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MissionCommandTreeEditorTest.cc 3.14 KB
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New standalone mission editor unit test
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/****************************************************************************
 *
 * (c) 2009-2020 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 "MissionCommandTreeEditorTest.h"
#include "QGCApplication.h"
#include "QGCCorePlugin.h"
#include "SimpleMissionItem.h"
#include "PlanMasterController.h"

MissionCommandTreeEditorTest::MissionCommandTreeEditorTest(void)
{
    
}

void MissionCommandTreeEditorTest::_testEditorsWorker(QGCMAVLink::FirmwareClass_t firmwareClass, QGCMAVLink::VehicleClass_t vehicleClass)
{
    QString firmwareClassString = QGCMAVLink::firmwareClassToString(firmwareClass).replace(" ", "");
    QString vehicleClassString  = QGCMAVLink::vehicleClassToString(vehicleClass).replace(" ", "");

    AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
    appSettings->offlineEditingFirmwareClass()->setRawValue(firmwareClass);
    appSettings->offlineEditingVehicleClass()->setRawValue(vehicleClass);
    PlanMasterController* masterController = new PlanMasterController();

    FirmwarePlugin* firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), QGCMAVLink::vehicleClassToMavType(vehicleClass));
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supportedMissionCommands is vehicle class sensitive
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    if (firmwarePlugin->supportedMissionCommands(vehicleClass).count() == 0) {
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        firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(QGCMAVLink::FirmwareClassPX4), QGCMAVLink::vehicleClassToMavType(vehicleClass));
    }
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    int cColumns = firmwarePlugin->supportedMissionCommands(vehicleClass).count();
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    QVariantList varSimpleItems;
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    for (MAV_CMD command: firmwarePlugin->supportedMissionCommands(vehicleClass)) {
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        SimpleMissionItem* simpleItem = new SimpleMissionItem(masterController, false /* flyView */, false /* forLoad */, this);
        simpleItem->setCommand(command);
        varSimpleItems.append(QVariant::fromValue(simpleItem));
    }

    QQmlApplicationEngine* qmlAppEngine = qgcApp()->toolbox()->corePlugin()->createQmlApplicationEngine(this);
    qmlAppEngine->rootContext()->setContextProperty("planMasterController", masterController);
    qmlAppEngine->rootContext()->setContextProperty("missionItems", varSimpleItems);
    qmlAppEngine->rootContext()->setContextProperty("cColumns", cColumns);
    qmlAppEngine->rootContext()->setContextProperty("imagePath", QStringLiteral("/home/parallels/Downloads/%1-%2.png").arg(firmwareClassString).arg(vehicleClassString));
    qmlAppEngine->load(QUrl(QStringLiteral("qrc:/qml/MissionCommandTreeEditorTestWindow.qml")));

    QTest::qWait(1000);

    delete qmlAppEngine;
}

void MissionCommandTreeEditorTest::testEditors(void)
{
    for (const QGCMAVLink::FirmwareClass_t& firmwareClass: QGCMAVLink::allFirmwareClasses()) {
        for (const QGCMAVLink::VehicleClass_t& vehicleClass: QGCMAVLink::allVehicleClasses()) {
            _testEditorsWorker(firmwareClass, vehicleClass);
        }
    }
}