SimpleMissionItemTest.cc 15.1 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.
 *
 ****************************************************************************/

10 11

#include "SimpleMissionItemTest.h"
12
#include "QGCApplication.h"
13
#include "QGroundControlQmlGlobal.h"
14
#include "SettingsManager.h"
15 16 17

const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
    { MAV_CMD_NAV_WAYPOINT,     MAV_FRAME_GLOBAL_RELATIVE_ALT },
18
    { MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL },
19
    { MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
20
    { MAV_CMD_NAV_LOITER_TIME,  MAV_FRAME_GLOBAL },
21
    { MAV_CMD_NAV_LAND,         MAV_FRAME_GLOBAL_RELATIVE_ALT },
22
    { MAV_CMD_NAV_TAKEOFF,      MAV_FRAME_GLOBAL },
23 24 25 26
    { MAV_CMD_DO_JUMP,          MAV_FRAME_MISSION },
};

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

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterUnlim[] = {
Don Gagne's avatar
Don Gagne committed
31
    { "Radius",     30.1234567 },
32 33 34
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTurns[] = {
Don Gagne's avatar
Don Gagne committed
35 36
    { "Radius",     30.1234567 },
    { "Turns",      10.1234567 },
37 38 39
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTime[] = {
Don Gagne's avatar
Don Gagne committed
40 41
    { "Radius",     30.1234567 },
    { "Hold",       10.1234567 },
42 43 44
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTakeoff[] = {
Don Gagne's avatar
Don Gagne committed
45
    { "Pitch",      10.1234567 },
46 47 48
};

const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = {
Don Gagne's avatar
Don Gagne committed
49 50
    { "Item #",     10.1234567 },
    { "Repeat",     20.1234567 },
51 52 53
};

const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = {
54
    // Text field facts count                                                                                                   Fact Values                                         Altitude    Altitude Mode
55 56 57 58 59 60 61
    { sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]),             SimpleMissionItemTest::_rgFactValuesWaypoint,       70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]),       SimpleMissionItemTest::_rgFactValuesLoiterUnlim,    70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]),       SimpleMissionItemTest::_rgFactValuesLoiterTurns,    70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]),         SimpleMissionItemTest::_rgFactValuesLoiterTime,     70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
    { 0,                                                                                                                        nullptr,                                               70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
    { sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]),               SimpleMissionItemTest::_rgFactValuesTakeoff,        70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
    { sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]),                 SimpleMissionItemTest::_rgFactValuesDoJump,         qQNaN(),    QGroundControlQmlGlobal::AltitudeModeRelative },
62 63 64
};

SimpleMissionItemTest::SimpleMissionItemTest(void)
65
    : _simpleItem(nullptr)
66 67 68 69
{
    
}

Don Gagne's avatar
Don Gagne committed
70 71
void SimpleMissionItemTest::init(void)
{
72 73
    VisualMissionItemTest::init();

74
    rgSimpleItemSignals[commandChangedIndex] =                          SIGNAL(commandChanged(int));
75
    rgSimpleItemSignals[altitudeModeChangedIndex] =                     SIGNAL(altitudeModeChanged());
76 77 78
    rgSimpleItemSignals[friendlyEditAllowedChangedIndex] =              SIGNAL(friendlyEditAllowedChanged(bool));
    rgSimpleItemSignals[headingDegreesChangedIndex] =                   SIGNAL(headingDegreesChanged(double));
    rgSimpleItemSignals[rawEditChangedIndex] =                          SIGNAL(rawEditChanged(bool));
79 80
    rgSimpleItemSignals[cameraSectionChangedIndex] =                    SIGNAL(cameraSectionChanged(QObject*));
    rgSimpleItemSignals[speedSectionChangedIndex] =                     SIGNAL(speedSectionChanged(QObject*));
81
    rgSimpleItemSignals[coordinateHasRelativeAltitudeChangedIndex] =    SIGNAL(coordinateHasRelativeAltitudeChanged(bool));
82 83 84 85 86 87 88 89 90 91 92 93 94

    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
95
    _simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, missionItem, this);
96 97 98 99

