SimpleMissionItemTest.cc 14.1 KB
Newer Older
1 2 3 4 5 6 7 8 9
/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/

10 11

#include "SimpleMissionItemTest.h"
12
#include "QGCApplication.h"
13
#include "QGroundControlQmlGlobal.h"
14
#include "SettingsManager.h"
15 16 17 18 19 20 21 22 23 24 25 26

const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
    { MAV_CMD_NAV_WAYPOINT,     MAV_FRAME_GLOBAL_RELATIVE_ALT },
    { MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL_RELATIVE_ALT },
    { MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
    { MAV_CMD_NAV_LOITER_TIME,  MAV_FRAME_GLOBAL_RELATIVE_ALT },
    { MAV_CMD_NAV_LAND,         MAV_FRAME_GLOBAL_RELATIVE_ALT },
    { MAV_CMD_NAV_TAKEOFF,      MAV_FRAME_GLOBAL_RELATIVE_ALT },
    { MAV_CMD_DO_JUMP,          MAV_FRAME_MISSION },
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesWaypoint[] = {
Don Gagne's avatar
Don Gagne committed
27 28
    { "Altitude",   70.1234567 },
    { "Hold",       10.1234567 },
29 30 31
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterUnlim[] = {
Don Gagne's avatar
Don Gagne committed
32 33
    { "Altitude",   70.1234567 },
    { "Radius",     30.1234567 },
34 35 36
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTurns[] = {
Don Gagne's avatar
Don Gagne committed
37 38 39
    { "Altitude",   70.1234567 },
    { "Radius",     30.1234567 },
    { "Turns",      10.1234567 },
40 41 42
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTime[] = {
Don Gagne's avatar
Don Gagne committed
43 44 45
    { "Altitude",   70.1234567 },
    { "Radius",     30.1234567 },
    { "Hold",       10.1234567 },
46 47 48
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLand[] = {
Don Gagne's avatar
Don Gagne committed
49
    { "Altitude",   70.1234567 },
50 51 52
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTakeoff[] = {
Don Gagne's avatar
Don Gagne committed
53 54
    { "Pitch",      10.1234567 },
    { "Altitude",   70.1234567 },
55 56 57
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = {
Don Gagne's avatar
Don Gagne committed
58 59
    { "Item #",     10.1234567 },
    { "Repeat",     20.1234567 },
60 61 62 63 64 65 66 67
};

const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = {
    { sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]),             SimpleMissionItemTest::_rgFactValuesWaypoint,       true },
    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]),       SimpleMissionItemTest::_rgFactValuesLoiterUnlim,    true },
    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]),       SimpleMissionItemTest::_rgFactValuesLoiterTurns,    true },
    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]),         SimpleMissionItemTest::_rgFactValuesLoiterTime,     true },
    { sizeof(SimpleMissionItemTest::_rgFactValuesLand)/sizeof(SimpleMissionItemTest::_rgFactValuesLand[0]),                     SimpleMissionItemTest::_rgFactValuesLand,           true },
68
    { sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]),               SimpleMissionItemTest::_rgFactValuesTakeoff,        true },
69 70 71 72
    { sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]),                 SimpleMissionItemTest::_rgFactValuesDoJump,         false },
};

SimpleMissionItemTest::SimpleMissionItemTest(void)
73
    : _simpleItem(NULL)
74 75 76 77
{
    
}

Don Gagne's avatar
Don Gagne committed
78 79
void SimpleMissionItemTest::init(void)
{
80 81
    VisualMissionItemTest::init();

82 83 84 85 86 87 88 89
    rgSimpleItemSignals[commandChangedIndex] =                          SIGNAL(commandChanged(int));
    rgSimpleItemSignals[frameChangedIndex] =                            SIGNAL(frameChanged(int));
    rgSimpleItemSignals[friendlyEditAllowedChangedIndex] =              SIGNAL(friendlyEditAllowedChanged(bool));
    rgSimpleItemSignals[headingDegreesChangedIndex] =                   SIGNAL(headingDegreesChanged(double));
    rgSimpleItemSignals[rawEditChangedIndex] =                          SIGNAL(rawEditChanged(bool));
    rgSimpleItemSignals[cameraSectionChangedIndex] =                    SIGNAL(rawEditChanged(bool));
    rgSimpleItemSignals[speedSectionChangedIndex] =                     SIGNAL(rawEditChanged(bool));
    rgSimpleItemSignals[coordinateHasRelativeAltitudeChangedIndex] =    SIGNAL(coordinateHasRelativeAltitudeChanged(bool));
90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107

    MissionItem missionItem(1,              // sequence number
                            MAV_CMD_NAV_WAYPOINT,
                            MAV_FRAME_GLOBAL_RELATIVE_ALT,
                            10.1234567,     // param 1-7
                            20.1234567,
                            30.1234567,
                            40.1234567,
                            50.1234567,
                            60.1234567,
                            70.1234567,
                            true,           // autoContinue
                            false);         // isCurrentItem
    _simpleItem = new SimpleMissionItem(_offlineVehicle, missionItem);

