SurveyMissionItemTest.cc 10.5 KB
Newer Older
1 2 3 4 5 6 7 8
/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/
9

10
#include "SurveyMissionItemTest.h"
Don Gagne's avatar
Don Gagne committed
11
#include "QGCApplication.h"
12

13
SurveyMissionItemTest::SurveyMissionItemTest(void)
Don Gagne's avatar
Don Gagne committed
14 15
    : _offlineVehicle(NULL)
{
16
    _polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) <<
Don Gagne's avatar
Don Gagne committed
17
                   QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124);
18 19
}

20
void SurveyMissionItemTest::init(void)
21
{
Don Gagne's avatar
Don Gagne committed
22 23 24 25 26 27 28 29 30 31 32 33 34 35
    UnitTest::init();

    _rgSurveySignals[gridPointsChangedIndex] =              SIGNAL(gridPointsChanged());
    _rgSurveySignals[cameraShotsChangedIndex] =             SIGNAL(cameraShotsChanged(int));
    _rgSurveySignals[coveredAreaChangedIndex] =             SIGNAL(coveredAreaChanged(double));
    _rgSurveySignals[cameraValueChangedIndex] =             SIGNAL(cameraValueChanged());
    _rgSurveySignals[gridTypeChangedIndex] =                SIGNAL(gridTypeChanged(QString));
    _rgSurveySignals[timeBetweenShotsChangedIndex] =        SIGNAL(timeBetweenShotsChanged());
    _rgSurveySignals[cameraOrientationFixedChangedIndex] =  SIGNAL(cameraOrientationFixedChanged(bool));
    _rgSurveySignals[refly90DegreesChangedIndex] =          SIGNAL(refly90DegreesChanged(bool));
    _rgSurveySignals[dirtyChangedIndex] =                   SIGNAL(dirtyChanged(bool));

    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
    _surveyItem = new SurveyMissionItem(_offlineVehicle, this);
DonLakeFlyer's avatar
DonLakeFlyer committed
36
    _surveyItem->setTurnaroundDist(0);  // Unit test written for no turnaround distance
DonLakeFlyer's avatar
DonLakeFlyer committed
37
    _surveyItem->setDirty(false);
38
    _mapPolygon = _surveyItem->mapPolygon();
39 40 41 42 43 44 45

    // It's important to 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.

    _multiSpy = new MultiSignalSpy();
    Q_CHECK_PTR(_multiSpy);
Don Gagne's avatar
Don Gagne committed
46
    QCOMPARE(_multiSpy->init(_surveyItem, _rgSurveySignals, _cSurveySignals), true);
47 48
}

49
void SurveyMissionItemTest::cleanup(void)
50
{
51
    delete _surveyItem;
Don Gagne's avatar
Don Gagne committed
52
    delete _offlineVehicle;
53 54 55
    delete _multiSpy;
}

56
void SurveyMissionItemTest::_testDirty(void)
57
{
58 59 60
    QVERIFY(!_surveyItem->dirty());
    _surveyItem->setDirty(false);
    QVERIFY(!_surveyItem->dirty());
61
    QVERIFY(_multiSpy->checkNoSignals());
Don Gagne's avatar
Don Gagne committed
62

63 64
    _surveyItem->setDirty(true);
    QVERIFY(_surveyItem->dirty());
65 66 67
    QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
    QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
    _multiSpy->clearAllSignals();
Don Gagne's avatar
Don Gagne committed
68

69 70
    _surveyItem->setDirty(false);
    QVERIFY(!_surveyItem->dirty());
71 72
    QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
    QVERIFY(!_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
Don Gagne's avatar
Don Gagne committed
73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96
    _multiSpy->clearAllSignals();

