Skip to content
GitLab
Unverified Commit b487bdd9 authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files

Merge pull request #6981 from DonLakeFlyer/FWLandingPhoto 

FW Landing Pattern: Support for stop photo/video. Plus item unit test.
parents 593cc13f 92e7bf38
Hide whitespace changes
Inline Side-by-side
ChangeLog.md
View file @ b487bdd9
......@@ -12,6 +12,7 @@ Note: This file only contains high level features or important fixes.
* Make Distance to GCS available for display from instrument panel.
* Make Heading to Home available for display from instrument panel.
* Edit Position dialog available on polygon vertices.
* Fixed Wing Landing Pattern: Add stop photo/video support. Defaults to on such that doing an RTL will stop camera.
## 3.4
......
qgroundcontrol.pro
View file @ b487bdd9
......@@ -434,6 +434,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/CameraCalcTest.h \
src/MissionManager/CameraSectionTest.h \
src/MissionManager/CorridorScanComplexItemTest.h \
src/MissionManager/FWLandingPatternTest.h \
src/MissionManager/MissionCommandTreeTest.h \
src/MissionManager/MissionControllerManagerTest.h \
src/MissionManager/MissionControllerTest.h \
......@@ -475,6 +476,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/CameraCalcTest.cc \
src/MissionManager/CameraSectionTest.cc \
src/MissionManager/CorridorScanComplexItemTest.cc \
src/MissionManager/FWLandingPatternTest.cc \
src/MissionManager/MissionCommandTreeTest.cc \
src/MissionManager/MissionControllerManagerTest.cc \
src/MissionManager/MissionControllerTest.cc \
......
src/MissionManager/CameraSection.cc
View file @ b487bdd9
......@@ -37,7 +37,7 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
, _dirty(false)
{
if (_metaDataMap.isEmpty()) {
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraSection.FactMetaData.json"), NULL /* metaDataParent */);
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraSection.FactMetaData.json"), Q_NULLPTR /* metaDataParent */);
}
_gimbalPitchFact.setMetaData (_metaDataMap[_gimbalPitchName]);
......@@ -122,11 +122,11 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
MissionItem* item = new MissionItem(nextSequenceNumber++,
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
0, // Reserved (Set to 0)
_cameraModeFact.rawValue().toDouble(),
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autoContinue
false, // isCurrentItem
qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
......@@ -157,7 +157,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
0, // Reserved (Set to 0)
_cameraPhotoIntervalTimeFact.rawValue().toInt(), // Interval
0, // Unlimited photo count
NAN, NAN, NAN, NAN, // param 4-7 reserved
qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
......@@ -180,55 +180,32 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_VIDEO_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
VIDEO_CAPTURE_STATUS_INTERVAL, // CAMERA_CAPTURE_STATUS (default to every 5 seconds)
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autoContinue
false, // isCurrentItem
0, // Reserved (Set to 0)
VIDEO_CAPTURE_STATUS_INTERVAL, // CAMERA_CAPTURE_STATUS (default to every 5 seconds)
qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
break;
case StopTakingVideo:
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_VIDEO_STOP_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
NAN, NAN, NAN, NAN, NAN, NAN, // param 2-7 reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
appendStopTakingVideo(items, nextSequenceNumber, missionItemParent);
break;
case StopTakingPhotos:
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // Trigger distance = 0 means stop
0, 0, 0, 0, 0, 0, // param 2-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_IMAGE_STOP_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
NAN, NAN, NAN, NAN, NAN, NAN, // param 2-7 reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
appendStopTakingPhotos(items, nextSequenceNumber, missionItemParent);
break;
case TakePhoto:
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
NAN, NAN, NAN, NAN, // param 4-7 reserved
true, // autoContinue
false, // isCurrentItem
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
break;
}
......@@ -238,8 +215,46 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
}
}
void CameraSection::appendStopTakingPhotos(QList<MissionItem*>& items, int& seqNum, QObject* missionItemParent)
{
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // Trigger distance = 0 means stop
0, 0, 0, 0, 0, 0, // param 2-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
item = new MissionItem(seqNum++,
MAV_CMD_IMAGE_STOP_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
void CameraSection::appendStopTakingVideo(QList<MissionItem*>& items, int& seqNum, QObject* missionItemParent)
{
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_VIDEO_STOP_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
bool CameraSection::_scanGimbal(QmlObjectListModel* visualItems, int scanIndex)
{
if (scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
......@@ -259,6 +274,9 @@ bool CameraSection::_scanGimbal(QmlObjectListModel* visualItems, int scanIndex)
bool CameraSection::_scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex)
{
if (scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
......@@ -276,6 +294,9 @@ bool CameraSection::_scanTakePhoto(QmlObjectListModel* visualItems, int scanInde
bool CameraSection::_scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex)
{
if (scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
......@@ -292,8 +313,11 @@ bool CameraSection::_scanTakePhotosIntervalTime(QmlObjectListModel* visualItems,
return false;
}
bool CameraSection::_scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex)
bool CameraSection::scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex, bool removeScannedItems)
{
if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
......@@ -304,9 +328,10 @@ bool CameraSection::_scanStopTakingPhotos(QmlObjectListModel* visualItems, int s
if (nextItem) {
MissionItem& nextMissionItem = nextItem->missionItem();
if (nextMissionItem.command() == MAV_CMD_IMAGE_STOP_CAPTURE && nextMissionItem.param1() == 0) {