    // 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
100

101 102
    _spySimpleItem = new MultiSignalSpy();
    QCOMPARE(_spySimpleItem->init(_simpleItem, rgSimpleItemSignals, cSimpleItemSignals), true);
103
    VisualMissionItemTest::_createSpy(_simpleItem, &_spyVisualItem);
Don Gagne's avatar
Don Gagne committed
104 105 106 107
}

void SimpleMissionItemTest::cleanup(void)
{
108 109
    delete _simpleItem;
    VisualMissionItemTest::cleanup();
Don Gagne's avatar
Don Gagne committed
110 111
}

112 113
void SimpleMissionItemTest::_testEditorFacts(void)
{
114
    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
115

116 117 118 119
    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
120
        qDebug() << "Command" << info->command;
121 122 123 124 125 126 127 128 129 130 131 132 133
        
        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
134
        SimpleMissionItem simpleMissionItem(vehicle, false /* flyView */, missionItem, nullptr);
135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153

        // 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;
                }
            }
            
154
            qDebug() << "textFieldFact" << fact->name();
155 156 157 158
            QVERIFY(found);
        }
        QCOMPARE(factCount, expected->cFactValues);

159 160 161 162
        if (!qIsNaN(expected->altValue)) {
            QCOMPARE(simpleMissionItem.altitudeMode(), expected->altMode);
            QCOMPARE(simpleMissionItem.altitude()->rawValue().toDouble(), expected->altValue);
        }
163
    }
164 165

    delete vehicle;
166 167 168 169
}

void SimpleMissionItemTest::_testDefaultValues(void)
{
170
    SimpleMissionItem item(_offlineVehicle, false /* flyView */, nullptr);
171 172 173

    item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
    item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
174
    QCOMPARE(item.missionItem().param7(), qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble());
175 176 177 178
}

void SimpleMissionItemTest::_testSignals(void)
{
179
    MissionItem& missionItem = _simpleItem->missionItem();
180

181 182 183 184
    // 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());
185 186 187 188 189 190

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

    // Check that actually changing coordinate signals correctly
191 192 193 194 195 196
    _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();
197 198

    // Altitude in coordinate is not used in setCoordinate
199
    _simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5(), missionItem.param6(), missionItem.param7() + 1));
200 201
    QVERIFY(_spyVisualItem->checkNoSignals());
    QVERIFY(_spySimpleItem->checkNoSignals());
202
    _spyVisualItem->clearAllSignals();
203 204 205

    // Check dirtyChanged signalling

206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226
    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();
227

228
    _simpleItem->setAltitudeMode(_simpleItem->altitudeMode() == QGroundControlQmlGlobal::AltitudeModeRelative ? QGroundControlQmlGlobal::AltitudeModeAbsolute : QGroundControlQmlGlobal::AltitudeModeRelative);
229
    QVERIFY(_spySimpleItem->checkOnlySignalByMask(dirtyChangedMask | friendlyEditAllowedChangedMask | altitudeModeChangedMask | coordinateHasRelativeAltitudeChangedMask));
230 231 232 233 234 235 236 237 238
    _spySimpleItem->clearAllSignals();
    _spyVisualItem->clearAllSignals();

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

239
    _simpleItem->setCommand(MAV_CMD_NAV_WAYPOINT);
240 241 242
    QVERIFY(_spyVisualItem->checkNoSignals());
    QVERIFY(_spySimpleItem->checkNoSignals());

243
    _simpleItem->setCommand(MAV_CMD_NAV_LOITER_TIME);
244 245 246 247
    QVERIFY(_spySimpleItem->checkSignalsByMask(commandChangedMask));
    QVERIFY(_spyVisualItem->checkSignalsByMask(commandNameChangedMask | dirtyChangedMask | coordinateChangedMask));
}

248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279
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());
}

280
void SimpleMissionItemTest::_testCameraSection(void)
281
{
282 283 284 285 286 287 288 289 290 291 292 293 294 295
    // 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);
}

296

297 298 299 300 301 302 303 304 305 306 307 308
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);
309
}
310 311 312 313 314

void SimpleMissionItemTest::_testAltitudePropogation(void)
{
    // Make sure that changes to altitude propogate to param 7 of the mission item

315
    _simpleItem->setAltitudeMode(QGroundControlQmlGlobal::AltitudeModeRelative);
316 317 318 319
    _simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1);
    QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7());
    QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL_RELATIVE_ALT);

320
    _simpleItem->setAltitudeMode(QGroundControlQmlGlobal::AltitudeModeAbsolute);
321 322 323 324
    _simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1);
    QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7());
    QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL);
}