    // These facts should set dirty when changed
    QList<Fact*> rgFacts;
    rgFacts << _surveyItem->gridAltitude() << _surveyItem->gridAngle() << _surveyItem->gridSpacing() << _surveyItem->turnaroundDist() << _surveyItem->cameraTriggerDistance() <<
               _surveyItem->gridAltitudeRelative() << _surveyItem->cameraTriggerInTurnaround() << _surveyItem->hoverAndCapture();
    foreach(Fact* fact, rgFacts) {
        qDebug() << fact->name();
        QVERIFY(!_surveyItem->dirty());
        if (fact->typeIsBool()) {
            fact->setRawValue(!fact->rawValue().toBool());
        } else {
            fact->setRawValue(fact->rawValue().toDouble() + 1);
        }
        QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
        QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
        _surveyItem->setDirty(false);
        _multiSpy->clearAllSignals();
    }
    rgFacts.clear();

    // These facts should not change dirty bit
    rgFacts << _surveyItem->groundResolution() << _surveyItem->frontalOverlap() << _surveyItem->sideOverlap() << _surveyItem->cameraSensorWidth() << _surveyItem->cameraSensorHeight() <<
               _surveyItem->cameraResolutionWidth() << _surveyItem->cameraResolutionHeight() << _surveyItem->cameraFocalLength() << _surveyItem->cameraOrientationLandscape() <<
97
               _surveyItem->fixedValueIsAltitude() << _surveyItem->camera() << _surveyItem->manualGrid();
Don Gagne's avatar
Don Gagne committed
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
    foreach(Fact* fact, rgFacts) {
        qDebug() << fact->name();
        QVERIFY(!_surveyItem->dirty());
        if (fact->typeIsBool()) {
            fact->setRawValue(!fact->rawValue().toBool());
        } else {
            fact->setRawValue(fact->rawValue().toDouble() + 1);
        }
        QVERIFY(_multiSpy->checkNoSignalByMask(dirtyChangedMask));
        QVERIFY(!_surveyItem->dirty());
        _multiSpy->clearAllSignals();
    }
    rgFacts.clear();
}

void SurveyMissionItemTest::_testCameraValueChanged(void)
{
    // These facts should trigger cameraValueChanged when changed
    QList<Fact*> rgFacts;
    rgFacts << _surveyItem->groundResolution() << _surveyItem->frontalOverlap() << _surveyItem->sideOverlap() << _surveyItem->cameraSensorWidth() << _surveyItem->cameraSensorHeight() <<
               _surveyItem->cameraResolutionWidth() << _surveyItem->cameraResolutionHeight() << _surveyItem->cameraFocalLength() << _surveyItem->cameraOrientationLandscape();
    foreach(Fact* fact, rgFacts) {
        qDebug() << fact->name();
        if (fact->typeIsBool()) {
            fact->setRawValue(!fact->rawValue().toBool());
        } else {
            fact->setRawValue(fact->rawValue().toDouble() + 1);
        }
        QVERIFY(_multiSpy->checkSignalByMask(cameraValueChangedMask));
        _multiSpy->clearAllSignals();
    }
    rgFacts.clear();

    // These facts should not trigger cameraValueChanged
    rgFacts << _surveyItem->gridAltitude() << _surveyItem->gridAngle() << _surveyItem->gridSpacing() << _surveyItem->turnaroundDist() << _surveyItem->cameraTriggerDistance() <<
               _surveyItem->gridAltitudeRelative() << _surveyItem->cameraTriggerInTurnaround() << _surveyItem->hoverAndCapture() <<
               _surveyItem->fixedValueIsAltitude() << _surveyItem->camera() << _surveyItem->manualGrid();
    foreach(Fact* fact, rgFacts) {
        qDebug() << fact->name();
        if (fact->typeIsBool()) {
            fact->setRawValue(!fact->rawValue().toBool());
        } else {
            fact->setRawValue(fact->rawValue().toDouble() + 1);
        }
        QVERIFY(_multiSpy->checkNoSignalByMask(cameraValueChangedMask));
        _multiSpy->clearAllSignals();
    }
    rgFacts.clear();
146 147
}

148
void SurveyMissionItemTest::_testCameraTrigger(void)
149
{
150
#if 0
151
    QCOMPARE(_surveyItem->property("cameraTrigger").toBool(), true);
152 153 154 155

    // Set up a grid

    for (int i=0; i<3; i++) {
156
        _mapPolygon->appendVertex(_polyPoints[i]);
157 158
    }

159
    _surveyItem->setDirty(false);
160 161
    _multiSpy->clearAllSignals();

