FactSystemTestBase.cc 3.26 KB
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/****************************************************************************
 *
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 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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/// @file
///     @author Don Gagne <don@thegagnes.com>

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#include "FactSystemTestBase.h"
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#include "LinkManager.h"
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#ifdef QT_DEBUG
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#include "MockLink.h"
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#endif
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#include "MultiVehicleManager.h"
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#include "QGCApplication.h"
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#include "ParameterManager.h"
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#include <QQuickItem>

/// FactSystem Unit Test
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FactSystemTestBase::FactSystemTestBase(void)
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{
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}

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void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
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{
    UnitTest::init();
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    _connectMockLink(autopilot);
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    _plugin = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->autopilotPlugin();
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    Q_ASSERT(_plugin);
}

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void FactSystemTestBase::_cleanup(void)
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{
    UnitTest::cleanup();
}

/// Basic test of parameter values in Fact System
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void FactSystemTestBase::_parameter_default_component_id_test(void)
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{
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    QVERIFY(_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "RC_MAP_THROTTLE"));
    Fact* fact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "RC_MAP_THROTTLE");
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    QVERIFY(fact != nullptr);
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    QVariant factValue = fact->rawValue();
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    QCOMPARE(factValue.isValid(), true);
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    QCOMPARE(factValue.toInt(), 3);
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}

void FactSystemTestBase::_parameter_specific_component_id_test(void)
{
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    QVERIFY(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_AUTOPILOT1, "RC_MAP_THROTTLE"));
    Fact* fact = _vehicle->parameterManager()->getParameter(MAV_COMP_ID_AUTOPILOT1, "RC_MAP_THROTTLE");
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    QVERIFY(fact != nullptr);
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    QVariant factValue = fact->rawValue();
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    QCOMPARE(factValue.isValid(), true);
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    QCOMPARE(factValue.toInt(), 3);
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}

/// Test that QML can reference a Fact
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void FactSystemTestBase::_qml_test(void)
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{
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    //-- TODO
#if 0
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    QGCQuickWidget* widget = new QGCQuickWidget;
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    widget->setAutoPilot(_plugin);
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    widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
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    QQuickItem* rootObject = widget->rootObject();
    QObject* control = rootObject->findChild<QObject*>("testControl");
    QVERIFY(control != NULL);
    QVariant qmlValue = control->property("text").toInt();

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    QCOMPARE(qmlValue.toInt(), 3);
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    delete widget;
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#endif
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}

/// Test QML getting an updated Fact value
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void FactSystemTestBase::_qmlUpdate_test(void)
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{
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    //-- TODO
#if 0
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    QGCQuickWidget* widget = new QGCQuickWidget;
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    widget->setAutoPilot(_plugin);
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    widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
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    // Change the value
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    QVariant paramValue = 12;
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    qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->parameterManager()->getParameter(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
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    QTest::qWait(500); // Let the signals flow through
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    // Make sure the qml has the right value
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    QQuickItem* rootObject = widget->rootObject();
    QObject* control = rootObject->findChild<QObject*>("testControl");
    QVERIFY(control != NULL);
    QCOMPARE(control->property("text").toInt(), 12);
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    delete widget;
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#endif
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}