MissionItemTest.cc 19.8 KB
Newer Older
1 2
/****************************************************************************
 *
Gus Grubba's avatar
Gus Grubba committed
3
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
4 5 6 7 8 9
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

Don Gagne's avatar
Don Gagne committed
10 11

#include "MissionItemTest.h"
12 13 14
#include "LinkManager.h"
#include "MultiVehicleManager.h"
#include "MissionItem.h"
15
#include "SimpleMissionItem.h"
Don Gagne's avatar
Don Gagne committed
16
#include "QGCApplication.h"
Don Gagne's avatar
Don Gagne committed
17

18 19 20 21 22 23 24 25
#if 0
const MissionItemTest::TestCase_t MissionItemTest::_rgTestCases[] = {
    { "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 0, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT,     10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
    { "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
    { "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 2, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
    { "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 3, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
    { "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 4, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND,         10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
    { "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
Don Gagne's avatar
Don Gagne committed
26
};
27 28
const size_t MissionItemTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
#endif
Don Gagne's avatar
Don Gagne committed
29

30
MissionItemTest::MissionItemTest(void)
31
    : _masterController(nullptr)
32
{
Don Gagne's avatar
Don Gagne committed
33 34 35 36 37
}

void MissionItemTest::init(void)
{
    UnitTest::init();
38
    _masterController = new PlanMasterController(this);
Don Gagne's avatar
Don Gagne committed
39 40 41 42
}

void MissionItemTest::cleanup(void)
{
43
    _masterController->deleteLater();
Don Gagne's avatar
Don Gagne committed
44
    UnitTest::cleanup();
45
}
Don Gagne's avatar
Don Gagne committed
46

47 48 49 50
// Test property get/set
void MissionItemTest::_testSetGet(void)
{
    MissionItem missionItem;
Don Gagne's avatar
Don Gagne committed
51

52 53
    missionItem.setSequenceNumber(1);
    QCOMPARE(missionItem.sequenceNumber(), 1);
Don Gagne's avatar
Don Gagne committed
54

55 56
    missionItem.setCommand(MAV_CMD_NAV_WAYPOINT);
    QCOMPARE(missionItem.command(), MAV_CMD_NAV_WAYPOINT);
Don Gagne's avatar
Don Gagne committed
57

58 59 60 61 62
    missionItem.setFrame(MAV_FRAME_LOCAL_NED);
    QCOMPARE(missionItem.frame(), MAV_FRAME_LOCAL_NED);
    QCOMPARE(missionItem.relativeAltitude(), false);
    missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
    QCOMPARE(missionItem.relativeAltitude(), true);
Don Gagne's avatar
Don Gagne committed
63

64 65
    missionItem.setParam1(1.0);
    QCOMPARE(missionItem.param1(), 1.0);
Don Gagne's avatar
Don Gagne committed
66

67 68
    missionItem.setParam2(2.0);
    QCOMPARE(missionItem.param2(), 2.0);
Don Gagne's avatar
Don Gagne committed
69

70 71
    missionItem.setParam3(3.0);
    QCOMPARE(missionItem.param3(), 3.0);
Don Gagne's avatar
Don Gagne committed
72

73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95
    missionItem.setParam4(4.0);
    QCOMPARE(missionItem.param4(), 4.0);

    missionItem.setParam5(5.0);
    QCOMPARE(missionItem.param5(), 5.0);

    missionItem.setParam6(6.0);
    QCOMPARE(missionItem.param6(), 6.0);

    missionItem.setParam7(7.0);
    QCOMPARE(missionItem.param7(), 7.0);

    QCOMPARE(missionItem.coordinate(), QGeoCoordinate(5.0, 6.0, 7.0));

    missionItem.setAutoContinue(false);
    QCOMPARE(missionItem.autoContinue(), false);

    missionItem.setIsCurrentItem(true);
    QCOMPARE(missionItem.isCurrentItem(), true);
}