cameraAction()->setRawValue(StopTakingPhotos);
visualItems->removeAt(scanIndex)->deleteLater();
visualItems->removeAt(scanIndex)->deleteLater();
if (removeScannedItems) {
visualItems->removeAt(scanIndex)->deleteLater();
visualItems->removeAt(scanIndex)->deleteLater();
}
return true;
}
}
......@@ -320,6 +345,9 @@ bool CameraSection::_scanStopTakingPhotos(QmlObjectListModel* visualItems, int s
bool CameraSection::_scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex)
{
if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
......@@ -338,6 +366,9 @@ bool CameraSection::_scanTriggerStartDistance(QmlObjectListModel* visualItems, i
bool CameraSection::_scanTriggerStopDistance(QmlObjectListModel* visualItems, int scanIndex)
{
if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
......@@ -356,6 +387,9 @@ bool CameraSection::_scanTriggerStopDistance(QmlObjectListModel* visualItems, in
bool CameraSection::_scanTakeVideo(QmlObjectListModel* visualItems, int scanIndex)
{
if (scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
......@@ -371,15 +405,19 @@ bool CameraSection::_scanTakeVideo(QmlObjectListModel* visualItems, int scanInde
return false;
}
bool CameraSection::_scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex)
bool CameraSection::scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex, bool removeScannedItems)
{
if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
if ((MAV_CMD)item->command() == MAV_CMD_VIDEO_STOP_CAPTURE) {
if (missionItem.param1() == 0) {
cameraAction()->setRawValue(StopTakingVideo);
visualItems->removeAt(scanIndex)->deleteLater();
if (removeScannedItems) {
visualItems->removeAt(scanIndex)->deleteLater();
}
return true;
}
}
......@@ -390,6 +428,9 @@ bool CameraSection::_scanStopTakingVideo(QmlObjectListModel* visualItems, int sc
bool CameraSection::_scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex)
{
if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
......@@ -434,7 +475,8 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
foundCameraAction = true;
continue;
}
if (!foundCameraAction && _scanStopTakingPhotos(visualItems, scanIndex)) {
if (!foundCameraAction && scanStopTakingPhotos(visualItems, scanIndex, true /* removeScannedItems */)) {
cameraAction()->setRawValue(StopTakingPhotos);
foundCameraAction = true;
continue;
}
......@@ -450,7 +492,8 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
foundCameraAction = true;
continue;
}
if (!foundCameraAction && _scanStopTakingVideo(visualItems, scanIndex)) {
if (!foundCameraAction && scanStopTakingVideo(visualItems, scanIndex, true /* removeScannedItems */)) {
cameraAction()->setRawValue(StopTakingVideo);
foundCameraAction = true;
continue;
}
......
src/MissionManager/CameraSection.h
View file @ b487bdd9
......@@ -67,6 +67,13 @@ public:
///< @return The gimbal pitch specified by this item, NaN if not specified
double specifiedGimbalPitch(void) const;
static bool scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex, bool removeScannedItems);
static bool scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex, bool removeScannedItems);
static void appendStopTakingPhotos(QList<MissionItem*>& items, int& seqNum, QObject* missionItemParent);
static void appendStopTakingVideo(QList<MissionItem*>& items, int& seqNum, QObject* missionItemParent);
static int stopTakingPhotosCommandCount(void) { return 2; }
static int stopTakingVideoCommandCount(void) { return 1; }
// Overrides from Section
bool available (void) const override { return _available; }
bool dirty (void) const override { return _dirty; }
......@@ -97,11 +104,9 @@ private:
bool _scanGimbal(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex);
bool _scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTriggerStopDistance(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTakeVideo(QmlObjectListModel* visualItems, int scanIndex);
bool _scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex);
bool _scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex);
bool _available;
......
src/MissionManager/CameraSectionTest.cc
View file @ b487bdd9
......@@ -20,9 +20,6 @@ CameraSectionTest::CameraSectionTest(void)
, _validDistanceItem (NULL)
, _validTimeItem (NULL)
, _validStartVideoItem (NULL)
, _validStopVideoItem (NULL)
, _validStopDistanceItem (NULL)
, _validStopTimeItem (NULL)
, _validCameraPhotoModeItem (NULL)
, _validCameraVideoModeItem (NULL)
, _validCameraSurveyPhotoModeItem (NULL)
......@@ -75,18 +72,6 @@ void CameraSectionTest::init(void)
true, // autocontinue
false), // isCurrentItem
this);
_validStopVideoItem = new SimpleMissionItem(_offlineVehicle,
false, // flyView
MissionItem(0, MAV_CMD_VIDEO_STOP_CAPTURE, MAV_FRAME_MISSION, 0, NAN, NAN, NAN, NAN, NAN, NAN, true, false),
this);
_validStopDistanceItem = new SimpleMissionItem(_offlineVehicle,
false, // flyView
MissionItem(0, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_FRAME_MISSION, 0, 0, 0, 0, 0, 0, 0, true, false),
this);
_validStopTimeItem = new SimpleMissionItem(_offlineVehicle,
false, // flyView
MissionItem(1, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_FRAME_MISSION, 0, NAN, NAN, NAN, NAN, NAN, NAN, true, false),
this);
_validCameraPhotoModeItem = new SimpleMissionItem(_offlineVehicle,
false, // flyView
MissionItem(0, // sequence number
......@@ -132,6 +117,10 @@ void CameraSectionTest::init(void)
true, // autoContinue
false), // isCurrentItem
this);
_validStopVideoItem = createValidStopVideoItem(_offlineVehicle, this);
_validStopDistanceItem = createValidStopDistanceItem(_offlineVehicle, this);
_validStopTimeItem = createValidStopTimeItem(_offlineVehicle, this);
}
void CameraSectionTest::cleanup(void)
......@@ -471,8 +460,6 @@ void CameraSectionTest::_testAppendSectionItems(void)
QCOMPARE(seqNum, 0);
rgMissionItems.clear();
// Test specifyGimbal
_cameraSection->setSpecifyGimbal(true);
_cameraSection->gimbalPitch()->setRawValue(_validGimbalItem->missionItem().param1());
_cameraSection->gimbalYaw()->setRawValue(_validGimbalItem->missionItem().param3());
......@@ -484,8 +471,6 @@ void CameraSectionTest::_testAppendSectionItems(void)
rgMissionItems.clear();
seqNum = 0;
// Test specifyCameraMode
_cameraSection->setSpecifyCameraMode(true);
_cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
......@@ -910,7 +895,7 @@ void CameraSectionTest::_testScanForStopVideoSection(void)
/*
MAV_CMD_VIDEO_STOP_CAPTURE Stop the current video capture (recording)
Mission Param #1 Reserved (Set to 0)
*/
*/
SimpleMissionItem* newValidStopVideoItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
newValidStopVideoItem->missionItem() = _validStopVideoItem->missionItem();
......@@ -941,7 +926,7 @@ void CameraSectionTest::_testScanForStopVideoSection(void)
visualItems.clear();
}
void CameraSectionTest::_testScanForStopImageSection(void)
void CameraSectionTest::_testScanForStopPhotoSection(void)
{
QCOMPARE(_cameraSection->available(), true);
......@@ -1124,3 +1109,28 @@ void CameraSectionTest::_testSpecifiedGimbalValuesChanged(void)
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
QVERIFY(_spyCamera->checkSignalByMask(specifiedGimbalPitchChangedMask));
}
SimpleMissionItem* CameraSectionTest::createValidStopVideoItem(Vehicle* vehicle, QObject* parent)
{
return new SimpleMissionItem(vehicle,
false, // flyView
MissionItem(0, MAV_CMD_VIDEO_STOP_CAPTURE, MAV_FRAME_MISSION, 0, qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), true, false),
parent);
}
SimpleMissionItem* CameraSectionTest::createValidStopDistanceItem(Vehicle* vehicle, QObject* parent)
{
return new SimpleMissionItem(vehicle,
false, // flyView
MissionItem(0, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_FRAME_MISSION, 0, 0, 0, 0, 0, 0, 0, true, false),
parent);
}
SimpleMissionItem* CameraSectionTest::createValidStopTimeItem(Vehicle* vehicle, QObject* parent)
{
return new SimpleMissionItem(vehicle,
false, // flyView
MissionItem(1, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_FRAME_MISSION, 0, qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), true, false),
parent);
}
src/MissionManager/CameraSectionTest.h
View file @ b487bdd9
......@@ -23,6 +23,10 @@ public:
void init(void) override;
void cleanup(void) override;
static SimpleMissionItem* createValidStopVideoItem (Vehicle* vehicle, QObject* parent);
static SimpleMissionItem* createValidStopDistanceItem(Vehicle* vehicle, QObject* parent);
static SimpleMissionItem* createValidStopTimeItem (Vehicle* vehicle, QObject* parent);
private slots:
void _testDirty (void);
void _testSettingsAvailable (void);
......@@ -34,7 +38,7 @@ private slots:
void _testScanForPhotoIntervalDistanceSection (void);
void _testScanForStartVideoSection (void);
void _testScanForStopVideoSection (void);
void _testScanForStopImageSection (void);
void _testScanForStopPhotoSection (void);
void _testScanForCameraModeSection (void);
void _testScanForTakePhotoSection (void);
void _testScanForMultipleItems (void);
......
src/MissionManager/FWLandingPattern.FactMetaData.json
View file @ b487bdd9
......@@ -52,5 +52,17 @@
"max": 90,
"decimalPlaces": 1,
"defaultValue": 12.0
},
{
"name": "StopTakingPhotos",
"shortDescription": "Stop taking photos",
"type": "bool",
"defaultValue": true
},
{
"name": "StopTakingVideo",
"shortDescription": "Stop taking video",
"type": "bool",
"defaultValue": true
}
]
src/MissionManager/FWLandingPatternTest.cc 0 → 100644
View file @ b487bdd9
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "FWLandingPatternTest.h"
#include "QGCApplication.h"
#include "MissionCommandTree.h"
#include "MissionCommandUIInfo.h"
#include "CameraSectionTest.h"
FWLandingPatternTest::FWLandingPatternTest(void)
: _offlineVehicle (Q_NULLPTR)
, _fwItem (Q_NULLPTR)
, _multiSpy (Q_NULLPTR)
, _validStopVideoItem (Q_NULLPTR)
, _validStopDistanceItem (Q_NULLPTR)
, _validStopTimeItem (Q_NULLPTR)
{
}
void FWLandingPatternTest::init(void)
{
UnitTest::init();
rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
_fwItem = new FixedWingLandingComplexItem(_offlineVehicle, false /* flyView */, this);
_multiSpy = new MultiSignalSpy();
QCOMPARE(_multiSpy->init(_fwItem, rgSignals, cSignals), true);
// Start in a clean state
QVERIFY(!_fwItem->dirty());
_fwItem->setLandingCoordinate(QGeoCoordinate(47, -122));
_fwItem->setDirty(false);
QVERIFY(!_fwItem->dirty());
_multiSpy->clearAllSignals();
_validStopVideoItem = CameraSectionTest::createValidStopTimeItem(_offlineVehicle, this);
_validStopDistanceItem = CameraSectionTest::createValidStopTimeItem(_offlineVehicle, this);
_validStopTimeItem = CameraSectionTest::createValidStopTimeItem(_offlineVehicle, this);
}
void FWLandingPatternTest::cleanup(void)
{
delete _fwItem;
delete _offlineVehicle;
delete _multiSpy;
delete _validStopVideoItem;
delete _validStopDistanceItem;
delete _validStopTimeItem;
UnitTest::cleanup();
}
void FWLandingPatternTest::_testDefaults(void)
{
QCOMPARE(_fwItem->stopTakingPhotos()->rawValue().toBool(), true);
QCOMPARE(_fwItem->stopTakingVideo()->rawValue().toBool(), true);
}
void FWLandingPatternTest::_testItemCount(void)
{
QList<MissionItem*> items;
_fwItem->stopTakingPhotos()->setRawValue(true);
_fwItem->stopTakingVideo()->setRawValue(true);
_fwItem->appendMissionItems(items, this);
QCOMPARE(items.count(), 3 + CameraSection::stopTakingPhotosCommandCount() + CameraSection::stopTakingVideoCommandCount());
QCOMPARE(items.count() - 1, _fwItem->lastSequenceNumber());
items.clear();
_fwItem->stopTakingPhotos()->setRawValue(false);
_fwItem->stopTakingVideo()->setRawValue(false);
_fwItem->appendMissionItems(items, this);
QCOMPARE(items.count(), 3);
QCOMPARE(items.count() - 1, _fwItem->lastSequenceNumber());
items.clear();
}
void FWLandingPatternTest::_testAppendSectionItems(void)
{
QList<MissionItem*> rgMissionItems;
// Create the set of appended mission items
_fwItem->stopTakingPhotos()->setRawValue(true);
_fwItem->stopTakingVideo()->setRawValue(true);
_fwItem->appendMissionItems(rgMissionItems, this);
// Convert to visual items
QmlObjectListModel* simpleItems = new QmlObjectListModel(this);
for (MissionItem* item: rgMissionItems) {
SimpleMissionItem* simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, simpleItems);
simpleItem->missionItem() = *item;
simpleItems->append(simpleItem);
}
// Scan the items back in to verify the same values come back
// Note that the compares does the best it can with doubles going to floats and back causing inaccuracies beyond a fuzzy compare.
