MissionControllerTest.cc

/*=====================================================================
 
 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 "MissionControllerTest.h"
#include "LinkManager.h"
#include "MultiVehicleManager.h"

UT_REGISTER_TEST(MissionControllerTest)

MissionControllerTest::MissionControllerTest(void)
    : _missionController(NULL)
{
    
}

void MissionControllerTest::cleanup(void)
{
    delete _missionController;

    MissionControllerManagerTest::cleanup();
}

void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
{
    MissionControllerManagerTest::_initForFirmwareType(firmwareType);

    _rgSignals[missionItemsChangedSignalIndex] =                SIGNAL(missionItemsChanged());
    _rgSignals[waypointLinesChangedSignalIndex] =               SIGNAL(waypointLinesChanged());
    _rgSignals[liveHomePositionAvailableChangedSignalIndex] =   SIGNAL(liveHomePositionAvailableChanged(bool));
    _rgSignals[liveHomePositionChangedSignalIndex] =            SIGNAL(liveHomePositionChanged(const QGeoCoordinate&));

    _missionController = new MissionController();
    Q_CHECK_PTR(_missionController);

    _multiSpy = new MultiSignalSpy();
    Q_CHECK_PTR(_multiSpy);
    QCOMPARE(_multiSpy->init(_missionController, _rgSignals, _cSignals), true);

    _missionController->start(false /* editMode */);

    // All signals should some through on start
    QCOMPARE(_multiSpy->checkOnlySignalByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask | liveHomePositionAvailableChangedSignalMask | liveHomePositionChangedSignalMask), true);
    _multiSpy->clearAllSignals();

    QmlObjectListModel* missionItems = _missionController->missionItems();
    QVERIFY(missionItems);

    // Empty vehicle only has home position
    QCOMPARE(missionItems->count(), 1);

    // Home position should be in first slot
    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
    QVERIFY(homeItem);
    QCOMPARE(homeItem->homePosition(), true);

    // Home should have no children
    QCOMPARE(homeItem->childItems()->count(), 0);

    // No waypoint lines
    QmlObjectListModel* waypointLines = _missionController->waypointLines();
    QVERIFY(waypointLines);
    QCOMPARE(waypointLines->count(), 0);

    // Should not have home position yet
    QCOMPARE(_missionController->liveHomePositionAvailable(), false);

    // AutoSync should be off by default
    QCOMPARE(_missionController->autoSync(), false);
}

void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
{
    _initForFirmwareType(firmwareType);

    // FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that
    // sets up an empty vehicle

    // APM stack doesn't support HOME_POSITION yet
    bool expectedHomePositionValid = firmwareType == MAV_AUTOPILOT_PX4 ? true : false;

    QmlObjectListModel* missionItems = _missionController->missionItems();
    QVERIFY(missionItems);
    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
    QVERIFY(homeItem);

    if (expectedHomePositionValid) {
        // Wait for the home position to show up

        if (!_missionController->liveHomePositionAvailable()) {
            QVERIFY(_multiSpy->waitForSignalByIndex(liveHomePositionChangedSignalIndex, 2000));

            // Once the home position shows up we get a number of addititional signals
            QCOMPARE(_multiSpy->checkOnlySignalsByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask | waypointLinesChangedSignalMask), true);

            // These should be signalled once
            QCOMPARE(_multiSpy->checkSignalByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask), true);

            // Waypoint lines get spit out multiple tiems
            QCOMPARE(_multiSpy->checkSignalByMask(waypointLinesChangedSignalMask), false);

            _multiSpy->clearAllSignals();
        }
    }

    QCOMPARE(homeItem->homePositionValid(), expectedHomePositionValid);
    QCOMPARE(_missionController->liveHomePositionAvailable(), expectedHomePositionValid);
    QCOMPARE(_missionController->liveHomePosition().isValid(), expectedHomePositionValid);
}

void MissionControllerTest::_testEmptyVehiclePX4(void)
{
    _testEmptyVehicleWorker(MAV_AUTOPILOT_PX4);
}

void MissionControllerTest::_testEmptyVehicleAPM(void)
{
    _testEmptyVehicleWorker(MAV_AUTOPILOT_ARDUPILOTMEGA);
}

void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
{
    _initForFirmwareType(firmwareType);

    QGeoCoordinate coordinate(37.803784, -122.462276);

    _missionController->addMissionItem(coordinate);

    QCOMPARE(_multiSpy->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true);

    QmlObjectListModel* missionItems = _missionController->missionItems();
    QVERIFY(missionItems);

    QCOMPARE(missionItems->count(), 2);

    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
    MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1));
    QVERIFY(homeItem);
    QVERIFY(item);

    QCOMPARE(item->command(), MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
    QCOMPARE(homeItem->childItems()->count(), 0);
    QCOMPARE(item->childItems()->count(), 0);

    int expectedLineCount;
    if (homeItem->homePositionValid()) {
        expectedLineCount = 1;
    } else {
        expectedLineCount = 0;
    }

    QmlObjectListModel* waypointLines = _missionController->waypointLines();
    QVERIFY(waypointLines);
    QCOMPARE(waypointLines->count(), expectedLineCount);
}

void MissionControllerTest::_testAddWayppointAPM(void)
{
    _testAddWaypointWorker(MAV_AUTOPILOT_ARDUPILOTMEGA);
}


void MissionControllerTest::_testAddWayppointPX4(void)
{
    _testAddWaypointWorker(MAV_AUTOPILOT_PX4);
}