", MockLinkMissionItemHandler::FailWriteFinalAckMissingRequests }, |
|
}; |
|
|
|
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { |
|
qDebug() << "TEST CASE " << rgTestCases[i].failureText; |
|
_writeItems(rgTestCases[i].failureMode); |
|
_mockLink->resetMissionItemHandler(); |
|
} |
|
} |
|
|
|
void MissionManagerTest::_testReadFailureHandlingWorker(void) |
|
{ |
|
/* |
|
/// Called to send a MISSION_ACK message while the MissionManager is in idle state |
|
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); } |
|
|
|
/// Called to send a MISSION_ITEM message while the MissionManager is in idle state |
|
void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); } |
|
|
|
/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state |
|
void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); } |
|
*/ |
|
|
|
typedef struct { |
|
const char* failureText; |
|
MockLinkMissionItemHandler::FailureMode_t failureMode; |
|
} TestCase_t; |
|
|
|
static const TestCase_t rgTestCases[] = { |
|
{ "No Failure", MockLinkMissionItemHandler::FailNone }, |
|
{ "FailReadRequestListNoResponse", MockLinkMissionItemHandler::FailReadRequestListNoResponse }, |
|
{ "FailReadRequest0NoResponse", MockLinkMissionItemHandler::FailReadRequest0NoResponse }, |
|
{ "FailReadRequest1NoResponse", MockLinkMissionItemHandler::FailReadRequest1NoResponse }, |
|
{ "FailReadRequest0IncorrectSequence", MockLinkMissionItemHandler::FailReadRequest0IncorrectSequence }, |
|
{ "FailReadRequest1IncorrectSequence", MockLinkMissionItemHandler::FailReadRequest1IncorrectSequence }, |
|
{ "FailReadRequest0ErrorAck", MockLinkMissionItemHandler::FailReadRequest0ErrorAck }, |
|
{ "FailReadRequest1ErrorAck", MockLinkMissionItemHandler::FailReadRequest1ErrorAck }, |
|
}; |
|
|
|
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { |
|
qDebug() << "TEST CASE " << rgTestCases[i].failureText; |
|
_roundTripItems(rgTestCases[i].failureMode); |
|
_mockLink->resetMissionItemHandler(); |
|
_multiSpyMissionManager->clearAllSignals(); |
|
} |
|
} |
|
|
|
void MissionManagerTest::_testWriteFailureHandlingAPM(void) |
|
{ |
|
_initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA); |
|
_testWriteFailureHandlingWorker(); |
|
} |
|
|
|
void MissionManagerTest::_testReadFailureHandlingAPM(void) |
|
{ |
|
_initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA); |
|
_testReadFailureHandlingWorker(); |
|
} |
|
|
|
|
|
void MissionManagerTest::_testWriteFailureHandlingPX4(void) |
|
{ |
|
_initForFirmwareType(MAV_AUTOPILOT_PX4); |
|
_testWriteFailureHandlingWorker(); |
|
} |
|
|
|
void MissionManagerTest::_testReadFailureHandlingPX4(void) |
|
{ |
|
_initForFirmwareType(MAV_AUTOPILOT_PX4); |
|
_testReadFailureHandlingWorker(); |
|
}
|
|
|