QVERIFY(FixedWingLandingComplexItem::scanForItem(simpleItems, false /* flyView */, _offlineVehicle));
QCOMPARE(simpleItems->count(), 1);
_validateItem(simpleItems->value<FixedWingLandingComplexItem*>(0));
// Reset
simpleItems->deleteLater();
rgMissionItems.clear();
// Check for no stop camera actions
_fwItem->stopTakingPhotos()->setRawValue(false);
_fwItem->stopTakingVideo()->setRawValue(false);
_fwItem->appendMissionItems(rgMissionItems, this);
simpleItems = new QmlObjectListModel(this);
for (MissionItem* item: rgMissionItems) {
SimpleMissionItem* simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, simpleItems);
simpleItem->missionItem() = *item;
simpleItems->append(simpleItem);
}
QVERIFY(FixedWingLandingComplexItem::scanForItem(simpleItems, false /* flyView */, _offlineVehicle));
QCOMPARE(simpleItems->count(), 1);
_validateItem(simpleItems->value<FixedWingLandingComplexItem*>(0));
// Reset
simpleItems->deleteLater();
rgMissionItems.clear();
}
void FWLandingPatternTest::_testDirty(void)
{
_fwItem->setDirty(true);
QVERIFY(_fwItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false);
_multiSpy->clearAllSignals();
// These facts should set dirty when changed
QList<Fact*> rgFacts;
rgFacts << _fwItem->loiterAltitude()
<< _fwItem->landingHeading()
<< _fwItem->loiterRadius()
<< _fwItem->landingAltitude()
<< _fwItem->landingDistance()
<< _fwItem->glideSlope()
<< _fwItem->stopTakingPhotos()
<< _fwItem->stopTakingVideo();
for(Fact* fact: rgFacts) {
qDebug() << fact->name();
QVERIFY(!_fwItem->dirty());
if (fact->typeIsBool()) {
fact->setRawValue(!fact->rawValue().toBool());
} else {
fact->setRawValue(fact->rawValue().toDouble() + 1);
}
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false);
_multiSpy->clearAllSignals();
}
rgFacts.clear();
// These bool properties should set dirty when changed
QList<const char*> rgBoolNames;
rgBoolNames << "valueSetIsDistance"
<< "loiterClockwise"
<< "altitudesAreRelative";
const QMetaObject* metaObject = _fwItem->metaObject();
for(const char* boolName: rgBoolNames) {
qDebug() << boolName;
QVERIFY(!_fwItem->dirty());
QMetaProperty boolProp = metaObject->property(metaObject->indexOfProperty(boolName));
QVERIFY(boolProp.write(_fwItem, !boolProp.read(_fwItem).toBool()));
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false);
_multiSpy->clearAllSignals();
}
rgFacts.clear();
// These coordinates should set dirty when changed
QVERIFY(!_fwItem->dirty());
_fwItem->setLoiterCoordinate(_fwItem->loiterCoordinate().atDistanceAndAzimuth(1, 0));
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false);
_multiSpy->clearAllSignals();
QVERIFY(!_fwItem->dirty());
_fwItem->setLoiterCoordinate(_fwItem->landingCoordinate().atDistanceAndAzimuth(1, 0));
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false);
_multiSpy->clearAllSignals();
}
void FWLandingPatternTest::_testSaveLoad(void)
{
QJsonArray items;
_fwItem->save(items);
QString errorString;
FixedWingLandingComplexItem* newItem = new FixedWingLandingComplexItem(_offlineVehicle, false /* flyView */, this /* parent */);
bool success =newItem->load(items[0].toObject(), 10, errorString);
if (!success) {
qDebug() << errorString;
}
QVERIFY(success);
QVERIFY(errorString.isEmpty());
_validateItem(newItem);
newItem->deleteLater();
}
void FWLandingPatternTest::_validateItem(FixedWingLandingComplexItem* newItem)
{
QVERIFY(newItem);
QVERIFY(fuzzyCompareLatLon(newItem->loiterCoordinate(), _fwItem->loiterCoordinate()));
QVERIFY(fuzzyCompareLatLon(newItem->loiterTangentCoordinate(), _fwItem->loiterTangentCoordinate()));
QVERIFY(fuzzyCompareLatLon(newItem->landingCoordinate(), _fwItem->landingCoordinate()));
QCOMPARE(newItem->stopTakingPhotos()->rawValue().toBool(), _fwItem->stopTakingPhotos()->rawValue().toBool());
QCOMPARE(newItem->stopTakingVideo()->rawValue().toBool(), _fwItem->stopTakingVideo()->rawValue().toBool());
QCOMPARE(newItem->loiterAltitude()->rawValue().toInt(), _fwItem->loiterAltitude()->rawValue().toInt());
QCOMPARE(newItem->loiterRadius()->rawValue().toInt(), _fwItem->loiterRadius()->rawValue().toInt());
QCOMPARE(newItem->landingAltitude()->rawValue().toInt(), _fwItem->landingAltitude()->rawValue().toInt());
QCOMPARE(newItem->landingHeading()->rawValue().toInt(), _fwItem->landingHeading()->rawValue().toInt());
QCOMPARE(newItem->landingDistance()->rawValue().toInt(), _fwItem->landingDistance()->rawValue().toInt());
QCOMPARE(newItem->glideSlope()->rawValue().toInt(), _fwItem->glideSlope()->rawValue().toInt());
QCOMPARE(newItem->_valueSetIsDistance, _fwItem->_valueSetIsDistance);
QCOMPARE(newItem->_loiterClockwise, _fwItem->_loiterClockwise);
QCOMPARE(newItem->_altitudesAreRelative, _fwItem->_altitudesAreRelative);
QCOMPARE(newItem->_landingCoordSet, _fwItem->_landingCoordSet);
}
src/MissionManager/FWLandingPatternTest.h 0 → 100644
View file @ b487bdd9
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "UnitTest.h"
#include "FixedWingLandingComplexItem.h"
#include "MultiSignalSpy.h"
class FWLandingPatternTest : public UnitTest
{
Q_OBJECT
public:
FWLandingPatternTest(void);
void init(void) override;
void cleanup(void) override;
private slots:
void _testDirty (void);
void _testItemCount (void);
void _testDefaults (void);
void _testAppendSectionItems (void);
void _testSaveLoad (void);
private:
void _validateItem(FixedWingLandingComplexItem* newItem);
enum {
dirtyChangedIndex = 0,
maxSignalIndex,
};
enum {
dirtyChangedMask = 1 << dirtyChangedIndex,
};