// Test basic signalling
void MissionItemTest::_testSignals(void)
Don Gagne's avatar
Don Gagne committed
96
{
97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145
    MissionItem missionItem(1,                                  // sequenceNumber
                            MAV_CMD_NAV_WAYPOINT,               // command
                            MAV_FRAME_GLOBAL_RELATIVE_ALT,      // MAV_FRAME
                            1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,  // params
                            true,                               // autoContinue
                            true);                              // isCurrentItem

    enum {
        isCurrentItemChangedIndex = 0,
        sequenceNumberChangedIndex,
        maxSignalIndex
    };

    enum {
        isCurrentItemChangedMask =          1 << isCurrentItemChangedIndex,
        sequenceNumberChangedIndexMask =    1 << sequenceNumberChangedIndex
    };

    static const size_t cMissionItemSignals = maxSignalIndex;
    const char*         rgMissionItemSignals[cMissionItemSignals];

    rgMissionItemSignals[isCurrentItemChangedIndex] =   SIGNAL(isCurrentItemChanged(bool));
    rgMissionItemSignals[sequenceNumberChangedIndex] =  SIGNAL(sequenceNumberChanged(int));

    MultiSignalSpy* multiSpyMissionItem = new MultiSignalSpy();
    Q_CHECK_PTR(multiSpyMissionItem);
    QCOMPARE(multiSpyMissionItem->init(&missionItem, rgMissionItemSignals, cMissionItemSignals), true);

    // Validate isCurrentItemChanged signalling
    missionItem.setIsCurrentItem(true);
    QVERIFY(multiSpyMissionItem->checkNoSignals());
    missionItem.setIsCurrentItem(false);
    QVERIFY(multiSpyMissionItem->checkOnlySignalByMask(isCurrentItemChangedMask));
    QSignalSpy* spy = multiSpyMissionItem->getSpyByIndex(isCurrentItemChangedIndex);
    QList<QVariant> signalArgs = spy->takeFirst();
    QCOMPARE(signalArgs.count(), 1);
    QCOMPARE(signalArgs[0].toBool(), false);

    multiSpyMissionItem->clearAllSignals();

    // Validate sequenceNumberChanged signalling
    missionItem.setSequenceNumber(1);
    QVERIFY(multiSpyMissionItem->checkNoSignals());
    missionItem.setSequenceNumber(2);
    QVERIFY(multiSpyMissionItem->checkOnlySignalByMask(sequenceNumberChangedIndexMask));
    spy = multiSpyMissionItem->getSpyByIndex(sequenceNumberChangedIndex);
    signalArgs = spy->takeFirst();
    QCOMPARE(signalArgs.count(), 1);
    QCOMPARE(signalArgs[0].toInt(), 2);
Don Gagne's avatar
Don Gagne committed
146 147
}

148 149
// Test signalling associated with contained facts
void MissionItemTest::_testFactSignals(void)
Don Gagne's avatar
Don Gagne committed
150
{
151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239
    MissionItem missionItem(1,                                  // sequenceNumber
                            MAV_CMD_NAV_WAYPOINT,               // command
                            MAV_FRAME_GLOBAL_RELATIVE_ALT,      // MAV_FRAME
                            1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0,  // params
                            true,                               // autoContinue
                            true);                              // isCurrentItem


    // command
    QSignalSpy commandSpy(&missionItem._commandFact, SIGNAL(valueChanged(QVariant)));
    missionItem.setCommand(MAV_CMD_NAV_WAYPOINT);
    QCOMPARE(commandSpy.count(), 0);
    missionItem.setCommand(MAV_CMD_NAV_ALTITUDE_WAIT);
    QCOMPARE(commandSpy.count(), 1);
    QList<QVariant> arguments = commandSpy.takeFirst();
    QCOMPARE(arguments.count(), 1);
    QCOMPARE((MAV_CMD)arguments.at(0).toInt(), MAV_CMD_NAV_ALTITUDE_WAIT);