    // It's important top check that the right signals are emitted at the right time since that drives ui change.
    // It's also important to check that things are not being over-signalled when they should not be, since that can lead
    // to incorrect ui or perf impact of uneeded signals propogating ui change.
Don Gagne's avatar
Don Gagne committed
108

109 110
    _spySimpleItem = new MultiSignalSpy();
    QCOMPARE(_spySimpleItem->init(_simpleItem, rgSimpleItemSignals, cSimpleItemSignals), true);
111
    VisualMissionItemTest::_createSpy(_simpleItem, &_spyVisualItem);
Don Gagne's avatar
Don Gagne committed
112 113 114 115
}

void SimpleMissionItemTest::cleanup(void)
{
116 117
    delete _simpleItem;
    VisualMissionItemTest::cleanup();
Don Gagne's avatar
Don Gagne committed
118 119
}

120 121
void SimpleMissionItemTest::_testEditorFacts(void)
{
122
    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
123

124 125 126 127
    for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
        const ItemInfo_t* info = &_rgItemInfo[i];
        const ItemExpected_t* expected = &_rgItemExpected[i];
        
Don Gagne's avatar
Don Gagne committed
128
        qDebug() << "Command" << info->command;
129 130 131 132 133 134 135 136 137 138 139 140 141
        
        MissionItem missionItem(1,              // sequence number
                                info->command,
                                info->frame,
                                10.1234567,     // param 1-7
                                20.1234567,
                                30.1234567,
                                40.1234567,
                                50.1234567,
                                60.1234567,
                                70.1234567,
                                true,           // autoContinue
                                false);         // isCurrentItem
142
        SimpleMissionItem simpleMissionItem(vehicle, missionItem);
143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161

        // Validate that the fact values are correctly returned

        size_t factCount = 0;
        for (int i=0; i<simpleMissionItem.textFieldFacts()->count(); i++) {
            Fact* fact = qobject_cast<Fact*>(simpleMissionItem.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()) {
                    QCOMPARE(fact->rawValue().toDouble(), factValue->value);
                    factCount ++;
                    found = true;
                    break;
                }
            }
            
162
            qDebug() << "textFieldFact" << fact->name();
163 164 165 166 167 168 169
            QVERIFY(found);
        }
        QCOMPARE(factCount, expected->cFactValues);

        int expectedCount = expected->relativeAltCheckbox ? 1 : 0;
        QCOMPARE(simpleMissionItem.checkboxFacts()->count(), expectedCount);
    }
170 171

    delete vehicle;
172 173 174 175
}

void SimpleMissionItemTest::_testDefaultValues(void)
{
Don Gagne's avatar
Don Gagne committed
176
    SimpleMissionItem item(_offlineVehicle);
177 178 179

    item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
    item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
180
    QCOMPARE(item.missionItem().param7(), qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble());
181 182 183 184
}

void SimpleMissionItemTest::_testSignals(void)
{
185
    MissionItem& missionItem = _simpleItem->missionItem();
186

187 188 189 190
    // Check that changing to the same coordinate does not signal
    _simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5(), missionItem.param6(), missionItem.param7()));
    QVERIFY(_spyVisualItem->checkNoSignals());
    QVERIFY(_spySimpleItem->checkNoSignals());
191 192 193 194 195 196

    // Check coordinateChanged signalling. Calling setCoordinate should trigger:
    //      coordinateChanged
    //      dirtyChanged

    // Check that actually changing coordinate signals correctly
197 198 199 200 201 202 203 204 205
    _simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5() + 1, missionItem.param6(), missionItem.param7()));
    QVERIFY(_spyVisualItem->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
    _spyVisualItem->clearAllSignals();
    _simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5(), missionItem.param6() + 1, missionItem.param7()));
    QVERIFY(_spyVisualItem->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
    _spyVisualItem->clearAllSignals();
    _simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5(), missionItem.param6(), missionItem.param7() + 1));
    QVERIFY(_spyVisualItem->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
    _spyVisualItem->clearAllSignals();
206 207 208

    // Check dirtyChanged signalling

209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229
    missionItem.setParam1(missionItem.param1());
    QVERIFY(_spyVisualItem->checkNoSignals());
    missionItem.setParam2(missionItem.param2());
    QVERIFY(_spyVisualItem->checkNoSignals());
    missionItem.setParam3(missionItem.param3());
    QVERIFY(_spyVisualItem->checkNoSignals());
    missionItem.setParam4(missionItem.param4());
    QVERIFY(_spyVisualItem->checkNoSignals());

    missionItem.setParam1(missionItem.param1() + 1);
    QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
    _spyVisualItem->clearAllSignals();
    missionItem.setParam1(missionItem.param2() + 1);
    QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
    _spyVisualItem->clearAllSignals();
    missionItem.setParam1(missionItem.param3() + 1);
    QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
    _spyVisualItem->clearAllSignals();
    missionItem.setParam1(missionItem.param4() + 1);
    QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
    _spyVisualItem->clearAllSignals();
230 231 232 233 234