static const size_t cSignals = maxSignalIndex;
const char* rgSignals[cSignals];
Vehicle* _offlineVehicle;
FixedWingLandingComplexItem* _fwItem;
MultiSignalSpy* _multiSpy;
SimpleMissionItem* _validStopVideoItem;
SimpleMissionItem* _validStopDistanceItem;
SimpleMissionItem* _validStopTimeItem;
};
src/MissionManager/FixedWingLandingComplexItem.cc
View file @ b487bdd9
......@@ -27,6 +27,8 @@ const char* FixedWingLandingComplexItem::loiterAltitudeName = "LoiterAltit
const char* FixedWingLandingComplexItem::loiterRadiusName = "LoiterRadius";
const char* FixedWingLandingComplexItem::landingAltitudeName = "LandingAltitude";
const char* FixedWingLandingComplexItem::glideSlopeName = "GlideSlope";
const char* FixedWingLandingComplexItem::stopTakingPhotosName = "StopTakingPhotos";
const char* FixedWingLandingComplexItem::stopTakingVideoName = "StopTakingVideo";
const char* FixedWingLandingComplexItem::_jsonLoiterCoordinateKey = "loiterCoordinate";
const char* FixedWingLandingComplexItem::_jsonLoiterRadiusKey = "loiterRadius";
......@@ -34,6 +36,8 @@ const char* FixedWingLandingComplexItem::_jsonLoiterClockwiseKey = "loi
const char* FixedWingLandingComplexItem::_jsonLandingCoordinateKey = "landCoordinate";
const char* FixedWingLandingComplexItem::_jsonValueSetIsDistanceKey = "valueSetIsDistance";
const char* FixedWingLandingComplexItem::_jsonAltitudesAreRelativeKey = "altitudesAreRelative";
const char* FixedWingLandingComplexItem::_jsonStopTakingPhotosKey = "stopTakingPhotos";
const char* FixedWingLandingComplexItem::_jsonStopTakingVideoKey = "stopVideoPhotos";
// Usage deprecated
const char* FixedWingLandingComplexItem::_jsonFallRateKey = "fallRate";
......@@ -53,6 +57,8 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, bool
, _landingHeadingFact (settingsGroup, _metaDataMap[landingHeadingName])
, _landingAltitudeFact (settingsGroup, _metaDataMap[landingAltitudeName])
, _glideSlopeFact (settingsGroup, _metaDataMap[glideSlopeName])
, _stopTakingPhotosFact (settingsGroup, _metaDataMap[stopTakingPhotosName])
, _stopTakingVideoFact (settingsGroup, _metaDataMap[stopTakingVideoName])
, _loiterClockwise (true)
, _altitudesAreRelative (true)
, _valueSetIsDistance (true)
......@@ -73,15 +79,21 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, bool
connect(&_glideSlopeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_glideSlopeChanged);
connect(&_stopTakingPhotosFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_signalLastSequenceNumberChanged);
connect(&_stopTakingVideoFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_signalLastSequenceNumberChanged);
connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_landingAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_landingDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_landingHeadingFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_loiterRadiusFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_stopTakingPhotosFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_stopTakingVideoFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::loiterClockwiseChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::valueSetIsDistanceChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged);
......@@ -89,8 +101,11 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, bool
int FixedWingLandingComplexItem::lastSequenceNumber(void) const
{
// land start, loiter, land
return _sequenceNumber + 2;
// Fixed items are:
// land start, loiter, land
// Optional items are:
// stop photos/video
return _sequenceNumber + 2 + (_stopTakingPhotosFact.rawValue().toBool() ? 2 : 0) + (_stopTakingVideoFact.rawValue().toBool() ? 1 : 0);
}
void FixedWingLandingComplexItem::setDirty(bool dirty)
......@@ -123,6 +138,8 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems)
saveObject[_jsonLandingCoordinateKey] = jsonCoordinate;
saveObject[_jsonLoiterRadiusKey] = _loiterRadiusFact.rawValue().toDouble();
saveObject[_jsonStopTakingPhotosKey] = _stopTakingPhotosFact.rawValue().toBool();
saveObject[_jsonStopTakingVideoKey] = _stopTakingVideoFact.rawValue().toBool();
saveObject[_jsonLoiterClockwiseKey] = _loiterClockwise;
saveObject[_jsonAltitudesAreRelativeKey] = _altitudesAreRelative;
saveObject[_jsonValueSetIsDistanceKey] = _valueSetIsDistance;
......@@ -149,6 +166,8 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
{ _jsonLoiterRadiusKey, QJsonValue::Double, true },
{ _jsonLoiterClockwiseKey, QJsonValue::Bool, true },
{ _jsonLandingCoordinateKey, QJsonValue::Array, true },
{ _jsonStopTakingPhotosKey, QJsonValue::Bool, false },
{ _jsonStopTakingVideoKey, QJsonValue::Bool, false },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false;
......@@ -220,6 +239,17 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
_loiterRadiusFact.setRawValue(complexObject[_jsonLoiterRadiusKey].toDouble());
_loiterClockwise = complexObject[_jsonLoiterClockwiseKey].toBool();
if (complexObject.contains(_jsonStopTakingPhotosKey)) {
_stopTakingPhotosFact.setRawValue(complexObject[_jsonStopTakingPhotosKey].toBool());
} else {
_stopTakingPhotosFact.setRawValue(false);
}
if (complexObject.contains(_jsonStopTakingVideoKey)) {
_stopTakingVideoFact.setRawValue(complexObject[_jsonStopTakingVideoKey].toBool());
} else {
_stopTakingVideoFact.setRawValue(false);
}
_calcGlideSlope();
_landingCoordSet = true;
......@@ -242,47 +272,75 @@ bool FixedWingLandingComplexItem::specifiesCoordinate(void) const
return true;
}
void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