    // frame
    QSignalSpy frameSpy(&missionItem._frameFact, SIGNAL(valueChanged(QVariant)));
    missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
    QCOMPARE(frameSpy.count(), 0);
    missionItem.setFrame(MAV_FRAME_BODY_NED);
    QCOMPARE(frameSpy.count(), 1);
    arguments = frameSpy.takeFirst();
    QCOMPARE(arguments.count(), 1);
    QCOMPARE((MAV_FRAME)arguments.at(0).toInt(), MAV_FRAME_BODY_NED);

    // param1
    QSignalSpy param1Spy(&missionItem._param1Fact, SIGNAL(valueChanged(QVariant)));
    missionItem.setParam1(1.0);
    QCOMPARE(param1Spy.count(), 0);
    missionItem.setParam1(2.0);
    QCOMPARE(param1Spy.count(), 1);
    arguments = param1Spy.takeFirst();
    QCOMPARE(arguments.count(), 1);
    QCOMPARE(arguments.at(0).toDouble(), 2.0);

    // param2
    QSignalSpy param2Spy(&missionItem._param2Fact, SIGNAL(valueChanged(QVariant)));
    missionItem.setParam2(2.0);
    QCOMPARE(param2Spy.count(), 0);
    missionItem.setParam2(3.0);
    QCOMPARE(param2Spy.count(), 1);
    arguments = param2Spy.takeFirst();
    QCOMPARE(arguments.count(), 1);
    QCOMPARE(arguments.at(0).toDouble(), 3.0);

    // param3
    QSignalSpy param3Spy(&missionItem._param3Fact, SIGNAL(valueChanged(QVariant)));
    missionItem.setParam3(3.0);
    QCOMPARE(param3Spy.count(), 0);
    missionItem.setParam3(4.0);
    QCOMPARE(param3Spy.count(), 1);
    arguments = param3Spy.takeFirst();
    QCOMPARE(arguments.count(), 1);
    QCOMPARE(arguments.at(0).toDouble(), 4.0);

    // param4
    QSignalSpy param4Spy(&missionItem._param4Fact, SIGNAL(valueChanged(QVariant)));
    missionItem.setParam4(4.0);
    QCOMPARE(param4Spy.count(), 0);
    missionItem.setParam4(5.0);
    QCOMPARE(param4Spy.count(), 1);
    arguments = param4Spy.takeFirst();
    QCOMPARE(arguments.count(), 1);
    QCOMPARE(arguments.at(0).toDouble(), 5.0);

    // param6
    QSignalSpy param6Spy(&missionItem._param6Fact, SIGNAL(valueChanged(QVariant)));
    missionItem.setParam6(6.0);
    QCOMPARE(param6Spy.count(), 0);
    missionItem.setParam6(7.0);
    QCOMPARE(param6Spy.count(), 1);
    arguments = param6Spy.takeFirst();
    QCOMPARE(arguments.count(), 1);
    QCOMPARE(arguments.at(0).toDouble(), 7.0);

    // param7
    QSignalSpy param7Spy(&missionItem._param7Fact, SIGNAL(valueChanged(QVariant)));
    missionItem.setParam7(7.0);
    QCOMPARE(param7Spy.count(), 0);
    missionItem.setParam7(8.0);
    QCOMPARE(param7Spy.count(), 1);
    arguments = param7Spy.takeFirst();
    QCOMPARE(arguments.count(), 1);
    QCOMPARE(arguments.at(0).toDouble(), 8.0);
}