    // Check frameChanged signalling. Calling setFrame should signal:
    //      frameChanged
    //      dirtyChanged
    //      friendlyEditAllowedChanged - this signal is not very smart on when it gets sent
235
    //      coordinateHasRelativeAltitudeChanged
236

237 238 239 240 241
    missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
    QVERIFY(_spyVisualItem->checkNoSignals());
    QVERIFY(_spySimpleItem->checkNoSignals());

    missionItem.setFrame(MAV_FRAME_GLOBAL);
242
    QVERIFY(_spySimpleItem->checkOnlySignalByMask(frameChangedMask | dirtyChangedMask | friendlyEditAllowedChangedMask | coordinateHasRelativeAltitudeChangedMask));
243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260
    _spySimpleItem->clearAllSignals();
    _spyVisualItem->clearAllSignals();

    // Check commandChanged signalling. Call setCommand should trigger:
    //      commandChanged
    //      commandNameChanged
    //      dirtyChanged
    //      coordinateChanged - since altitude will be set back to default

    _simpleItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
    QVERIFY(_spyVisualItem->checkNoSignals());
    QVERIFY(_spySimpleItem->checkNoSignals());

    _simpleItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME);
    QVERIFY(_spySimpleItem->checkSignalsByMask(commandChangedMask));
    QVERIFY(_spyVisualItem->checkSignalsByMask(commandNameChangedMask | dirtyChangedMask | coordinateChangedMask));
}

261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292
void SimpleMissionItemTest::_testCameraSectionDirty(void)
{
    CameraSection* cameraSection = _simpleItem->cameraSection();

    QVERIFY(!cameraSection->dirty());
    QVERIFY(!_simpleItem->dirty());

    // Dirtying the camera section should also dirty the item
    cameraSection->setDirty(true);
    QVERIFY(_simpleItem->dirty());

    // Clearing the dirty bit from the item should also clear the dirty bit on the camera section
    _simpleItem->setDirty(false);
    QVERIFY(!cameraSection->dirty());
}

void SimpleMissionItemTest::_testSpeedSectionDirty(void)
{
    SpeedSection* speedSection = _simpleItem->speedSection();

    QVERIFY(!speedSection->dirty());
    QVERIFY(!_simpleItem->dirty());

    // Dirtying the speed section should also dirty the item
    speedSection->setDirty(true);
    QVERIFY(_simpleItem->dirty());

    // Clearing the dirty bit from the item should also clear the dirty bit on the camera section
    _simpleItem->setDirty(false);
    QVERIFY(!speedSection->dirty());
}

293
void SimpleMissionItemTest::_testCameraSection(void)
294
{
295 296 297 298 299 300 301 302 303 304 305 306 307 308
    // No gimbal yaw to start with
    QVERIFY(qIsNaN(_simpleItem->specifiedGimbalYaw()));
    QVERIFY(qIsNaN(_simpleItem->missionGimbalYaw()));
    QCOMPARE(_simpleItem->dirty(), false);

    double gimbalYaw = 10.1234;
    _simpleItem->cameraSection()->setSpecifyGimbal(true);
    _simpleItem->cameraSection()->gimbalYaw()->setRawValue(gimbalYaw);
    QCOMPARE(_simpleItem->specifiedGimbalYaw(), gimbalYaw);
    QVERIFY(qIsNaN(_simpleItem->missionGimbalYaw()));
    QCOMPARE(_spyVisualItem->checkSignalsByMask(specifiedGimbalYawChangedMask), true);
    QCOMPARE(_simpleItem->dirty(), true);
}

309

310 311 312 313 314 315 316 317 318 319 320 321
void SimpleMissionItemTest::_testSpeedSection(void)
{
    // No flight speed
    QVERIFY(qIsNaN(_simpleItem->specifiedFlightSpeed()));
    QCOMPARE(_simpleItem->dirty(), false);

    double flightSpeed = 10.1234;
    _simpleItem->speedSection()->setSpecifyFlightSpeed(true);
    _simpleItem->speedSection()->flightSpeed()->setRawValue(flightSpeed);
    QCOMPARE(_simpleItem->specifiedFlightSpeed(), flightSpeed);
    QCOMPARE(_spyVisualItem->checkSignalsByMask(specifiedFlightSpeedChangedMask), true);
    QCOMPARE(_simpleItem->dirty(), true);
322
}