MissionItem* FixedWingLandingComplexItem::createDoLandStartItem(int seqNum, QObject* parent)
{
int seqNum = _sequenceNumber;
// IMPORTANT NOTE: Any changes here must also be taken into account in scanForItem
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_LAND_START, // MAV_CMD
MAV_FRAME_MISSION, // MAV_FRAME
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 1-7
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
return new MissionItem(seqNum, // sequence number
MAV_CMD_DO_LAND_START, // MAV_CMD
MAV_FRAME_MISSION, // MAV_FRAME
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 1-7
true, // autoContinue
false, // isCurrentItem
parent);
}
float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0);
item = new MissionItem(seqNum++,
MissionItem* FixedWingLandingComplexItem::createLoiterToAltItem(int seqNum, bool altRel, double loiterRadius, double lat, double lon, double alt, QObject* parent)
{
return new MissionItem(seqNum,
MAV_CMD_NAV_LOITER_TO_ALT,
_altitudesAreRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
altRel ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
1.0, // Heading required = true
loiterRadius, // Loiter radius
0.0, // param 3 - unused
1.0, // Exit crosstrack - tangent of loiter to land point
_loiterCoordinate.latitude(),
_loiterCoordinate.longitude(),
_loiterAltitudeFact.rawValue().toDouble(),
lat, lon, alt,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
parent);
}
item = new MissionItem(seqNum++,
MissionItem* FixedWingLandingComplexItem::createLandItem(int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent)
{
return new MissionItem(seqNum,
MAV_CMD_NAV_LAND,
_altitudesAreRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0.0, 0.0, 0.0, 0.0, // param 1-4
_landingCoordinate.latitude(),
_landingCoordinate.longitude(),
_landingAltitudeFact.rawValue().toDouble(),
altRel ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0.0, 0.0, 0.0, 0.0,
lat, lon, alt,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
parent);
}
void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
// IMPORTANT NOTE: Any changes here must also be taken into account in scanForItem
MissionItem* item = createDoLandStartItem(seqNum++, missionItemParent);
items.append(item);
if (_stopTakingPhotosFact.rawValue().toBool()) {
CameraSection::appendStopTakingPhotos(items, seqNum, missionItemParent);
}
if (_stopTakingVideoFact.rawValue().toBool()) {
CameraSection::appendStopTakingVideo(items, seqNum, missionItemParent);
}
double loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0);
item = createLoiterToAltItem(seqNum++,
_altitudesAreRelative,
loiterRadius,
_loiterCoordinate.latitude(), _loiterCoordinate.longitude(), _loiterAltitudeFact.rawValue().toDouble(),
missionItemParent);
items.append(item);
item = createLandItem(seqNum++,
_altitudesAreRelative,
_landingCoordinate.latitude(), _landingCoordinate.longitude(), _landingAltitudeFact.rawValue().toDouble(),
missionItemParent);
items.append(item);
}
......@@ -290,13 +348,25 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
{
qCDebug(FixedWingLandingComplexItemLog) << "FixedWingLandingComplexItem::scanForItem count" << visualItems->count();
if (visualItems->count() < 4) {
if (visualItems->count() < 3) {
return false;
}
int lastItem = visualItems->count() - 1;
// A valid fixed wing landing pattern is comprised of the follow commands in this order at the end of the item list:
// MAV_CMD_DO_LAND_START - required
// Stop taking photos sequence - optional
// Stop taking video sequence - optional
// MAV_CMD_NAV_LOITER_TO_ALT - required
// MAV_CMD_NAV_LAND - required
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(lastItem--);
// Start looking for the commands in reverse order from the end of the list
int scanIndex = visualItems->count() - 1;
if (scanIndex < 0 || scanIndex > visualItems->count() - 1) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex--);
if (!item) {
return false;
}
......@@ -308,7 +378,10 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
}
MAV_FRAME landPointFrame = missionItemLand.frame();
item = visualItems->value<SimpleMissionItem*>(lastItem--);
if (scanIndex < 0 || scanIndex > visualItems->count() - 1) {
return false;
}
item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (!item) {
return false;
}
......@@ -319,7 +392,23 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
return false;
}
item = visualItems->value<SimpleMissionItem*>(lastItem--);
scanIndex -= CameraSection::stopTakingVideoCommandCount();
bool stopTakingVideo = CameraSection::scanStopTakingVideo(visualItems, scanIndex, false /* removeScannedItems */);
if (!stopTakingVideo) {
scanIndex += CameraSection::stopTakingVideoCommandCount();
}
scanIndex -= CameraSection::stopTakingPhotosCommandCount();
bool stopTakingPhotos = CameraSection::scanStopTakingPhotos(visualItems, scanIndex, false /* removeScannedItems */);
if (!stopTakingPhotos) {
scanIndex += CameraSection::stopTakingPhotosCommandCount();
}
scanIndex--;
if (scanIndex < 0 || scanIndex > visualItems->count() - 1) {
return false;
}
item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (!item) {
return false;
}
......@@ -329,7 +418,21 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
return false;
}
// We made it this far so we do have a Fixed Wing Landing Pattern item at the end of the mission
// We made it this far so we do have a Fixed Wing Landing Pattern item at the end of the mission.