240
void MissionItemTest::_checkExpectedMissionItem(const MissionItem& missionItem, bool allNaNs)
241
{
Don Gagne's avatar
Don Gagne committed
242
    QCOMPARE(missionItem.sequenceNumber(), _seq);
243
    QCOMPARE(missionItem.isCurrentItem(), false);
244 245 246
    QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
    QCOMPARE(missionItem.command(), (MAV_CMD)80);
    QCOMPARE(missionItem.autoContinue(), true);
247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263
    if (allNaNs) {
        QVERIFY(qIsNaN(missionItem.param1()));
        QVERIFY(qIsNaN(missionItem.param2()));
        QVERIFY(qIsNaN(missionItem.param3()));
        QVERIFY(qIsNaN(missionItem.param4()));
        QVERIFY(qIsNaN(missionItem.param5()));
        QVERIFY(qIsNaN(missionItem.param6()));
        QVERIFY(qIsNaN(missionItem.param7()));
    } else {
        QCOMPARE(missionItem.param1(), 10.0);
        QCOMPARE(missionItem.param2(), 20.0);
        QCOMPARE(missionItem.param3(), 30.0);
        QCOMPARE(missionItem.param4(), 40.0);
        QCOMPARE(missionItem.param5(), -10.0);
        QCOMPARE(missionItem.param6(), -20.0);
        QCOMPARE(missionItem.param7(), -30.0);
    }
264 265
}

266 267 268 269 270 271 272 273 274 275 276 277 278 279 280
void MissionItemTest::_testLoadFromStream(void)
{
    MissionItem missionItem;

    QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
    QTextStream testStream(&testString, QIODevice::ReadOnly);

    QVERIFY(missionItem.load(testStream));
    _checkExpectedMissionItem(missionItem);
}

void MissionItemTest::_testSimpleLoadFromStream(void)
{
    // We specifically test SimpleMissionItem loading as well since it has additional
    // signalling which can affect values.
281
    SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, nullptr);
282 283 284 285 286 287 288 289

    QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
    QTextStream testStream(&testString, QIODevice::ReadOnly);

    QVERIFY(simpleMissionItem.load(testStream));
    _checkExpectedMissionItem(simpleMissionItem.missionItem());
}

Don Gagne's avatar
Don Gagne committed
290
void MissionItemTest::_testLoadFromJsonV1(void)
291 292 293
{
    MissionItem missionItem;
    QString     errorString;
294
    QJsonObject jsonObject = _createV1Json();
295

296
    // V1 format has param 1-4 in separate items instead of in params array
Don Gagne's avatar
Don Gagne committed
297 298 299

    QStringList removeKeys;
    removeKeys << MissionItem::_jsonParam1Key << MissionItem::_jsonParam2Key << MissionItem::_jsonParam3Key << MissionItem::_jsonParam4Key;
300
    for (const QString& removeKey: removeKeys) {
Don Gagne's avatar
Don Gagne committed
301 302 303 304 305 306 307 308 309
        QJsonObject badObject = jsonObject;
        badObject.remove(removeKey);
        QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
        QVERIFY(!errorString.isEmpty());
        qDebug() << errorString;
    }

    // Test good load

310 311 312 313 314
    bool success = missionItem.load(jsonObject, _seq, errorString);
    if (!success) {
        qDebug() << errorString;
    }
    QVERIFY(success);
Don Gagne's avatar
Don Gagne committed
315 316 317 318 319 320 321
    _checkExpectedMissionItem(missionItem);
}

void MissionItemTest::_testLoadFromJsonV2(void)
{
    MissionItem missionItem;
    QString     errorString;
322
    QJsonObject jsonObject = _createV2Json();
Don Gagne's avatar
Don Gagne committed
323

324 325 326
    // Test missing key detection

    QStringList removeKeys;
327
    removeKeys << MissionItem::_jsonCoordinateKey;
328
    for(const QString& removeKey: removeKeys) {
329 330
        QJsonObject badObject = jsonObject;
        badObject.remove(removeKey);
Don Gagne's avatar
Don Gagne committed
331
        QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
332 333 334 335 336 337 338 339 340
        QVERIFY(!errorString.isEmpty());
        qDebug() << errorString;
    }

    // Test bad coordinate variations

    QJsonObject badObject = jsonObject;
    badObject.remove("coordinate");
    badObject["coordinate"] = 10;
Don Gagne's avatar
Don Gagne committed
341
    QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
342 343 344
    QVERIFY(!errorString.isEmpty());
    qDebug() << errorString;