162
    int lastSeq = _surveyItem->lastSequenceNumber();
163 164
    QVERIFY(lastSeq > 0);

165
    // Turning off camera triggering should remove two camera trigger mission items, this should trigger:
166 167 168
    //      lastSequenceNumberChanged
    //      dirtyChanged

169
    _surveyItem->setProperty("cameraTrigger", false);
170
    QVERIFY(_multiSpy->checkOnlySignalByMask(lastSequenceNumberChangedMask | dirtyChangedMask | cameraTriggerChangedMask));
171
    QCOMPARE(_multiSpy->pullIntFromSignalIndex(lastSequenceNumberChangedIndex), lastSeq - 2);
172

173
    _surveyItem->setDirty(false);
174 175
    _multiSpy->clearAllSignals();

176
    // Turn on camera triggering and make sure things go back to previous count
177

178
    _surveyItem->setProperty("cameraTrigger", true);
179 180
    QVERIFY(_multiSpy->checkOnlySignalByMask(lastSequenceNumberChangedMask | dirtyChangedMask | cameraTriggerChangedMask));
    QCOMPARE(_multiSpy->pullIntFromSignalIndex(lastSequenceNumberChangedIndex), lastSeq);
Don Gagne's avatar
Don Gagne committed
181
#endif
182
}
183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253

// Clamp expected grid angle from 0<->180. We don't care about opposite angles like 90/270
double SurveyMissionItemTest::_clampGridAngle180(double gridAngle)
{
    if (gridAngle >= 0.0) {
        if (gridAngle == 360.0) {
            gridAngle = 0.0;
        } else if (gridAngle >= 180.0) {
            gridAngle -= 180.0;
        }
    } else {
        if (gridAngle < -180.0) {
            gridAngle += 360.0;
        } else {
            gridAngle += 180.0;
        }
    }
    return gridAngle;
}

void SurveyMissionItemTest::_testGridAngle(void)
{
    QGCMapPolygon* mapPolygon = _surveyItem->mapPolygon();

    for (int i=0; i<_polyPoints.count(); i++) {
        QGeoCoordinate& vertex = _polyPoints[i];
        mapPolygon->appendVertex(vertex);
    }

    for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
        _surveyItem->gridAngle()->setRawValue(gridAngle);

        QVariantList gridPoints = _surveyItem->gridPoints();
        QGeoCoordinate firstTransectEntry = gridPoints[0].value<QGeoCoordinate>();
        QGeoCoordinate firstTransectExit = gridPoints[1].value<QGeoCoordinate>();
        double azimuth = firstTransectEntry.azimuthTo(firstTransectExit);
        //qDebug() << gridAngle << azimuth << _clampGridAngle180(gridAngle) << _clampGridAngle180(azimuth);
        QCOMPARE((int)_clampGridAngle180(gridAngle), (int)_clampGridAngle180(azimuth));
    }
}

void SurveyMissionItemTest::_testEntryLocation(void)
{
    QGCMapPolygon* mapPolygon = _surveyItem->mapPolygon();

    for (int i=0; i<_polyPoints.count(); i++) {
        QGeoCoordinate& vertex = _polyPoints[i];
        mapPolygon->appendVertex(vertex);
    }

    for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
        _surveyItem->gridAngle()->setRawValue(gridAngle);

        QList<QGeoCoordinate> rgSeenEntryCoords;
        QList<int> rgEntryLocation;
        rgEntryLocation << SurveyMissionItem::EntryLocationTopLeft
                        << SurveyMissionItem::EntryLocationTopRight
                        << SurveyMissionItem::EntryLocationBottomLeft
                        << SurveyMissionItem::EntryLocationBottomRight;

        // Validate that each entry location is unique
        for (int i=0; i<rgEntryLocation.count(); i++) {
            int entryLocation = rgEntryLocation[i];

            _surveyItem->gridEntryLocation()->setRawValue(entryLocation);
            QVERIFY(!rgSeenEntryCoords.contains(_surveyItem->coordinate()));
            rgSeenEntryCoords << _surveyItem->coordinate();
        }
        rgSeenEntryCoords.clear();
    }
}