// Since we have scanned it we need to remove the items for it fromt the list
int deleteCount = 3;
if (stopTakingPhotos) {
deleteCount += CameraSection::stopTakingPhotosCommandCount();
}
if (stopTakingVideo) {
deleteCount += CameraSection::stopTakingVideoCommandCount();
}
int firstItem = visualItems->count() - deleteCount;
while (deleteCount--) {
visualItems->removeAt(firstItem)->deleteLater();
}
// Now stuff all the scanned information into the item
FixedWingLandingComplexItem* complexItem = new FixedWingLandingComplexItem(vehicle, flyView, visualItems);
......@@ -345,6 +448,9 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
complexItem->_landingCoordinate.setLongitude(missionItemLand.param6());
complexItem->_landingAltitudeFact.setRawValue(missionItemLand.param7());
complexItem->_stopTakingPhotosFact.setRawValue(stopTakingPhotos);
complexItem->_stopTakingVideoFact.setRawValue(stopTakingVideo);
complexItem->_calcGlideSlope();
complexItem->_landingCoordSet = true;
......@@ -353,11 +459,6 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
complexItem->_recalcFromCoordinateChange();
complexItem->setDirty(false);
lastItem = visualItems->count() - 1;
visualItems->removeAt(lastItem--)->deleteLater();
visualItems->removeAt(lastItem--)->deleteLater();
visualItems->removeAt(lastItem--)->deleteLater();
visualItems->append(complexItem);
return true;
......@@ -586,3 +687,8 @@ void FixedWingLandingComplexItem::_calcGlideSlope(void)
_glideSlopeFact.setRawValue(qRadiansToDegrees(qAtan(landingAltDifference / landingDistance)));
}
void FixedWingLandingComplexItem::_signalLastSequenceNumberChanged(void)
{
emit lastSequenceNumberChanged(lastSequenceNumber());
}
src/MissionManager/FixedWingLandingComplexItem.h
View file @ b487bdd9
......@@ -17,6 +17,8 @@
Q_DECLARE_LOGGING_CATEGORY(FixedWingLandingComplexItemLog)
class FWLandingPatternTest;
class FixedWingLandingComplexItem : public ComplexMissionItem
{
Q_OBJECT
......@@ -33,6 +35,8 @@ public:
Q_PROPERTY(Fact* glideSlope READ glideSlope CONSTANT)
Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged)
Q_PROPERTY(bool altitudesAreRelative MEMBER _altitudesAreRelative NOTIFY altitudesAreRelativeChanged)
Q_PROPERTY(Fact* stopTakingPhotos READ stopTakingPhotos CONSTANT)
Q_PROPERTY(Fact* stopTakingVideo READ stopTakingVideo CONSTANT)
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate loiterTangentCoordinate READ loiterTangentCoordinate NOTIFY loiterTangentCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
......@@ -44,6 +48,8 @@ public:
Fact* landingDistance (void) { return &_landingDistanceFact; }
Fact* landingHeading (void) { return &_landingHeadingFact; }
Fact* glideSlope (void) { return &_glideSlopeFact; }
Fact* stopTakingPhotos (void) { return &_stopTakingPhotosFact; }
Fact* stopTakingVideo (void) { return &_stopTakingVideoFact; }
QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; }
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; }
QGeoCoordinate loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; }
......@@ -54,6 +60,10 @@ public:
/// Scans the loaded items for a landing pattern complex item
static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, Vehicle* vehicle);
static MissionItem* createDoLandStartItem (int seqNum, QObject* parent);
static MissionItem* createLoiterToAltItem (int seqNum, bool altRel, double loiterRaidus, double lat, double lon, double alt, QObject* parent);
static MissionItem* createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent);
// Overrides from ComplexMissionItem
double complexDistance (void) const final;
......@@ -98,6 +108,8 @@ public:
static const char* landingHeadingName;
static const char* landingAltitudeName;
static const char* glideSlopeName;
static const char* stopTakingPhotosName;
static const char* stopTakingVideoName;
signals:
void loiterCoordinateChanged (QGeoCoordinate coordinate);
......@@ -118,6 +130,7 @@ private slots:
double _headingToMathematicAngle (double heading);
void _setDirty (void);
void _glideSlopeChanged (void);
void _signalLastSequenceNumberChanged (void);
private:
QPointF _rotatePoint (const QPointF& point, const QPointF& origin, double angle);
......@@ -139,6 +152,8 @@ private:
Fact _landingHeadingFact;
Fact _landingAltitudeFact;
Fact _glideSlopeFact;
Fact _stopTakingPhotosFact;
Fact _stopTakingVideoFact;
bool _loiterClockwise;
bool _altitudesAreRelative;
......@@ -151,11 +166,15 @@ private:
static const char* _jsonLandingCoordinateKey;
static const char* _jsonValueSetIsDistanceKey;
static const char* _jsonAltitudesAreRelativeKey;
static const char* _jsonStopTakingPhotosKey;
static const char* _jsonStopTakingVideoKey;
// Only in older file formats
static const char* _jsonLandingAltitudeRelativeKey;
static const char* _jsonLoiterAltitudeRelativeKey;
static const char* _jsonFallRateKey;
friend FWLandingPatternTest;
};
#endif
src/MissionManager/SectionTest.cc
View file @ b487bdd9
......@@ -54,21 +54,6 @@ void SectionTest::_createSpy(Section* section, MultiSignalSpy** sectionSpy)
*sectionSpy = spy;
}
void SectionTest::_missionItemsEqual(MissionItem& actual, MissionItem& expected)
{
QCOMPARE(actual.command(), expected.command());
QCOMPARE(actual.frame(), expected.frame());
QCOMPARE(actual.autoContinue(), expected.autoContinue());
QVERIFY(UnitTest::doubleNaNCompare(actual.param1(), expected.param1()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param2(), expected.param2()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param3(), expected.param3()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param4(), expected.param4()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param5(), expected.param5()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param6(), expected.param6()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param7(), expected.param7()));
}
void SectionTest::_commonScanTest(Section* section)
{
QCOMPARE(section->available(), true);
......