345 346
    QJsonArray  badCoordinateArray;
    badCoordinateArray << -10.0 << -20.0 ;
347 348 349
    badObject = jsonObject;
    badObject.remove("coordinate");
    badObject["coordinate"] = badCoordinateArray;
Don Gagne's avatar
Don Gagne committed
350
    QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
351 352 353
    QVERIFY(!errorString.isEmpty());
    qDebug() << errorString;

354 355
    QJsonArray badCoordinateArray_second;
    badCoordinateArray_second << -10.0 << -20.0 << true;
356 357
    badObject = jsonObject;
    badObject.remove("coordinate");
358
    badObject["coordinate"] = badCoordinateArray_second;
Don Gagne's avatar
Don Gagne committed
359
    QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
360 361 362
    QVERIFY(!errorString.isEmpty());
    qDebug() << errorString;

363 364 365 366
    QJsonArray  badCoordinateArray2;
    badCoordinateArray2 << 1 << 2;
    QJsonArray badCoordinateArray_third;
    badCoordinateArray_third << -10.0 << -20.0 << badCoordinateArray2;
367 368
    badObject = jsonObject;
    badObject.remove("coordinate");
369
    badObject["coordinate"] = badCoordinateArray_third;
Don Gagne's avatar
Don Gagne committed
370
    QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
371 372 373
    QVERIFY(!errorString.isEmpty());
    qDebug() << errorString;

374
    // Test good load
375

376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397
    bool result = missionItem.load(jsonObject, _seq, errorString);
    if (!result) {
        qDebug() << errorString;
        QVERIFY(result);
    }
    _checkExpectedMissionItem(missionItem);
}

void MissionItemTest::_testLoadFromJsonV3(void)
{
    MissionItem missionItem;
    QString     errorString;
    QJsonObject jsonObject = _createV3Json();

    // Test missing key detection

    QStringList removeKeys;
    removeKeys << MissionItem::_jsonAutoContinueKey <<
                  MissionItem::_jsonCommandKey <<
                  MissionItem::_jsonFrameKey <<
                  MissionItem::_jsonParamsKey <<
                  VisualMissionItem::jsonTypeKey;
398
    for(const QString& removeKey: removeKeys) {
399 400 401 402 403 404 405 406 407 408 409 410 411 412 413
        QJsonObject badObject = jsonObject;
        badObject.remove(removeKey);
        QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
        QVERIFY(!errorString.isEmpty());
        qDebug() << errorString;
    }

    // Bad type
    QJsonObject badObject = jsonObject;
    badObject[VisualMissionItem::jsonTypeKey] = "foo";
    QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
    QVERIFY(!errorString.isEmpty());
    qDebug() << errorString;

    // Incorrect param count
414
    badObject = jsonObject;
415 416 417
    QJsonArray rgParam = badObject[MissionItem::_jsonParamsKey].toArray();
    rgParam.removeFirst();
    badObject[MissionItem::_jsonParamsKey] = rgParam;
Don Gagne's avatar
Don Gagne committed
418
    QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
419 420 421 422 423
    QVERIFY(!errorString.isEmpty());
    qDebug() << errorString;

    // Test good load

Don Gagne's avatar
Don Gagne committed
424 425 426 427 428
    bool result = missionItem.load(jsonObject, _seq, errorString);
    if (!result) {
        qDebug() << errorString;
        QVERIFY(result);
    }
429 430 431
    _checkExpectedMissionItem(missionItem);
}

432 433 434 435 436 437 438 439 440 441 442 443 444 445
void MissionItemTest::_testLoadFromJsonV3NaN(void)
{
    MissionItem missionItem;
    QString     errorString;
    QJsonObject jsonObject = _createV3Json(true /* allNaNs */);

    bool result = missionItem.load(jsonObject, _seq, errorString);
    if (!result) {
        qDebug() << errorString;
        QVERIFY(result);
    }
    _checkExpectedMissionItem(missionItem, true /* allNaNs */);
}

446 447 448 449 450
void MissionItemTest::_testSimpleLoadFromJson(void)
{
    // We specifically test SimpleMissionItem loading as well since it has additional
    // signalling which can affect values.

451
    SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, nullptr);
452
    QString     errorString;
453 454
    QJsonArray  coordinateArray;
    QJsonObject jsonObject;
Don Gagne's avatar
Don Gagne committed
455 456 457 458 459 460 461 462 463 464 465 466

    coordinateArray << -10.0 << -20.0 <<-30.0;
    jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
    jsonObject.insert(MissionItem::_jsonCommandKey, 80);
    jsonObject.insert(MissionItem::_jsonFrameKey, 3);
    jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
    jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);

    QJsonArray rgParams =  { 10, 20, 30, 40 };
    jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);

    QVERIFY(simpleMissionItem.load(jsonObject, _seq, errorString));
467
    _checkExpectedMissionItem(simpleMissionItem.missionItem());
468 469 470 471 472
}

void MissionItemTest::_testSaveToJson(void)
{
    MissionItem missionItem;
473
    QString     errorString;
474

475 476
    QJsonObject jsonObject = _createV3Json(false /* allNaNs */);
    QVERIFY(missionItem.load(jsonObject, _seq, errorString));
477
    missionItem.save(jsonObject);
478
    QCOMPARE(jsonObject.contains(MissionItem::_jsonCoordinateKey), false);
Don Gagne's avatar
Don Gagne committed
479
    QVERIFY(missionItem.load(jsonObject, _seq, errorString));
480
    _checkExpectedMissionItem(missionItem, false /* allNaNs */);
481

482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543
    jsonObject = _createV3Json(true /* allNaNs */);
    QVERIFY(missionItem.load(jsonObject, _seq, errorString));
    missionItem.save(jsonObject);
    QVERIFY(missionItem.load(jsonObject, _seq, errorString));
    _checkExpectedMissionItem(missionItem, true /* allNaNs */);
}

QJsonObject MissionItemTest::_createV1Json(void)
{
    QJsonObject jsonObject;
    QJsonArray  coordinateArray;

    coordinateArray << -10.0 << -20.0 <<-30.0;
    jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
    jsonObject.insert(MissionItem::_jsonCommandKey, 80);
    jsonObject.insert(MissionItem::_jsonFrameKey, 3);
    jsonObject.insert(MissionItem::_jsonParam1Key, 10);
    jsonObject.insert(MissionItem::_jsonParam2Key, 20);
    jsonObject.insert(MissionItem::_jsonParam3Key, 30);
    jsonObject.insert(MissionItem::_jsonParam4Key, 40);
    jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
    jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);

    return jsonObject;
}

QJsonObject MissionItemTest::_createV2Json(void)
{
    QJsonObject jsonObject;
    QJsonArray  coordinateArray;

    coordinateArray << -10.0 << -20.0 <<-30.0;
    jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
    jsonObject.insert(MissionItem::_jsonCommandKey, 80);
    jsonObject.insert(MissionItem::_jsonFrameKey, 3);
    jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
    jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);

    QJsonArray rgParams =  { 10, 20, 30, 40 };
    jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);

    return jsonObject;
}

QJsonObject MissionItemTest::_createV3Json(bool allNaNs)
{
    QJsonObject jsonObject;

    jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
    jsonObject.insert(MissionItem::_jsonCommandKey, 80);
    jsonObject.insert(MissionItem::_jsonFrameKey, 3);
    jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);

    if (allNaNs) {
        QJsonArray rgParams =  { NAN, NAN, NAN, NAN, NAN, NAN, NAN };
        jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
    } else {
        QJsonArray rgParams =  { 10, 20, 30, 40, -10, -20, -30 };
        jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
    }

    return jsonObject;
544
}