src/MissionManager/SectionTest.h
View file @ b487bdd9
......@@ -25,7 +25,6 @@ public:
protected:
void _createSpy(Section* section, MultiSignalSpy** sectionSpy);
void _missionItemsEqual(MissionItem& actual, MissionItem& expected);
void _commonScanTest(Section* section);
enum {
......
src/PlanView/FWLandingPatternEditor.qml
View file @ b487bdd9
......@@ -16,6 +16,7 @@ import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
......@@ -163,6 +164,34 @@ Rectangle {
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || !missionItem.altitudesAreRelative
onClicked: missionItem.altitudesAreRelative = checked
}
SectionHeader {
id: cameraSection
text: qsTr("Camera")
}
Column {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: cameraSection.checked
Item { width: 1; height: _spacer }
FactCheckBox {
text: _stopTakingPhotos.shortDescription
fact: _stopTakingPhotos
property Fact _stopTakingPhotos: missionItem.stopTakingPhotos
}
FactCheckBox {
text: _stopTakingVideo.shortDescription
fact: _stopTakingVideo
property Fact _stopTakingVideo: missionItem.stopTakingVideo
}
}
}
Column {
......
src/qgcunittest/UnitTest.cc
View file @ b487bdd9
......@@ -535,3 +535,23 @@ void UnitTest::changeFactValue(Fact* fact,double increment)
fact->setRawValue(fact->rawValue().toDouble() + increment);
}
}
void UnitTest::_missionItemsEqual(MissionItem& actual, MissionItem& expected)
{
QCOMPARE(static_cast<int>(actual.command()), static_cast<int>(expected.command()));
QCOMPARE(static_cast<int>(actual.frame()), static_cast<int>(expected.frame()));
QCOMPARE(actual.autoContinue(), expected.autoContinue());
QVERIFY(UnitTest::doubleNaNCompare(actual.param1(), expected.param1()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param2(), expected.param2()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param3(), expected.param3()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param4(), expected.param4()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param5(), expected.param5()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param6(), expected.param6()));
QVERIFY(UnitTest::doubleNaNCompare(actual.param7(), expected.param7()));
}
bool UnitTest::fuzzyCompareLatLon(const QGeoCoordinate& coord1, const QGeoCoordinate& coord2)
{
return coord1.distanceTo(coord2) < 1.0;
}
src/qgcunittest/UnitTest.h
View file @ b487bdd9
......@@ -25,6 +25,7 @@
#include "QGCMAVLink.h"
#include "LinkInterface.h"
#include "Fact.h"
#include "MissionItem.h"
#define UT_REGISTER_TEST(className) static UnitTestWrapper<className> className(#className);
......@@ -101,6 +102,10 @@ public:
/// @param increment 0 use standard increment, other increment by specified amount if double value
void changeFactValue(Fact* fact, double increment = 0);
/// Returns true is the position of the two coordinates is less then a meter from each other.
/// Does not check altitude.
static bool fuzzyCompareLatLon(const QGeoCoordinate& coord1, const QGeoCoordinate& coord2);
protected slots:
// These are all pure virtuals to force the derived class to implement each one and in turn
......@@ -119,6 +124,7 @@ protected:
void _disconnectMockLink(void);
void _createMainWindow(void);
void _closeMainWindow(bool cancelExpected = false);
void _missionItemsEqual(MissionItem& actual, MissionItem& expected);
LinkManager* _linkManager;
MockLink* _mockLink;
......
src/qgcunittest/UnitTestList.cc
View file @ b487bdd9
......@@ -44,6 +44,7 @@
#include "CorridorScanComplexItemTest.h"
#include "TransectStyleComplexItemTest.h"
#include "CameraCalcTest.h"
#include "FWLandingPatternTest.h"
UT_REGISTER_TEST(FactSystemTestGeneric)
UT_REGISTER_TEST(FactSystemTestPX4)
......@@ -75,6 +76,7 @@ UT_REGISTER_TEST(CorridorScanComplexItemTest)
UT_REGISTER_TEST(TransectStyleComplexItemTest)
UT_REGISTER_TEST(QGCMapPolylineTest)
UT_REGISTER_TEST(CameraCalcTest)
UT_REGISTER_TEST(FWLandingPatternTest)
// List of unit test which are currently disabled.
// If disabling a new test, include reason in comment.
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment